Changing The Execution Level - Yamaha RCX40 User Manual

14. "UTILITY" mode
n
NOTE
Execution level is automatically set to
"LEVEL 0" in the following cases.
1. When parameter data was
damaged.
2. When system generation data was
damaged.
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14.5 Changing the execution level

Program execution levels can be set as shown in the table below. However, the following
commands are usable only when return-to-origin is complete.
Movement commands
Position acquisition command : WHERE, WHERE2, WHRXY, WHRXY2
Program
Level
execution at
origin incomplete
LEVEL0
Disabled
LEVEL1 Enabled
LEVEL2 Enabled
LEVEL3
Enabled
LEVEL4 Enabled
LEVEL5 Enabled
LEVEL6 Enabled
LEVEL7 Enabled
LEVEL8
Enabled
Note 1: When the absolute reset input (DI17) is valid in "AUTO" mode, the operation 2
(DO13) signal turns on during processing by the absolute reset input (DI17).
: MOVE, MOVE2, MOVEI, MOVEI2, DRIVE,
DRIVE2, DRIVEI, DRIVEI2, PMOVE, PMOVE2
Description
When power is turned on
Mode Program reset
MANUAL mode NO
MANUAL mode NO
MANUAL mode YES
AUTO mode NO
AUTO mode YES
MANUAL mode YES
AUTO mode YES
AUTO mode NO
AUTO mode YES
Return-to-origin
Program reset
signal in AUTO
at program start
mode
NO Invalid
NO Invalid
NO Invalid
NO Invalid
NO Invalid
YES Invalid
YES Invalid
(Note 1)
NO Valid
(Note 1)
YES Valid