1CD PDF

YRC1000micro
INSTRUCTIONS
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000micro INSTRUCTIONS
YRC1000micro OPERATOR’S MANUAL
YRC1000micro MAINTENANCE MANUAL
YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
181274-1CD
4
MANUAL NO. RE-CTO-A222 7

DANGER
• This manual describes setup, diagnosis, maintenance, hardware,
etc. of the YRC1000micro system. Read this manual carefully and
be sure to understand its contents before handling the
YRC1000micro. Any matter, including operation, usage, measures,
and an item to use, not described in this manual must be regarded
as “prohibited” or “improper”.
• General information related to safety are described in “Chapter 1.
Safety” of “YRC1000micro INSTRUCTIONS”. To ensure correct
and safe operation, carefully read “Chapter 1. Safety” of
“YRC1000micro INSTRUCTIONS”.
CAUTION
• In some drawings in this manual, protective covers or shields are
removed to show details. Make sure that all the covers or shields
are installed in place before operating this product.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids the
product warranty.
NOTICE
• The drawings and photos in this manual are representative
examples and differences may exist between them and the
delivered product.
• YASKAWA may modify this model without notice when necessary
due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.
• If your copy of the manual is damaged or lost, contact a YASKAWA
representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.
ii
Notes for Safe Operation
Read this manual carefully before installation, operation, maintenance, or
inspection of the YRC1000micro.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.
Indicates an imminently hazardous

DANGER situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.
Indicates a potentially hazardous

WARNING situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.
Indicates a hazardous situation,

CAUTION which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.
NOTICE is the preferred signal word

NOTICE to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.
Even items described as “CAUTION” may result in a serious accident in

some situations.
At any rate, be sure to follow these important items.
To ensure safe and efficient operation at all times, be sure

NOTE to follow all instructions, even if not designated as
“DANGER”, “WARNING” and “CAUTION”.
iii
DANGER
• Before operating the manipulator, make sure the servo power is
turned OFF by performing the following operations. When the servo
power is turned OFF, the SERVO ON LED on the programming
pendant is turned OFF.
– Press the emergency stop button on the programming pendant or
on the external control device, etc.
– Disconnect the safety plug of the safety fence.
(when in the play mode or in the remote mode)
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button
• Before releasing the emergency stop, make sure to remove the

obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may cause unintended movement of
the manipulator, which may result in personal injury.
Fig. : Release of Emergency Stop
TURN
• Observe the following precautions when performing a teaching

operation within the manipulator's operating range:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may cause improper or unintended
movement of the manipulator, which may result in personal injury.
• Confirm that no person is present in the manipulator's operating
range and that the operator is in a safe location before:
– Turning ON the YRC1000micro power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Personal injury may result if a person enters the manipulator's
operating range during operation. Immediately press an emergency
stop button whenever there is a problem. The emergency stop button
is located on the upper right of the programming pendant.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.
iv
DANGER
• In the case of not using the programming pendant, be sure to
supply the emergency stop button on the equipment. Then before
operating the manipulator, check to be sure that the servo power is
turned OFF by pressing the emergency stop button.
Connect the external emergency stop button to the 4-14 pin and 5-
15 pin of the Safety connector (Safety).
• Upon shipment of the YRC1000micro, this signal is connected by a
jumper cable in the dummy connector. To use the signal, make sure
to supply a new connector, and then input it.
If the signal is input with the jumper cable connected, it does not
function, which may result in personal injury or equipment damage.
WARNING
• Perform the following inspection procedures prior to conducting
manipulator teaching. If there is any problem, immediately take
necessary steps to solve it, such as maintenance and repair.
– Check for a problem in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Return the programming pendant to a safe place after use.
If the programming pendant is left unattended on the manipulator, on a
fixture, or on the floor, etc., the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.
v
Definition of Terms Used Often in This Manual
The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the YRC1000micro
controller, manipulator cables, the YRC1000micro programming pendant
(optional), and the YRC1000micro programming pendant dummy
connector (optional).
In this manual, the equipment is designated as follows:
Equipment Manual Designation
YRC1000micro controller YRC1000micro
YRC1000micro programming pendant Programming pendant (optional)
Cable between the manipulator Manipulator cable
and the controller
YRC1000micro programming pendant Programming pendant
dummy connector dummy connector (optional)
vi
Descriptions of the programming pendant keys, buttons, and displays are
shown as follows:
Equipment Manual Designation
Programming Character Keys The keys which have characters or symbols
Pendant /Symbol Keys printed on them are denoted with [ ].
e.g. [ENTER]
Axis Keys [Axis Key] and [Numeric Key] are generic
/Numeric Keys names for the keys for axis operation and
number input.
Keys pressed When two keys are to be pressed
simultaneously simultaneously, the keys are shown with a “+”
sign between them, e.g. [SHIFT]+[COORD].
Mode Switch Mode Switch can select three kinds of modes
that are denoted as follows: REMOTE, PLAY or
TEACH.
(The switch names are denoted as symbols)
Button The three buttons on the upper side of the
programming pendant are denoted as follows:
START, HOLD, or EMERGENCY STOP.
(The button names are denoted as symbols)
Displays The menu displayed in the programming
pendant is denoted with { }.
e.g. {JOB}
Start button* Hold button*
START HOLD
Mode switch*
P
EM
ER
O
T
GENCY S
REMOTE
Emergency stop button
PLAY
TEACH
Page key
Coordinate key
Axis keys
Shift key
Enter key
*The button/switch names
Numeric keys are denoted as symbols.
vii
Description of the Operation Procedure
In the explanation of the operation procedure, the expression "Select • • • "
means that the cursor is moved to the object item and [SELECT] is
pressed, or that the item is directly selected by touching the screen.
Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.
viii
Explanation of Warning Labels
The following warning labels are attached to the manipulator and
YRC1000micro.
Fully comply with the precautions on the warning labels.
DANGER
• The label described below is attached to the manipulator.
Observe the precautions on the warning labels.
Failure to observe this caution may result in injury or damage to
equipment.
Refer to the manipulator manual for the warning label location.
Collision hazard label Crush hazard label
• The following warning labels are attached to YRC1000micro.

Observe the precautions on the warning labels.
Failure to observe this warning may result in injury or damage to
equipment.
Injury Warning NP
PRM.DATA
O/#
PARAMETER DATA PARAMETER DATA
ロボット本体とコントローラーは、下記オーダの
同一No.と接続して御使用ください。
THE MANIPULATOR AND THE CONTROLLER
SHOULD HAVE SAME ORDER NUMBER.
ORDER No.
NJ4014-1
(Top View)
GP7
Electric Shock Warning NP
(Front View)
Electric Shock Warning NP
ix
Contents
1 Safety .............................................................................................................................................. 1-1
1.1 For Your Safety.................................................................................................................. 1-1
1.2 Special Training ................................................................................................................. 1-2
1.3 MOTOMAN Manual List..................................................................................................... 1-2
1.4 Personnel Safety................................................................................................................ 1-3
1.5 MOTOMAN Safety ............................................................................................................. 1-5
1.5.1 Installation and Wiring Safety ............................................................................... 1-6
1.5.2 Work Area Safety................................................................................................ 1-11
1.5.3 Operation Safety................................................................................................. 1-12
1.6 Notes for Moving and Transferring the MOTOMAN......................................................... 1-15
1.7 Notes on MOTOMAN Disposal ........................................................................................ 1-16
2 Product Confirmation ...................................................................................................................... 2-1
2.1 Contents Confirmation ....................................................................................................... 2-1
2.2 Order Number Confirmation............................................................................................... 2-2
3 Installation ....................................................................................................................................... 3-1
3.1 Handling Procedure ........................................................................................................... 3-1
3.2 Place of Installation............................................................................................................ 3-2
3.3 Location ............................................................................................................................. 3-3
3.4 Installation Method............................................................................................................. 3-5
4 Connection ...................................................................................................................................... 4-1
4.1 Notes on Cable Junctions .................................................................................................. 4-2
4.2 Power Supply..................................................................................................................... 4-3
4.2.1 Power Supply........................................................................................................ 4-3
4.2.2 Noise Filter Installation ......................................................................................... 4-4
4.2.3 Leakage Breaker Installation ................................................................................ 4-5
4.2.4 Primary Power Supply Breaker Installation .......................................................... 4-6
4.3 Connection Methods .......................................................................................................... 4-8
4.3.1 Connecting the Primary Power Supply ................................................................. 4-8
4.3.2 Connecting the Manipulator Cable ..................................................................... 4-11
4.3.3 Connecting Programming Pendant (Optional).................................................... 4-13
5 Turning ON and OFF the Power Supply ......................................................................................... 5-1
5.1 Turning ON the Main Power Supply .................................................................................. 5-1
x
Contents
5.1.1 Initial Diagnosis .................................................................................................... 5-2
5.1.2 When Initial Diagnosis Are Complete ................................................................... 5-2
5.2 Turning ON the Servo Power............................................................................................. 5-4
5.2.1 During Play Mode ................................................................................................. 5-4
5.2.2 During Teach Mode .............................................................................................. 5-4
5.3 Turning OFF the Power Supply ......................................................................................... 5-6
5.3.1 Turning OFF the Servo Power (Emergency Stop)................................................ 5-6
5.3.2 Turning OFF the Main Power ............................................................................... 5-6
5.3.3 The Method of Stopping Manipulator Operation................................................... 5-7
6 Test of Program Operation ............................................................................................................. 6-1
6.1 Movement of the Axes ....................................................................................................... 6-3
6.2 Manual Brake Release Function........................................................................................ 6-4
7 Security System .............................................................................................................................. 7-1
7.1 Protection Through Security Mode Settings ...................................................................... 7-1
7.1.1 Security Mode ...................................................................................................... 7-1

