Yamaha ERCX Series User Manual page 159

Single-axis robot controller
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7) The screen returns to step 5. Pressing
this point executes the first step.
8) This screen is displayed while the program is
being executed.
9) Pressing
during execution brings the ro-
STOP
bot to a halt and displays a message on the
screen. To return to step 7, press the
Pressing
again executes the interrupted
RUN
step.
10)When execution is finished, the second step is
displayed. Each time
RUN
point on, the currently displayed step is ex-
ecuted. When the last step has been executed,
the message "program end" is displayed. To
return to the first step from the program end,
press the
key.
ESC
11)To switch the execution task in a multi-task
program, press
F4
(next) to change the func-
tion menu display and then press
12)Each time you press
F2
currently in progress is switched. When the task
you want to execute is selected, press
execute the step displayed for the selected task.
13)To return to the first step of the program from
any other step and initiate execution again, press
(RSET).
F2
at
RUN
key.
ESC
is pressed from this
(CHGT).
F2
(CHGT), the task
to
RUN
9-2 Using Step Operation
[OPRT-STEP] 50
0:10
001:MOVA 999,50
[
0.00]
1SPD 2RSET3CHG 4next
[OPRT-STEP]
running ...
[OPRT-STEP] 50
0:10
001:MOVA 999,50
[
201.11]
1SPD 2RSET3CHG 4next
[OPRT-STEP]
60:program end
[OPRT-STEP] 50
1:11
001:WAIT 0
,1
[
250.00]
1S_ON2CHGT3MIO 4next
[OPRT-STEP] 50
2:12
001:DO
1
,1
[
250.00]
1S_ON2CHGT3MIO 4next
[OPRT-STEP] 50
0:10
035:TIMR 100
[
250.00]
1SPD 2RSET3CHG 4next
9
7
9-

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