Yamaha RCX240 User Manual page 164

11. "MANUAL" mode
1
2
3
q Mode hierarchy
4
Shows the current mode hierarchy. When the highest mode ("MANUAL" in this case) is
highlighted it means the servomotor power is on. When not highlighted it means the servomotor
power is off.
w Manual movement speed
5
Shows the robot movement speed selected for manual operation.
When two robots (main and sub robots) are specified, two speeds are displayed for
" Main group speeds
e Robot group
6
This shows the robot group currently selected for manual movement.
When one robot is specified, only "[MG]" (main group) appears.
When two robots are specified, the "[MG]" (main group) or "[SG]" (sub group) appears, which
can be switched with the
7
r SHIFT/HAND/coordinate units
Shows the shift coordinate number, hand definition number and coordinate units. When two
robots are specified, the main group or sub group number and coordinate units appear, which
can be switched with the
8
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.
9 y Online command execution mark
When an online command is being executed, a "@" 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
10
When a sequence program is being executed, an "s" mark is displayed in the first column on the
second line.
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Chapter 4 OPERATION
"MANUAL" mode (with auxiliary axis)
q Mode hierarchy w Manual movement
y Online
command
execution mark
u Sequence
program
execution mark
i Current
position
o Guideline
/ Sub group speeds
(
(
speed
e Robot group
", with the currently selected group highlighted.
+ ).
+ ).
r SHIFT/HAND
/coordinate units
t Message line