Yamaha SRCP - Manual (Page 141)

9-
9
9
OPERA
TING THE ROBOT
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).
[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
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.