7.1.1.1 Changing the Security Mode ................................................................... 7-6
7.1.2 User ID ................................................................................................................. 7-9

7.1.2.1 Changing a User ID................................................................................. 7-9
7.1.3 Main CPU SD Card ID........................................................................................ 7-11
8 System Setup.................................................................................................................................. 8-1
8.1 Home Position Calibration ................................................................................................. 8-2
8.1.1 Home Position Calibration .................................................................................... 8-4
8.1.2 Calibrating Operation............................................................................................ 8-5

8.1.2.1 Registering All Axes at One Time ........................................................... 8-5
8.1.2.2 Registering Individual Axes ..................................................................... 8-8
8.1.2.3 Changing the Absolute Data ................................................................... 8-9
8.1.2.4 Clearing Absolute Data ......................................................................... 8-10
8.1.3 Home Position Posture of Manipulator ............................................................... 8-12
8.2 Setting the Second Home Position (Check Point) ........................................................... 8-13
8.2.1 Purpose of Position Check Operation ................................................................ 8-15
8.2.2 Procedure for the Second Home Position Setting (Check Point) ....................... 8-17
8.2.3 Procedure after the Alarm .................................................................................. 8-18
8.2.4 Procedure after the Alarm .................................................................................. 8-20
8.3 Tool Data Setting ............................................................................................................. 8-22
8.3.1 Registering Tool Files......................................................................................... 8-22
xi
Contents
8.3.1.1 Number of Tool Files ............................................................................. 8-22

8.3.1.2 Registering Coordinate Data ................................................................. 8-22
8.3.1.3 Registering Tool Posture Data .............................................................. 8-25
8.3.1.4 Setting the Tool Load Information ......................................................... 8-26
8.3.2 Tool Calibration................................................................................................... 8-27

8.3.2.1 Tool Calibration ..................................................................................... 8-27
8.3.2.2 Setting of Tool Calibration Method ........................................................ 8-27
8.3.2.3 Teaching of Calibration Point ................................................................ 8-28
8.3.2.4 Clearing Calibration Data ...................................................................... 8-34
8.3.2.5 Checking the TCP ................................................................................. 8-35
8.3.3 Automatic Measurement of the Tool Load and the Center of Gravity................. 8-37
8.3.3.1 What is the Automatic Measurement of the Tool Load and the
Center of Gravity? ................................................................................. 8-37
8.3.3.2 Measurement of the Tool Load and the Center of Gravity .................... 8-37
8.3.3.3 Measurement of the Moment of Inertia at the Center of Gravity ........... 8-42
8.4 ARM Control .................................................................................................................... 8-45
8.4.1 ARM Control ....................................................................................................... 8-45
8.4.2 ARM CONTROL Window ................................................................................... 8-45

8.4.2.1 Robot Setup Condition .......................................................................... 8-46
8.4.3 Tool Load Information Setting............................................................................. 8-50

8.4.3.1 Tool Load Information ........................................................................... 8-51
8.4.3.2 How to Calculate Tool Load Information ............................................... 8-51
8.4.3.3 Tool Load Information Registering ........................................................ 8-57
8.5 Work Home Position ........................................................................................................ 8-60
8.5.1 What is the Work Home Position? ...................................................................... 8-60
8.5.2 Setting Work Home Position............................................................................... 8-60

8.5.2.1 Work Home Position Window ................................................................ 8-60
8.5.2.2 Registering/Changing the Work Home Position .................................... 8-62
8.5.2.3 Returning to the Work Home Position ................................................... 8-63
8.5.2.4 Output of the Work Home Position Signal ............................................. 8-63
8.6 Interference Area ............................................................................................................. 8-64
8.6.1 Interference Area ................................................................................................ 8-64
8.6.2 Cubic Interference Area...................................................................................... 8-64

8.6.2.1 Cubic Interference Area......................................................................... 8-64
8.6.2.2 Cube Setting Method............................................................................. 8-66
8.6.2.3 Setting Operation .................................................................................. 8-67
8.6.3 Axis Interference Area ........................................................................................ 8-78

8.6.3.1 Axis Interference Area ........................................................................... 8-78
8.6.3.2 Setting Operation .................................................................................. 8-78
8.6.4 Clearing the Interference Area Data ................................................................... 8-88
8.7 Shock Detection Function ................................................................................................ 8-90
xii
Contents
8.7.1 Shock Detection Function................................................................................... 8-90
8.7.2 Shock Detection Function Setting ...................................................................... 8-90

8.7.2.1 Shock Detection Level Setting .............................................................. 8-90
8.7.2.2 EACH AXIS LEVEL (CURRENT) Window ............................................ 8-96
8.7.2.3 Tool Load Information Setting ............................................................... 8-96
8.7.2.4 U-Arm Payload Setting.......................................................................... 8-96
8.7.2.5 Instruction of Shock Detection Function................................................ 8-97
8.7.2.6 Resetting the Shock Detected............................................................. 8-104
8.8 User Coordinates Setting............................................................................................... 8-105
8.8.1 User Coordinates.............................................................................................. 8-105

8.8.1.1 Methods for User Coordinates Setting ................................................ 8-105
8.8.2 User Coordinate Setting ................................................................................... 8-107
8.8.3 Clearing the User Coordinates ......................................................................... 8-115
8.9 Overrun/Tool Shock Sensor Releasing ......................................................................... 8-116
8.10 Soft Limit Release Function......................................................................................... 8-118
8.11 All Limit Release Function ........................................................................................... 8-119
8.12 Instruction Level Setting .............................................................................................. 8-121
8.12.1 Setting Contents ............................................................................................. 8-121

8.12.1.1 Instruction Set ................................................................................... 8-121
8.12.1.2 Learning Function ............................................................................. 8-122
8.12.2 Setting the Instruction Set Level..................................................................... 8-123
8.12.3 Setting the Learning Function ........................................................................ 8-125
8.13 Setting the Controller Clock ......................................................................................... 8-126
8.14 Setting the Play Speed ................................................................................................ 8-127
8.15 Numeric Key Customize Function ............................................................................... 8-129
8.15.1 About the Numeric Key Customize Function.................................................. 8-129
8.15.2 Allocatable Functions ..................................................................................... 8-129

8.15.2.1 Key Allocation (EACH) ...................................................................... 8-129
8.15.2.2 Key Allocation (SIM).......................................................................... 8-130
8.15.3 Allocating Operation ....................................................................................... 8-131

8.15.3.1 Allocation Window ............................................................................. 8-131
8.15.3.2 Instruction Allocation ......................................................................... 8-132
8.15.3.3 Job Call Allocation............................................................................. 8-134
8.15.3.4 Display Allocation .............................................................................. 8-134
8.15.3.5 Alternate Output Allocation ............................................................... 8-136
8.15.3.6 Momentary Output Allocation ............................................................ 8-137
8.15.3.7 Pulse Output Allocation ..................................................................... 8-138
8.15.3.8 Group (4-bit/8-bit) Output Allocation.................................................. 8-139
8.15.3.9 Analog Output Allocation................................................................... 8-140
8.15.3.10 Analog Incremental Output Allocation ............................................. 8-141
xiii
Contents
8.15.4 Allocation of I/O Control Instructions .............................................................. 8-142
8.15.5 Execution of Allocation ................................................................................... 8-144

8.15.5.1 Executing the Instruction/Output Control Allocation .......................... 8-144
8.15.5.2 Executing the Job Call Allocation ...................................................... 8-144
8.15.5.3 Executing the Display Allocation ....................................................... 8-144
8.15.5.4 Executing the I/O Control Allocation.................................................. 8-144
8.16 Changing the Output Status......................................................................................... 8-145
8.17 Changing the Parameter Setting.................................................................................. 8-147
8.18 File Initialization ........................................................................................................... 8-150
8.18.1 Initializing Job File .......................................................................................... 8-150
8.18.2 Initializing Data File......................................................................................... 8-151
8.18.3 Initializing Parameter File ............................................................................... 8-153
8.18.4 Initializing I/O Data.......................................................................................... 8-154
8.18.5 Initializing System Data .................................................................................. 8-156
8.18.6 Reset Safety Circuit Board FLASH Data ........................................................ 8-158

8.18.6.1 Saving Dual Data .............................................................................. 8-158
8.18.6.2 FLASH Data Reset ............................................................................ 8-159
8.18.7 Reset 3DGraphics Robot Model ..................................................................... 8-161
8.19 Display Setting Function .............................................................................................. 8-162
8.19.1 Font Size Setting ............................................................................................ 8-162

