Mode Hierarchy - Yamaha RCX141 User Manual

7. Mode configuration
4
20
4-
7.3

Mode hierarchy

Robot operation is mainly performed by pressing the function keys to select the desired
mode from the menu. (Refer to the "Mode hierarchy diagram" described later.)
When the controller is turned on, the "MANUAL" mode menu first appears on the screen.
Pressing the key displays the 4 basic modes on the guideline (bottom line) of the
MODE
screen as shown below.
Fig. 4-7-1 Mode menu
MANUAL
Current position
*M1=
*M4=
AUTO PROGRAM
These are basic modes at the highest hierarchy on the menu. The display position for each
mode name corresponds to each function key of
from the left.
For example, when the
F 1
Fig. 4-7-2 "AUTO" mode menu
AUTO
1 '***** TEST1 PROGRAM *****
2 '
3 DO2(0)=0
4 WAIT DI3(4,3,2)=3
5 MOVE P,P0
RESET TASK
When "AUTO" mode is entered, the submenu for the "AUTO" mode operation appears
on the guideline.
The submenu also corresponds to the function keys from
7-4.)
50% [MG][S0H0J]
0 *M2= 0 *M3=
0
MANUAL SYSTEM
,
F 1
(AUTO) key is pressed, "AUTO" mode is entered.
[T1] 100% <TEST1
DIR VEL+
0
, and
F 2 F 3 F 4
>
VEL-
to . (See Fig. 4-
F 1 F 15