Yamaha RCX240 User Manual page 109

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.
This is the speed at which the robot moves 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.
y Online command execution mark
When an online command is being executed, an "@" mark is displayed in the second column
on the second line. This mark changes to a dot ( . ) when the online command ends.
u Sequence program execution mark
When a sequence program is being executed, an "s" mark is displayed in the first column on the
second line.
i Pointer display
The program line number to be executed next is shown highlighted in the program listing.
o Guideline
The contents assigned to function keys are shown highlighted. A message on what to do next
also appears here in some operation steps.
Upon entering "AUTO" mode, the specified program is compiled and an object file is created to
execute automatic operation.
When the same object file already exists, no compiling is executed.
If an error is found in a command statement during compiling, the error message and the program
listing after the command line where the error occurred are displayed.
If the compiling ends normally, the program listing is displayed from the top command line.
n
NOTE
Usually, return-to-origin must be completed before starting "AUTO" mode. If return-
to-origin is not complete, the message "Origin incomplete" appears. In such a case,
refer to "11.8 Return-to-origin" and "11.9 Absolute reset" later in this chapter.
However, the program can be executed depending on the command execution
level even if return-to-origin has not been completed. For further information, see
the execution level explained in section 14.5, "Changing the execution level" later in
this chapter.
9. "AUTO" mode
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Main group speeds Sub group speeds
Chapter 4 OPERATION
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