8.19.1.1 Applicable Range for the Font Size Change ..................................... 8-162
8.19.1.2 Settable Font Size ............................................................................. 8-162
8.19.1.3 Setting the Font Size ......................................................................... 8-163
8.19.2 Operation Button Size Setting ........................................................................ 8-166

8.19.2.1 Applicable Range for the Button Size Change .................................. 8-166
8.19.2.2 Settable Button Size .......................................................................... 8-166
8.19.2.3 Setting the Button Size ...................................................................... 8-166
8.19.3 Initialization of Screen Layout......................................................................... 8-171

8.19.3.1 Initializing the Screen Layout............................................................. 8-171
8.19.4 Layout Storage ............................................................................................... 8-173
8.20 Encoder Back-Up Error Recovery Function................................................................. 8-174
8.20.1 About Encoder Back-Up Error Recovery Function ......................................... 8-174
8.20.2 Encoder Back-Up Error Recovery Function Operation................................... 8-174
8.21 Preventive Maintenance Function................................................................................ 8-177
8.21.1 Preventive Maintenance Function .................................................................. 8-177
8.21.2 Preventive Maintenance Function for the Speed Reducer ............................. 8-177
8.21.2.1 Diagnose by the Lifetime Calculation ................................................ 8-178
8.21.2.2 Diagnose by the Torque Average Value............................................ 8-184
8.21.2.3 After Replacement of the Speed Reducer......................................... 8-195
xiv
Contents
8.21.3 Inspection Notice Function ............................................................................. 8-197

8.21.3.1 Setting Procedures............................................................................ 8-197
8.21.3.2 The Inspection Notice Window.......................................................... 8-199
8.21.4 Record of Inspection Date and Replacement Date ........................................ 8-200
8.21.5 Management of the Data ................................................................................ 8-201
8.21.6 Preventive Maintenance for the Hardware ..................................................... 8-203

8.21.6.1 Target Components for Diagnosis..................................................... 8-203
8.21.6.2 Replacement Time Display ............................................................... 8-203
8.21.6.3 Replacement of Component.............................................................. 8-204
8.21.7 Setting of Preventive Maintenance for the Hardware ..................................... 8-205

8.21.7.1 Setting of Replacement Time Display ............................................... 8-205
8.21.7.2 Mask of Replacement Time Display (Signal Display)........................ 8-210
8.21.8 Display of the Numbers of Motor Revolution and Reverse Revolution........... 8-212
8.21.8.1 Display of the Numbers of Revolution and Reverse Revolution........ 8-212
8.21.8.2 Percent Display of the Number of Motor Revolution ......................... 8-212
8.21.8.3 Resetting the Number of Revolution ................................................. 8-213
8.21.8.4 Changing the Numbers of Revolution and Reverse Revolution ........ 8-214
8.22 Operating Status Monitor Function .............................................................................. 8-215
8.23 Job Monitor Function ................................................................................................... 8-217
8.24 Robot Monitor Function ............................................................................................... 8-223
8.25 Brake Line Ground Judgment Function ....................................................................... 8-225
8.25.1 About the brake Line Ground Judgment Function.......................................... 8-225
8.25.2 Operating Condition ....................................................................................... 8-225
8.25.3 Operation........................................................................................................ 8-226

8.25.3.1 Occurrence of a DC 24V Power Supply Failure (SERVO) ................ 8-226
8.25.3.2 Brake Line Ground Check ................................................................. 8-226
8.25.3.3 Initializing the Related Information .................................................... 8-228
8.26 Safety Logic Circuit...................................................................................................... 8-230
8.26.1 Outline ............................................................................................................ 8-230
8.26.2 Changing the Security Mode .......................................................................... 8-232
8.26.3 Available I/O Signals and Instructions in Safety Logic Circuit ........................ 8-234
8.26.3.1 Switching Display of System and User Section................................. 8-238
8.26.4 Safety Logic Circuit......................................................................................... 8-240
8.26.5 Signal List Window ......................................................................................... 8-247
8.26.6 <Setting ON/OFF to the Input Signals............................................................ 8-248
8.26.7 Setting for the GP Safety I/O Signals ............................................................. 8-251

8.26.7.1 Preliminary setting for the GP Safety I/O Signal ............................... 8-251
8.26.7.2 Setting for the GP Safety Output Signals .......................................... 8-254
8.26.8 Timer Delay .................................................................................................... 8-256
xv
Contents
8.26.9 Timer............................................................................................................... 8-260
8.26.10 Output Signal ................................................................................................ 8-262
8.26.11 Display of the Message on the Programming Pendant ................................ 8-263
8.26.12 Specific Input Signals Allocated to SPIN[xx]................................................. 8-264
8.26.13 Output to the Control Status Signal .............................................................. 8-265
8.26.14 Saving or Loading the File ............................................................................ 8-269

8.26.14.1 Saving the File................................................................................. 8-269
8.26.14.2 Loading the File ............................................................................... 8-270
8.26.15 Initializing the Safety Logic Circuit File ......................................................... 8-271

8.26.15.1 Initializing the Safety Logic Circuit File ............................................ 8-271
8.26.15.2 Safety Circuit Board FLASH ROM Data Erase and Reset .............. 8-274
8.26.16 Example of Safety Logic Circuit.................................................................... 8-276
8.26.17 Alarm List of the Safety Logic Circuit............................................................ 8-289
8.27 Robot Stop Factor Monitor Function ............................................................................ 8-290
8.27.1 Outline ............................................................................................................ 8-290

8.27.1.1 The Robot Stop Factor ...................................................................... 8-290
8.27.1.2 The Robot Stop Factor Record Number............................................ 8-293
8.27.2 Operation ........................................................................................................ 8-293

8.27.2.1 Displaying the Robot Stop Factor Monitor......................................... 8-293
8.27.2.2 Clear the Robot Stop Factor Information........................................... 8-295
8.28 Robot Detachment Function ........................................................................................ 8-296
8.28.1 Setting Maintenance Mode ............................................................................. 8-296
8.28.2 Setting Robot Detachment Function............................................................... 8-298
8.29 Axes Detachment Function.......................................................................................... 8-302
8.29.1 Outline ............................................................................................................ 8-302
8.29.2 Setting Maintenance Mode ............................................................................. 8-302
8.29.3 Setting Axes Detachment Function ................................................................ 8-302
8.29.4 Specific Output and Messages ....................................................................... 8-304
8.29.5 Restrictions ..................................................................................................... 8-305
8.30 User Group Input and Output....................................................................................... 8-307
8.30.1 Outline of the Function.................................................................................... 8-307
8.30.2 User Group Input ............................................................................................ 8-307

8.30.2.1 User Group Input Setting................................................................... 8-307
8.30.2.2 Display of User Group Input .............................................................. 8-309
8.30.3 User Group Output ......................................................................................... 8-310

8.30.3.1 User Group Output Setting ................................................................ 8-310
8.30.3.2 Display of User Group Output ........................................................... 8-312
8.31 Variable Allocation ....................................................................................................... 8-313
xvi
Contents
8.32 Controller Information Display Function....................................................................... 8-317
8.33 Manual Brake Release Function.................................................................................. 8-320
8.33.1 Outline of Function ......................................................................................... 8-320
8.33.2 Manual Brake Release Operation .................................................................. 8-321
8.33.3 Warning Message Display.............................................................................. 8-326
9 System Backup ............................................................................................................................... 9-1
9.1 System Backup with YRC1000micro ................................................................................. 9-1
9.1.1 Function Types of Data ........................................................................................ 9-1

9.1.1.1 CMOS.BIN .............................................................................................. 9-1
9.1.1.2 CMOSBK.BIN.......................................................................................... 9-2
9.1.2 Device .................................................................................................................. 9-2
9.2 Backup by CMOS.BIN ....................................................................................................... 9-4
9.2.1 CMOS.BIN Save................................................................................................... 9-4
9.2.2 CMOS.BIN Load................................................................................................... 9-7
9.3 Saving a CMOS.BIN File When the Programming Pendant is not Used......................... 9-10
9.4 Saving a CMOS.BIN + System Software When the Programming Pendant is

not Used .......................................................................................................................... 9-11
9.5 7SegLED Error Display.................................................................................................... 9-13
9.6 Automatic Backup Function ............................................................................................. 9-15
9.6.1 Automatic Backup Function................................................................................ 9-15

9.6.1.1 Objective ............................................................................................... 9-15
9.6.1.2 Outline ................................................................................................... 9-15
9.6.2 Settings for Automatic Backup ........................................................................... 9-17

9.6.2.1 The SD Card of the Programming Pendant .......................................... 9-17
9.6.2.2 The SD Card of the ACP31 Board ........................................................ 9-18
9.6.2.3 RAMDISK on the ACP31 Board ............................................................ 9-18
9.6.2.4 YRC1000micro Status and Automatic Backup...................................... 9-19
9.6.2.5 Setting Examples .................................................................................. 9-21
9.6.2.6 AUTO BACKUP FUNCTION SET Window ........................................... 9-22
9.6.3 Limiting the Automatic Backup File Creation...................................................... 9-28

