Changing The Execution Level - Yamaha RCX221 User Manual

Yamaha 2-axis robot controller

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14. "UTILITY" mode

14.4 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

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.

: MOVE, MOVE2, MOVEI, MOVEI2, DRIVE, DRIVE2,

DRIVEI, DRIVEI2, PMOVE, PMOVE2, PATH START

When power is turned on

Note 1: When the return-to-origin signal input (DI17) is valid in "AUTO"

mode, the robot program-in-progress signal (DO13) turns on

during processing by the return-to-origin signal input (DI17) in

"AUTO" mode.

origin signal