Auto" Mode - Yamaha RCX142 User Manual

9. "AUTO" mode

"AUTO" mode executes robot language programs and related tasks.
The initial "AUTO" mode screens are shown in Fig. 4-9-1 and Fig. 4-9-2.
Fig. 4-9-1 "AUTO" mode (one-robot setting)
q Mode hierarchy
y Online command
AUTO
execution mark
s@ —————————————————————————————————————
u Sequence
1
program
2 START *SUBTASK,T2
execution mark
3 DO2(0)=0
i Pointer display
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
o Guideline
RESET
Fig. 4-9-2 "AUTO" mode (two-robot setting)
q Mode hierarchy
y Online command
AUTO
execution mark
s@ —————————————————————————————————————
u Sequence
1
program
2 START *SUBTASK,T2
execution mark
3 DO2(0)=0
i Pointer display
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
o Guideline
RESET
q Mode hierarchy
Shows the current mode hierarchy. When the highest mode ("AUTO" in this case) is
not highlighted, it means the servomotor power is off. When highlighted, it means the
servomotor power is on.
w Task display
Shows the task number for the program listing being displayed.
e Automatic movement speed
Robot movement speed is displayed during automatic operation.
When two robots are specified, two speeds are displayed for "
with the currently selected group highlighted.
r Program name
Shows the program name currently selected.
t Message line
If an error occurs, the error message appears here. A dashed line means return-to-
origin is incomplete. A solid line means return-to-origin return is complete. A double-
solid line means automatic operation is in progress.
e Automatic movement speed
w Task display
[T1] 100% <TEST1
'***** TEST1 PROGRAM *****
TASK DIR
e Automatic movement speed
w Task display
[T1] 50%/100% <TEST1
'***** TEST1 PROGRAM *****
TASK DIR
r Program name
t Message line
>
VEL+ VEL-
r Program name
t Message line
>
VEL+ VEL-
/ ",
main group sub group
25
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