9.6.3.1 Setting to Limit the Automatic Backup File Creation ............................. 9-28
9.7 Loading the Backup Data from the SD Card ................................................................... 9-29
9.7.1 Loading Procedure ............................................................................................. 9-29
9.7.2 Safety Board FLASH ROM Data Reset.............................................................. 9-34
9.8 Error List .......................................................................................................................... 9-35
9.8.1 Error Contents .................................................................................................... 9-35
10 Upgrade Function ....................................................................................................................... 10-1
xvii
Contents
10.1 Functional Overview ...................................................................................................... 10-1
10.2 Upgrade Procedure........................................................................................................ 10-1
10.2.1 Confirmation of Software Version ..................................................................... 10-1
10.2.2 Automatic Upgrade of the Programming Pendant ............................................ 10-3
10.3 Error Message ............................................................................................................... 10-5
11 Programming Pendant ................................................................................................................ 11-1
11.1 Disconnection Function.................................................................................................. 11-1
11.2 Reset Function............................................................................................................... 11-4
11.3 Touch Panel Invalidate Function.................................................................................... 11-5
11.4 Reboot Robot System.................................................................................................... 11-7
12 Modification of System Configuration.......................................................................................... 12-1
12.1 Addition of I/O Modules.................................................................................................. 12-1
12.2 Allocating External I/O Signal ........................................................................................ 12-4
12.3 Addition of Base and Station Axes............................................................................... 12-11
12.3.1 Base Axis Setting............................................................................................ 12-13

12.3.1.1 Selection of Base Axis Type.............................................................. 12-13
12.3.1.2 Connection Setting ............................................................................ 12-16
12.3.1.3 Axis Configuration Setting ................................................................. 12-18
12.3.1.4 Mechanical Specification Setting....................................................... 12-19
12.3.1.5 Motor Specification Setting................................................................ 12-21
12.3.2 Station Axis Setting......................................................................................... 12-24

12.3.2.1 Selection of Station Axis Type........................................................... 12-24
12.3.2.2 Connection Setting ............................................................................ 12-26
12.3.2.3 Axis Configuration Setting ................................................................. 12-28
12.3.2.4 Mechanical Specification Setting....................................................... 12-30
12.3.2.5 Motor Specification Setting................................................................ 12-33
13 YRC1000micro Specification ...................................................................................................... 13-1
13.1 Specification List ............................................................................................................ 13-3
13.2 Function List................................................................................................................... 13-4
13.3 Programming Pendant ................................................................................................... 13-5
13.4 Equipment Configuration ............................................................................................... 13-6
13.4.1 Arrangement of Units and Circuit Boards ......................................................... 13-6
14 Description of Units and Circuit Boards ...................................................................................... 14-1
14.1 Connection for Connector on Front Panel ..................................................................... 14-4
14.1.1 Connection of Robot Specific Input Signal ....................................................... 14-4
xviii
Contents
14.1.1.1 Connection of Safety Plug Signal (SAFF) ........................................... 14-6

14.1.1.2 Connection of External Emergency Stop Signal (EXESP) .................. 14-8
14.1.1.3 Protection Stop (ONEN) Signal Connection........................................ 14-9
14.2 Specific I/O Signal List................................................................................................. 14-15
xix
1 Safety
1.1 For Your Safety
1 Safety
1.1 For Your Safety

Robots generally have requirements which are different from other
manufacturing equipment, such as larger working areas, high-speed
operation, rapid arm movements, etc., which can pose safety hazards.
Read and understand the instruction manuals and related documents, and
observe all precautions in order to avoid the risk of injury to personnel and
damage to equipment.
It is the user’s responsibility to ensure that all local, state, and national
codes, regulations rules, or laws relating to safety and safe operating
conditions are met and followed.
DANGER
• Teaching operation and maintenance operation of the robot must
conform to:
– Industrial Safety and Health Law
– Order for Enforcement of the Industrial Safety and Health Law
– Industrial Safety and Health Regulations
– Technical Standards for Electrical Facilities
Other related laws and regulations are:
– Occupational Safety and Health Act in USA
– Factory Act (Gewerbeordnung) in Germany
– Health and Safety at Work, etc. Act in UK
– EC Machinery Directive 2006/42/EC
• Prepare
– SAFETY WORK REGULATIONS
based on concrete policies for safety management complying with
related laws and regulations.
• Observe
– JIS B 8433-1: 2015 “Robots for industrial environments-Safety
requirements” (ISO 10218-1: 2011)
for safe operation of the robot. (JIS B 8433 is for Japan only)
• Reinforce the
– SAFETY MANAGEMENT SYSTEM
by designating authorized operators and safety managers for the robot,
as well as giving continuing safety education and training.
• Teaching operation and maintenance operation of the robot are
specified as “Hazardous Operations” in the Industrial Safety and
Health Act (for Japan only).
Personnel engaged in these operations must receive special training
offered by YASKAWA.
1-1
1 Safety
1.2 Special Training
1.2 Special Training
DANGER
• Personnel engaged in operation, maintenance, or management of
the robot must receive required training before using the robot.
• For more information on training, contact your YASKAWA
representative.
The telephone numbers of our offices are listed on the back cover of
this manual.
1.3 MOTOMAN Manual List
DANGER
• For safety, make sure to have the following manuals for MOTOMAN
on hand, read them thoroughly and understand the contents of
them:
– MOTOMAN- INSTRUCTIONS
– YRC1000micro INSTRUCTIONS
– YRC1000micro MAINTENANCE MANUAL
– YRC1000micro OPERATOR’S MANUAL
– YRC1000micro ALARM CODES
(MAJOR ALARMS) (MINOR ALARMS)
• Confirm that you have all the above manuals on hand. If any of
them is missing, contact your YASKAWA representative.
The telephone numbers of our offices are listed on the back cover of
this manual.
1-2
1 Safety
1.4 Personnel Safety

The entire manipulator P-point maximum envelope is potentially
dangerous.
All personnel working with the MOTOMAN (safety administration,
installation, operation, and maintenance personnel) must always be
prepared and “Safety First” minded, to ensure the safety of all personnel.
WARNING
• In the vicinity of the area where the MOTOMAN is installed, avoid
any dangerous actions, such as entering the manipulator's
operating range without due care.
Failure to observe this instruction may cause contact with the
manipulator or peripheral equipment, which may result in personal
injury.
• Strictly observe the safety precautions and signs in the factory, such
as “Flammable”, “High Voltage”, “Danger”, “Off-limits to
Unauthorized Personnel”.
Failure to observe this instruction may result in fire, electric shock, and/
or personal injury caused by contact with the manipulator or other
equipment.
• Strictly observe the following precautions about clothing:
– Always wear approved work clothes (no loose-fitting clothes).
– To prevent misoperation, do not wear gloves when operating the
MOTOMAN.
– Do not let the underwear, shirts, or neckties hang out from the
work clothes.
– Do not wear large accessories, such as earrings, rings, or
necklaces.
– Always wear protective safety equipment, such as hard hats,
safety shoes (with slip-proof soles), face shields, safety glasses,
and gloves as necessary.
Failure to observe this instruction may result in personal injury.
• The following must be understood and strictly observed by all
personnel as rules:
– Unauthorized personnel other than the operator must not
approach the area where the MOTOMAN is installed.
– Do not let unauthorized personnel other than the operator
approach the area where the MOTOMAN is installed.
manipulator, the YRC1000micro, the control panel, the workpiece, or
the positioner, etc., which may result in personal injury.
1-3
1 Safety
WARNING
• Do not forcibly move an axis of the manipulator. Do not hang from
or get on the manipulator.
Failure to observe this instruction may result in personal injury and/or
equipment damage.
• Do not sit or lean on the YRC1000micro.

equipment damage.
• Do not turn a switch or press a button, etc. on the YRC1000micro or
other control panels without due care.
Failure to observe this instruction may cause unexpected movement of
the manipulator, which may result in personal injury and/or equipment
damage.
• Do not let unauthorized personnel touch the YRC1000micro or the

programming pendant while the power is ON.
Failure to observe this instruction may cause unexpected movement of
the manipulator, which may result in personal injury and/or equipment
damage.
1-4
1 Safety
1.5 MOTOMAN Safety
1.5 MOTOMAN Safety

