Yamaha SRCP manual Switching the Execution Program

9-4 Switching the Execution Program

9-4 Switching the Execution Program

The following procedure explains how to switch the program in automatic operation. Use the same procedure in step operation.

The program selected by this procedure will be the lead program to which the execution sequence always returns after program reset.

When the program is switched, reset is automatically performed, so all general-purpose outputs are turned off.

*As exceptions, DO4 does not turn OFF when PRM33 (operation at return-to-origin complete parameter) is set to 1 or 3, and DO3 does not turn OFF when PRM46 (servo status output parameter) is set to 1.

1)If the program number displayed on the screen is not the one to be run, press F3 (CHG).

2)Using the number keys, enter the number of the program to be executed and then press .

3)The first step of the selected program is dis- played on the screen. To change the execution speed, press F1 (SPD).

4)Enter the execution speed using the number keys and press .

5) The screen returns to step 3.

[OPRT-AUTO] 100 0: 0 001:MOVA 254,100

[ 0.00] 1SPD 2RSET3CHG 4next

[OPRT-AUTO] 100 0: 0

PGM No = _

(program No) 0→99

[OPRT-AUTO] 100 0:10 001:MOVA 999,50

[ 0.00] 1SPD 2RSET3CHG 4next

[OPRT-AUTO] 100 0:10 SPEED = _

(speed) 1→100

[OPRT-AUTO] 50 0:10 001:MOVA 999,50

[ 0.00] 1SPD 2RSET3CHG 4next

9

OPERATING THE

ROBOT

9-9