The followings are safety functions of MOTOMAN/YRC1000micro.
• Emergency stop SW input (programming pendant)
• Enable SW input (programming pendant)
• Safeguarding interlock signal input (safety plug)
• External emergency stop SW input
• Protected stop signal input
• Overrun input (manipulator/external axis)
• General-purpose safety input (Enabled when the option board
(JANCD-ASF32-E) is connected.)
• Safety logic circuit
These safety functions conform to the following safety standards.
• EN ISO 13849-1: 2015 Cat.3/PLe
• EN 62061 (IEC 61508) SIL CL3
The use frequency of each switch for safety functions is assumed as
below.
• Emergency stop SW 500 times/year
• Enable SW (programming pendant) 2000 times/year
1-5
1 Safety
1.5 MOTOMAN Safety
1.5.1 Installation and Wiring Safety

the MOTOMAN- INSTRUCTIONS and the YRC1000micro
INSTRUCTIONS for details on installation and wiring.
In planning installation, adapt an easy to observe arrangement to ensure
safety. Take safety into consideration when planning the installation.
Observe the following when installing the manipulator:
WARNING
• As the installation site for the manipulator, select an area such as
the following:
– Confirm that the area is large enough so that the fully-extended
manipulator arm with the tool will not reach the wall, the safety
fence, the YRC1000micro, etc.
manipulator, which may result in personal injury and/or equipment
damage.
Safety fence YRC1000micro
1000 mm or more
Front panel
1000 mm or more
1000 mm
or more
P-point maximum envelope

of manipulator
Maximum working envelope of manipulator

including tool or workpiece end
1000 mm or more
• Make sure that the maximum operating range of the manipulator

including the ends of the tool and the workpiece can be clearly
recognized by lines marked on the floor or color-coding of the floor.
• Perform grounding in accordance with all applicable electrical codes
and technical standards for electrical facilities.
Failure to observe this instruction may result in fire and/or electric
shock.
1-6
1 Safety
1.5 MOTOMAN Safety
WARNING
• Operation of the crane, sling, or forklift must be performed only by
authorized personnel.
equipment damage.
• Use a crane, in principle, to transport the manipulator.
– Before lifting the manipulator, make sure to securely fix the
manipulator by using the shipping bolts and brackets and set the
manipulator's posture for transportation as described in the
MOTOMAN- INSTRUCTIONS of the manipulator.
– Lift the manipulator by using a two-leg bridle sling hooked to the
eyebolts attached to the shipping brackets or the manipulator
body.
Failure to observe this instruction may cause overturning of the
manipulator during transportation, which may result in personal injury
and/or equipment damage.
• Lift, move, or install the YRC1000micro by two or more persons.
– Approx. mass of YRC1000micro: 10.5 kg per unit
• Use a platform truck to carry theYRC1000micro.
– Avoid jarring, dropping, or hitting the YRC1000micro during
handling.
Failure to observe this instruction may cause falling or overturning of
the YRC1000micro during transportation, which may result in personal
injury and/or equipment damage.
• If storing the manipulator temporarily before installation, be sure to
place it on a stable and flat surface and take precautions to prevent
unauthorized personnel from touching it.
damage.
1-7
1 Safety
1.5 MOTOMAN Safety
WARNING
• Secure enough space for maintenance on the manipulator, the
YRC1000micro, and other peripheral devices.
Failure to observe this instruction may result in personal injury during
maintenance.
Instsallation space for YRC1000micro in horizontal position
100mm
Air
100mm
Air
警　告 TYPE ERMR-

WARNING
Air Air
重量物/HEAVY OBJECT POWER SUPPLY AVERAGE
けがの恐れあり。移設・運搬時には 3-PHASE AC200/220V kVA
台車等の適切な機材を使用すること。 1-PHASE AC200/230V 50/60Hz
Can cause muscle strain or
back injury.Use lifting aids Full Load Current A
& proper lifting techniques Interrupt Current kA
when removing or replacing. Largest Load A
NJ3371
MAX. OCP Device Current Rating A
Short Circuit Current Rating kA
100mm
Drawing No.
100mm
SERIAL No.
SHOULD HAVE SAME ORDER NUMBER. DATE
Approx Mass
ORDER.NO.
MADE IN JAPAN NJ3873-1
NJ1530
Instsallation space for YRC1000micro in vertical position

100mm
Air
ORDER.NO.
when removing or replacing.

& proper lifting techniques
back injury.Use lifting aids
台車等の適切な機材を使用すること。
けがの恐れあり。移設・運搬時には
重量物/HEAVY OBJECT
WARNING
警　告
NJ3371
NJ1530
Approx Mass
SERIAL No.
Drawing No.
Short Circuit Current Rating
MAX. OCP Device Current Rating
Largest Load
Interrupt Current
Full Load Current
POWER SUPPLY
TYPE
1-PHASE
3-PHASE
MADE IN JAPAN
ERMR-
AC200/230V
AC200/220V
kA
A
A
kA
A
50/60Hz
AVERAGE
NJ3873-1
kVA
100mm
Air
100mm
100mm
Air
Air
• Install the YRC1000micro and the positioner control panel, etc. in a

place from where the movement of the manipulator can easily be
checked visually and the manipulator can be operated safely.
Failure to observe this instruction may cause improper operation, which
may result in personal injury.
• Install the YRC1000micro outside the safety fence around the
manipulator.
manipulator, which may result in personal injury.
1-8
1 Safety
1.5 MOTOMAN Safety
WARNING
• To install the manipulator, use the bolts and screws of the types and
sizes specified in the MOTOMAN- INSTRUCTIONS of the
manipulator.
damage.
• After installing the YRC1000micro, firmly anchor it to the floor or
baseplate by using the screws and the tapped holes on the lateral
bottom of the YRC1000micro.
YRC1000micro, which may result in personal injury and/or equipment
damage.
Tapped hole M5 (8 places)
Vertical installation Horizontal installation
(Left side view) (Front view) (Right side view)
Tapped hole M5 (4 holes)(depth: 5 mm) Tapped hole M5 (4 holes)(depth: 5 mm)

95 15.8
95 15.8

WARNING POWER SUPPLY AVERAGE
NJ3371
THE MANIPULATOR AND THE CONTROLLER Drawing No.
SERIAL No.
Approx Mass
ORDER.NO.
NJ1530
22.2
22.2
18.8 235 26.2 26.2 235 18.8
• Perform wiring to the YRC1000micro with a thorough understanding

of and in accordance with the connection diagram.
Failure to observe this instruction may cause improper wiring and/or
unexpected movement of the manipulator, which may result in personal
1-9
1 Safety
1.5 MOTOMAN Safety
WARNING
• Run the piping, wiring, and cables for the YRC1000micro, the
manipulator, the positioner control panel, peripheral devices, etc. in
a pit so that they are not stepped on by personnel or run over by a
forklift.
SAFETY
FIRST
Piping Lead
Cable Channnel
Failure to observe this instruction may cause personnel to trip over

exposed piping, wiring, or a cable, which may result in personal injury.
Failure to observe this instruction may also cause damage to piping,
wiring, or a cable and unexpected movement of the manipulator, which
may result in personal injury and/or equipment damage.
1-10
1 Safety
1.5 MOTOMAN Safety
1.5.2 Work Area Safety

Carelessness contributes to serious accidents in the work area.
To ensure safety, enforce the following precautions:
DANGER
• The manipulator may stop its movement while waiting for a
condition to be satisfied during operation. In this case, the
manipulator starts its movement again immediately after the
condition is satisfied, thus it is dangerous to come close to the
manipulator even if it is not moving. Make sure to clearly indicate
that the manipulator is in operation by using a pilot lamp and/or an
audible alert so that the operator does not come close to the
manipulator, or make sure that the manipulator stops its operation if
the operator comes close to it.
• Install safety fences around the manipulator to prevent any
accidental contact with the manipulator while the power is ON.
Display a warning sign stating “Off-Limits During Operation” at the
entrance of the safety fence.
The gate of the safety fence must be equipped with a safety
interlock (safety plug) to turn the servo power OFF when the gate
opens. Make sure that the interlock operates properly before use.
For details of installation, refer to chapter 14.1.1.1 “Connection of
Safety Plug Signal (SAFF)” .
• For areas not enclosed by safety fences, use a photoelectric
sensor, a safety light curtain, etc. to make sure that the manipulator
stops its operation if the operator enters its operating range.
Failure to observe this caution may result in a serious accident due to
contact with the manipulator.
CAUTION
• Store industrial tools, etc. in a safe location outside the
manipulator's operating range.
If an industrial tool, etc. is left unattended on the manipulator, on a
fixture, or on the floor, etc., the manipulator may come in contact with
the industrial tool left unattended, which may result in damage to the
manipulator and/or the fixture.
• If the light in the operator's working space is not bright enough,
provide the space with appropriate lighting.
1-11
1 Safety
1.5 MOTOMAN Safety
1.5.3 Operation Safety
DANGER
• Make sure to incorporate the robot system into the user’s system
which has lockout/tagout function. That is to say, supply one or
more devices to turn OFF the powersupply of the manipulator, servo
track, and controller, and install them outside the enclosure in which
the manipulator and servotrack are installed. The devices must be
able to be locked out and tagged out.
Turning the power ON improperly during work may result in electric
shock or personal injury due to unexpected movement of the
manipulator.
• Use the MOTOMAN only within the specifications described in the
manuals for MOTOMAN.
equipment damage.
• Perform teaching operation from outside the manipulator's
operating range whenever possible.
1-12
1 Safety
1.5 MOTOMAN Safety
DANGER
jumper cable in the dummy connector. To use the signal, make
sure to supply a new connector, and then input it.
operating range during operation.
• Immediately press an emergency stop button whenever there is a
problem. The emergency stop button is located on the upper right
of the programming pendant.
Emergency Stop Button
Programming Pendant
• Persons operating or inspecting the manipulator should be trained

as required by applicable laws and company policies.
• Refer to chapter 1.2 “Special Training” .
1-13
1 Safety
1.5 MOTOMAN Safety
WARNING
• After installing the manipulator, replacing parts, modifying the taught
job, or modifying the robot system by changing the tool or a
peripheral device, etc., make sure to perform the first operation of
the manipulator at low speed, and confirm that there is no abnormal
noise, abnormal vibration, or abnormal operation. If an error
occurs, immediately turn OFF the YRC1000micro power supply and
inform the safety manager of the error.
damage.
1-14
1 Safety
1.6 Notes for Moving and Transferring the MOTOMAN
1.6 Notes for Moving and Transferring the MOTOMAN

When moving or transferring the MOTOMAN, observe the following safety
precautions:
DANGER
• When relocating, transferring, or selling the MOTOMAN, make sure
that the MOTOMAN is always accompanied by its manuals so that
all users have access to necessary manuals.
See chapter 1.3 “MOTOMAN Manual List” for a list of the manuals.
If any of them is missing, contact your YASKAWA representative. The

telephone numbers of our offices are listed on the back cover of this
manual.
• If a warning label on the manipulator or the YRC1000micro is dirty
and unreadable, clean the label to make it clearly readable. If a
warning label has come off, put the label back in place. Note that
some local laws and regulations may prohibit equipment operation if
safety labels are not in place.
Contact your YASKAWA representative if you require new warning
labels.
• After the MOTOMAN is relocated, inspection by your YASKAWA
representative is recommended.
If installation or wiring of a device is incorrect, personal injury and/or
equipment damage may result.
1-15
1 Safety
1.7 Notes on MOTOMAN Disposal
1.7 Notes on MOTOMAN Disposal
DANGER
• Do not modify the manipulator or the YRC1000micro.
Failure to observe this instruction may cause fire, mechanical failure, or
malfunction, which may result in personal injury and/or equipment
damage.
WARNING
• Take precautionary measures to prevent the manipulator from
overturning, such as anchoring it firmly, etc., even when temporarily
storing it before disposal.
manipulator, which may result in personal injury.
NOTICE
• When disposing of or recycling the MOTOMAN, follow the applicable
national/local laws and regulations.
• This symbol is applicable for EU member states only.
The wheelie bin symbol on this product, manual or its
packaging indicates that at the end of life the product
should enter the recycling system. It must be
disposed at an appropriate collection point for
electrical and electronic equipment (EEE) and should
not be put in the normal waste stream.
1-16
2 Product Confirmation
2.1 Contents Confirmation
2.1 Contents Confirmation

Confirm the contents of the delivery when the product arrives.
Standard delivery includes the following four (to six) items (Information for
the content of optional goods is given separately):
• Manipulator (parts included)
• YRC1000micro (parts included)
For supplied parts, refer to “YRC1000micro MAINTENANCE MAN-
UAL (RE-CHO-A115) 5.3 Supplied Parts List”.
• Manipulator Cable (between manipulator and the YRC1000micro)
• Complete Set of Manuals (in the CD-ROM which is connected to the
USB connector)
• Programming pendant (optional)
• Programming pendant dummy connector (optional)
Fig. 2-1: Standard Four (to Six) Items
Programming
YRC1000micro Manipulator Pendant (optional)
Programming
Pendant Dummy
Ｒ
Ｒｏｂｏｔ
ｂｔＭ
Ｍａｎｕａｌｌ
READ ONLY MEMORY
Connector (optional)
(data)
Ｒｏｂｏｔ
ＲｂＭａｎｕａｌ
Ｍｌ
READ ONLY MEMORY
Manipulator Cable
CD memory
Complete Set of Manuals
(in the CD-ROM which is connected to the USB connector)
2-1
2.2 Order Number Confirmation
2.2 Order Number Confirmation

Confirm that the order number pasted on the manipulator and
YRC1000micro are the same.
The order number plates are affixed to the figure below.
<Example>
PRM.DATA
O/#
ORDER No.
NJ4014-1
*The GP8 model is used in this example.
2-2
3 Installation
3.1 Handling Procedure
3 Installation
3.1 Handling Procedure
WARNING
• Lift, move, or install the YRC1000micro by two or more persons.
– Approx. mass of YRC1000micro: 10.5 kg per unit
• Use a platform truck to carry theYRC1000micro.
– Avoid jarring, dropping, or hitting the YRC1000micro during
handling.
Failure to observe this instruction may cause falling or overturning of
the YRC1000micro during transportation, which may result in personal
NOTICE
• Avoid excessive vibration or shock while transporting or moving the
YRC1000micro.
Failure to observe this instruction may adversely affect the
performance of the YRC1000micro because it consists of precision
components.
The mass of the YRC1000micro is indicated on the nameplate. The

location and content of the nameplate is shown below.
Unpack and move the YRC1000micro by two or more persons.

Use a lifter to lift the YRC1000micro up to or put it down from the rack.
Also, use a platform truck to carry the YRC1000micro
• If the YRC1000micro must be manually carried, lifted up, or put
down, two persons must hold the bottom of the YRC1000micro
firmly.
ＹＲＣ１０００ｍｉｃｒｏ
ＴＹＰＥ
３ＰＨＡＳＥ　ＡＣ２００／２２０Ｖ
１ＰＨＡＳＥ　ＡＣ２００／２３０Ｖ
ＦＲＥＱＵＥＮＣＹ　５０／６０Ｈｚ
ＡＶＥＲＡＧＥ
ＦＵＬＬ　ＬＯＡＤ　ＣＵＲＲＥＮＴ
ＳＨＯＲＴ　ＣＩＲＣＵＩＴ　ＣＵＲＲＥＮＴ
ＭＡＸ　ＯＣＰ　Ｄｒｉｖｅ　Ｒａｔｉｎｇ
ＡＰＰＲＯＸ　ＭＡＳＳ
ＤＯＣＵＭＥＮＴ　Ｎｏ．ＰＳＪ／Ｅ－ＹＲＣ１０００ｍｉｃｒｏ－０００００
Ｏ／Ｎ
Ｓ／Ｎ
ＤＡＴＥ
２－１　Ｋｕｒｏｓａｋｉｓｈｉｒｏｉｓｈｉ，Ｙａｈａｔａｎｉｓｈｉ－ｋｕ，
Ｋｉｔａｋｙｕｓｙｕ　８０６－０００４　ＪａｐａｎＭＡＤＥ　ＩＮ　ＪＡＰＡＮ
ＹＲＣ１０００ｍｉｃｒｏ
ＴＹＰＥ
３ＰＨＡＳＥ　ＡＣ２００／２２０Ｖ
１ＰＨＡＳＥ　ＡＣ２００／２３０Ｖ
ＦＲＥＱＵＥＮＣＹ　５０／６０Ｈｚ
ＡＶＥＲＡＧＥ
ＦＵＬＬ　ＬＯＡＤ　ＣＵＲＲＥＮＴ
ＳＨＯＲＴ　ＣＩＲＣＵＩＴ　ＣＵＲＲＥＮＴ
ＭＡＸ　ＯＣＰ　Ｄｒｉｖｅ　Ｒａｔｉｎｇ
ＡＰＰＲＯＸ　ＭＡＳＳ
ＤＯＣＵＭＥＮＴ　Ｎｏ．ＰＳＪ／Ｅ－ＹＲＣ１０００ｍｉｃｒｏ－０００００
Ｏ／Ｎ
Ｓ／Ｎ
ＤＡＴＥ
２－１　Ｋｕｒｏｓａｋｉｓｈｉｒｏｉｓｈｉ，Ｙａｈａｔａｎｉｓｈｉ－ｋｕ，
Ｋｉｔａｋｙｕｓｙｕ　８０６－０００４　Ｊａｐａｎ
ＭＡＤＥ　ＩＮ　ＪＡＰＡＮ
3-1
3 Installation
3.2 Place of Installation
3.2 Place of Installation

he conditions listed below must be met before installing the
YRC1000micro.
• Ambient temperature must be 0 to 40° C during operation and -10 to
60°C during transportation and maintenance. Temperature change
must be 0.3°C/min or less.
• Humidity must be low with no condensation (10~90%RH).
• Only a small amount of dirt, dust, cutting oil, organic solvent, oil
fume, water or salt in the place. Especially, avoid adhesion of chemi-
cals, cutting oil including coolant, rust preventive oil, organic solvent,
etc. to the programming pendant.
• Free from flammable or corrosive liquid, gas, etc.
• Free from excessive shock, vibration, etc. (vibration: 0.5G or less)
• Free from large electrical noise. (An electrical noise source such as a
TIG welding device must not be placed close to the YRC1000micro.)
• Free from excessive microwaves, ultraviolet rays, X-rays, or radia-
tion.
• Altitude: 1000 m or less (To use the DX100 at the altitude over 1000
m, calculate the maximum ambient temperature by decreasing it by
1% per 100 m. The maximum allowable altitude is 2000 m. When the
altitude is 2000 m, the maximum ambient temperature during opera-
tion is 36°C.)
If the external electric noise applies, the alarm occurs and

the manipulator may stop.
NOTE When the alarm occurs and the manipulator stops,
“YRC1000micro MAINTENANCE MANUAL (RE-CHO-
A115)” and reset the alarm.
3-2
3 Installation
3.3 Location
3.3 Location
1. Install the YRC1000micro outside of the P-point maximum envelope of
the manipulator (outside of the safety fence.)
Fig. 3-1: Location of YRC1000micro
Safety fence
YRC1000micro
1000 mm or more
Front Panel
1000 mm or more
1000 mm or more
P-point maximum envelope

of Manipulator
Maximum Working Envelope of

Manipulator Including Tool or
Workpiece End
1000 mm or more
• Install the YRC1000micro where the manipulator can be clearly seen

during operation and can be operated safely.
• Install the YRC1000micro where its front panel can be operated eas-
ily.
• Install the YRC1000micro where it can be easily taken out of the rack
for
maintenance.
• Install the YRC1000micro where it can be inspected easily. (Make
sure to secure the maintenance area.)
• Do not place any obstacles in the following:
-within 100 mm from the rear panel (air outlet) of the

YRC1000micro
-within 100 mm from the front panel (air inlet) of the YRC1000micro
3-3
3 Installation
3.3 Location
Power supply cable

Air
100 mm
65 mm
PRM.DATA
O/#
120 mm
ORDER No.
NJ4014-1
120 mm
Air
65 mm
Space for Horizontal Installation

Top View
Air Air
120 mm 100 mm
Left Side View Front View

100 mm
Air
60mm
Power supply cable
120 mm
Air
60mm
Top View Space for Vertical Installation
Air
60mm
Air
120 mm
100 mm
Front View Right Side View
3-4
3 Installation
3.4 Installation Method
WARNING
• The length of the fixing screws for the YRC1000micro must be
equal to or shorter than the thickness of the metal fitting + 5 mm.
If the length exceeds the above, the components inside the
YRC1000micro may be damaged.
– Required screw size: M5 (length: equal to or shorter than the
thickness of the metal fitting + 5 mm or less)
– Required screw material: mild steel or higher-strength material
• Fix all the 8 fixing points to install the YRC1000micro.
• The YRC1000micro is free-standing type. Avoid jarring, dropping,
or hitting the YRC1000micro when installing it.
Failure to observe these cautions may result in personal injury or
equipment damage.
• The YRC1000micro is not dust-proof, drip-proof, or explosion-proof.
Be sure to use it in the environment free from explosive gas,
combustible gas, corrosive gas, condensation, and dust.
Failure to observe this caution may result in equipment damage.
• Do not get on top of the YRC1000micro.
Failure to observe this caution may result in personal injury or
equipment damage.
 Fixing Method
For the YRC1000micro in horizontal position, fix it to the rack by using the
tapped holes on the right and left side of it.
3-5
3 Installation
Tapped hole M5 (8 places)
Vertical installation Horizontal installation
(Left side view) (Front view) (Right side view)
Tapped hole M5 (4 holes)(depth: 5 mm) Tapped hole M5 (4 holes)(depth: 5 mm)

95 15.8
95 15.8
WARNING POWER SUPPLY AVERAGE
NJ3371
THE MANIPULATOR AND THE CONTROLLER Drawing No.
SERIAL No.
Approx Mass
ORDER.NO.
NJ1530
22.2
22.2
18.8 235 26.2 26.2 235 18.8
3-6
4 Connection
4 Connection
WARNING
which has lockout/tagout function.
That is to say, supply one or more devices to turn OFF the power
supply of the manipulator, servo track, and controller, and install
them outside the enclosure in which the manipulator and servo
track are installed. The devices must be able to be locked out and
tagged out.
manipulator.
• The system must be grounded.
shock. Especially in the case where the YRC1000micro for European
standards is used in Japan, difference in conditions related to electricity
such as grounding methods may cause increase in leakage current,
which may result in electric shock.
• Before wiring, make sure to turn OFF the primary power supply, and
put up a warning sign. (e.g. DO NOT TURN THE POWER ON)
Failure to observe this warning may result in injury or electric shock.
• Do not remove the top panel of the YRC1000micro.
Failure to observe this warning may result in injury or electric shock.
• Any occurrence during wiring of the YRC1000micro emergency
stop circuit is the user’s responsibility. Do an operation check once
the wiring is completed.
Failure to observe this warning may result in personal injury or
mechanical failure.
• Wiring must be performed only by authorized personnel.
Incorrect wiring may result in fire or electric shock.
• Perform wiring in accordance with the rated capacity as specified in
the Instructions.
Incorrect wiring may result in fire or mechanical failure.
• Do not handle the circuit board directly by hand.
The IC board may malfunction due to electrostatics.
NOTICE
• Do not touch the circuit board directly by hand.
Failure to observe this instruction may result in malfunction of the IC
due to static electricity.
4-1
4 Connection
4.1 Notes on Cable Junctions
4.1 Notes on Cable Junctions

• The cables that connect the controller to peripheral device are low
voltage circuits. Keep controller signal cables away from the primary
power circuit. High voltage power lines should not be run in parallel
to controller signal cables. If running parallel cables is unavoidable,
use metal ducts or conduit to isolate electrical signal interference. If
cables must be crossed, run the power cables perpendicular across
the signal cables.
• Confirm the connector and cable numbers to prevent mis-connection
and equipment damage. One connects the manipulator and
YRC1000micro. Another connects the YRC1000micro and periph-
eral device. A wrong connection can cause damage to electronic
equipment.
• Clear the area of all unauthorized personnel while making cable con-
nections. Place all cables in a covered cable channel in the floor.
Fig. 4-1: YRC1000micro Cable Junction Diagram
SAFETY
FIRST
PIPING LEAD
cable channel
4-2
4 Connection
4.2 Power Supply
4.2 Power Supply
4.2.1 Power Supply
The power failure processing circuit operates when there is

a black out or drop in voltage, and the servo power turns
NOTE OFF.
Connect the power supply to a stable power source that is
not prone to power fluctuations.
The three-phase power supply comprising 200/220 VAC at 50/60 Hz is

used.
The single-phase power supply comprising 200/230 VAC at 50/60 Hz can
also be used for the following models:
MotoMINI, GP7, GP8
Fig. 4-2: Input Power Connection
YRC1000micro
Circuit Noise
ACIN protector filter
R
Three-phase
200V/220VAC 50/60Hz S To CBB circuit
T (main circuit)
*
Single-phase
200V/230VAC 50/60Hz
To CPS circuit
(control circuit)
* Following models correspond single-phase

GP7, GP8, MotoMINI
WARNING
4-3
4 Connection
4.2 Power Supply
4.2.2 Noise Filter Installation

Insert the three-phase/single-phase noise filter into the primary station of
the non-fuse breaker filter if noise coming from the power source is heard.
Fig. 4-3: Connection of Three-Phase Noise Filter
YRC1000micro
Three-phase
noise filter Circuit Noise
ACIN protector filter
Three-phase R
200V/220VAC 50/60Hz S To CBB circuit
T (main circuit)
*
Single-phase
200V/230VAC 50/60Hz Single-phase
noise filter
R
To CPS circuit
T (control circuit)

GP7, GP8, MotoMINI
WARNING
4-4
4 Connection
4.2 Power Supply
4.2.3 Leakage Breaker Installation

When connecting the leakage breaker to the controller power supply
wiring, use a leakage breaker which can handle high frequencies from the
YRC1000micro inverter. Leakage breakers which cannot handle high
frequencies may malfunction.
Table 4-1: Example of High Frequency Leakage Breaker

Maker Model
Mitsubishi Electric Co., Ltd. NV class (manufactured in 1988 or later)
Fuji Electric Co., Ltd. EG, SG Series (manufactured in1984 or later)
Even with a leakage breaker installed, there is still a possibility of some

high frequency current leakage from the YRC1000micro inverter.
However, this current leakage presents no safety risks.
Fig. 4-4: Connection of the Leakage Breaker

Leakage
Breaker YRC1000micro
Circuit Noise
3-phase R ACIN protector filter
200/220 VAC at 50/60 Hz
S
To CBB board
T
(main circuit)
To CPS board
(control circuit)
Leakage
YRC1000micro
Breaker
Circuit Noise
Single-phase * ACIN protector filter
R
200/230 VAC at 50/60 Hz To CBB board
T (main circuit)
(for 1-phase)
To CPS board
(control circuit)

GP7, GP8, MotoMINI
4-5
4 Connection
4.2 Power Supply
4.2.4 Primary Power Supply Breaker Installation

Install the primary power supply breaker as shown below.
WARNING
which has lockout/tagout function.
That is to say, supply one or more devices to turn OFF the power
supply of the manipulator, servo track, and controller, and install
them outside the enclosure in which the manipulator and servo
track are installed. The devices must be able to be locked out and
tagged out.
manipulator.
Fig. 4-5: Installation of the Primary Power Supply Breaker
Breaker Breaker
Controller
YRC1000micro
for Positioner
Table 4-2: YRC1000micro Power Capacity, Cable Sizes, and Breaker

Capacities
Manipulator Power Cable size (size of terminal) Capacity of
capacity (In case of Cabtyre cable breaker in
(three cores)) YRC1000m
(kVA)
icro (A)
(mm2)
MotoMINI 0.5 3.5 16
GP7, GP8 1.0 3.5 16
GP12 1.5 3.5 16
The maximum load value (payload, operation speed, and frequency, etc.)
is displayed.
However, the power capacity is different depending on work conditions.
Inquire at the nearest branch office listed on the back cover for information
when selecting the transformer.
4-6
4 Connection
4.2 Power Supply
The power capacity shown above is the continuous rating

value.
NOTE
When the manipulator is rapidly accelerated, the power
capacity of several times the continuous rating value may
be needed instantly.
The power capacity is changed when using an external axis.

SUPPLE For details of the power capacity with an external axis,
-MENT
please contact to your YASKAWA representative or check
the rated value name plate on the controller.
4-7
4 Connection
4.3 Connection Methods
A connection diagram between the manipulator and the YRC1000micro

(manipulator cable), the primary power supply and the YRC1000micro
(primary power supply cable), and between the YRC1000micro and the
programming pendant (programming pendant cable) are shown below.
Please be noted that the programming pendant and the programming

pendant cable are optional.
For their connection methods, refer to the following.
Fig. 4-6: Cable Connection
Programming pendant
Primary
power
CO
NTR
-X8 OLLER
1
Programming pendant cable supply
YRC1000micro primary power

supply cable
Prepared by user.
Manipulator cable
Mounting Base
4.3.1 Connecting the Primary Power Supply
 Power Cable Connection

1. Prepare the primary power supply cable by using the manipulator
cable using the primary power supply-side connector delivered with
the YRC1000micro.
Refer to table 4-3(a) “For Three-Phase Power Supply (ACIN)” and
table 4-3(b) “For Single-Phase Power Supply (ACIN) (Only for GP7,
GP8 and MotoMINI)” for the pin assignment of the YRC1000micro.
Model of YRC1000micro Power Supply Connector (ACIN)

• YRC1000micro-side connector: CE05-2A18-10PD-D
• Primary power supply-side connector: CE05-8A18-10SD-D-BAS
　　　　　　　　　　　　　　　　　 Manufactured by DDK
　　　　　　　　　　　　　　　　　 (the supplied part of
　　　　　　　　　　　　　　　　　 the YRC1000micro)
When mounting the YRC1000micro vertically, prepare a straight type
connector.
Fig. 4-7: Power Supply Connector (ACIN)
YRC1000micro-side connector
YRC1000micro
Primary power supply-side connector
4-8
4 Connection
Table 4-3(a): For Three-Phase Power Supply (ACIN)

Pin No. Signal Name Description
A L1 AC input (L1/R-phase)
B L2 AC input (L2/S-phase)
C L3 AC input (L3/T-phase)
D P.E. Protective grounding
Table 4-3(b): For Single-Phase Power Supply (ACIN) (Only for GP7, GP8 and
MotoMINI)
Pin No. Signal Name Description
A L1 AC input (L1/R-phase)
B N.C. Not available
C L3 AC input (L3/T-phase)
D P.E. Protective grounding
2. Confirm that the circuit protector of the YRC1000micro is turned OFF.

3. Confirm that the primary power supply is turned OFF.
4. Connect the primary power supply cable.
DANGER
• Make sure to use the supplied connector for the primary power
supply connection.
• Tighten the cable clamp to prevent the cable from breaking.
Failure to observe these cautions may result in electric shock or
equipment failure.
(1) Grounding method:

– Perform grounding as countermeasures against noise and electric
shock.
– Follow the steps below:
I) Connect the ground wire to the D terminal of the YRC1000mi-
cro power connector (ACIN).
II) Perform grounding in accordance with all relevant local and
national electrical codes. The size of ground wire must the
same as listed on table 4-2 “YRC1000micro Power Capacity,
Cable Sizes, and Breaker Capacities” .
NOTE The ground wire must be supplied by the user.
4-9
4 Connection
Fig. 4-8: Exclusive Grounding
ACIN
YRC1000micro
Exclusive grounding
(ground resistance: 100 ohms or less)
Do not connect the ground wire with the wires for the elec-
tric power source, the welder, etc.
NOTE
If using metallic ducts, metallic conduits, or cable trays for
cabling, perform grounding in accordance with all relevant
governmental regulations.
4-10
4 Connection
4.3.2 Connecting the Manipulator Cable
1. Remove the package, and take out the manipulator cable. Connect
the cable to the connector on the back side of YRC1000micro.
(1) Confirm that the connector lever of manipulator cable is at the
initial position. Then insert the manipulator cable straight into the
connector on the front side of the YRC1000micro. (The connector
is connected in the state that it is turned 90 degrees to the left.)
– Insert the manipulator cable to a fixed depth, then the lever rotate
about 30 degrees forward automatically.
(2) Push the lever with the hand and turn it 30 degrees approx. to lock
it. Then press the positions as following figure to confirm the lever
is locked.
When pull out the connector, push the unlock part of the lever to unlock and turn
the lever about 60 degrees to return to the initial position. Then pull out the
connector straight.
Fig. 4-9: Connection of the Manipulator Cable
CONTROLLER
-X81
Manipulator cable
Inserting Removing
Push the unlock part
Initial position of
lever (60
)
Insert
Rotate Initial position Rotate
(30 automatically of lever manually
)
Press these positions. Rotate

Confirm the lever is locked.
(60 manually
)
Pull out
4-11
4 Connection
2. Connect the manipulator cable to the YRC1000micro.

– Confirm the connector number of manipulator cable. Push the cable
connector into the manipulator side connector firmly, and then
tighten it securely.
WARNING
• The top panel of the YRC1000micro should be kept closed unless,
its optional board is added or replaced.
Failure to observe this warning may result in electric shock or
mechanical failure.
4-12
4 Connection
4.3.3 Connecting Programming Pendant (Optional)

1. Connect the programming pendant cable to the connector connection
(-X81) on the front panel of the YRC1000micro.
Fig. 4-10: Connection of Programming Pendant Cables
CONTROLLER
-X81
Programming pendant cable
The manipulator, YRC1000micro, and programming pendant connections

are now complete.
If the programming pendant is not used, connect the pro-

NOTE gramming pendant dummy connector to the connector con-
nection (-X81).
4-13
5 Turning ON and OFF the Power Supply
5.1 Turning ON the Main Power Supply
WARNING
• When turning ON the YRC1000micro power, confirm that no person
is present in the manipulator's operating range and that the operator
is in a safe location.
The main power supply is turned ON when the main power supply switch
of the YRC1000micro is turned to “ON” position, and then the initial
diagnosis are performed in the YRC1000micro and the startup window is
shown on the programming pendant screen.
Fig. 5-1: Main Power Supply
YRC1000micro
Main power supply switch
5-1
5.1.1 Initial Diagnosis

The initial diagnosis are performed in the YRC1000micro when main
power is turned ON, and the startup window is shown on the programming
pendant screen.
Fig. 5-2: Startup Window
NOTE The start-up window on the programming pendant may

change without any notification.
5.1.2 When Initial Diagnosis Are Complete

When the power supply is turned OFF, the YRC1000micro saves all
condition data, including:
• Mode of operation
• Called job (active job if the YRC1000micro is in the play mode; edit
job if the YRC1000micro is in the teach mode) and the cursor posi-
tion in the job.
Fig. 5-3: Initial Window
5-2
WARNING
• Make sure that a system administrator stores the key of the Mode
Switch of the programming pendant.
After operation is completed, the key must be removed and stored
by the system administrator.
Failure to observe this instruction may result in personal injury due to
inappropriate or unintended manipulator's operation. If the
programming pendant is dropped with the key inserted, the key or the
Mode Switch may be damaged.
5-3
5.2 Turning ON the Servo Power
5.2.1 During Play Mode

The worker’s safety is secure if the safety plug of the safety fence is
turned ON.
• When the safety fence is closed, press [SERVO ON READY] on the
programming pendant to turn ON the servo power supply.
[SERVO ON] lamp will light, when the servo power is turned ON.
SERVO ON
READY
Light
SERVO ON
NOTE When the safety fence is open, the servo power supply can-
not be turned ON.
5.2.2 During Teach Mode

1. Press [SERVO ON READY] on the programming pendant to turn ON
the servo power supply. [SERVO ON] lamp will flicker when the servo
power is turned ON.
SERVO ON
READY
Flicker
SERVO ON
2. The servo power is turned ON and [SERVO ON] lamp on the

programming pendant lights up when the operator grips the Enable
switch.
3. The servo power is turned OFF and [SERVO ON] lamp turns OFF on
the programming pendant when the operator releases the Enable
switch. Perform the steps 1 and 2 to turn ON the servo power again.
5-4
Servo Power ON/OFF --- Enable Switch

When the operator grips the Enable switch, the servo power
turns ON. However, if the operator squeezes the switch until
a “click” is heard, the servo power will turn OFF.
SUPPLE
-MENT Servo On
Release -> OFF Squeeze -> ON Squeeze Tightly -> OFF
When performing emergency stop using the programming

NOTE pendant or external signal, the servo power-on operation
from the Enable switch is canceled. When turning the
power back ON, follow the previously listed instructions.
 The Valid / Invalid setting of safety signals in operation modes.

Safety functions of the robot system are switched to valid or invalid
depending on its operation mode. Particularly in teach mode, be aware
that the safety plug signal input becomes invalid, and then perform the
operation with great caution.
Operation Mode Teach Mode Play Mode
Safety Signal
External Emergency Stop (EXESP) Valid Valid
Programming Pendant Emergency Stop Valid Valid
(PPESP)
Safety Fence (Safety plug) Invalid Valid
Programming Pendant Enable SW (PPDSW) Valid Invalid
Protected stop signal (PROTECTED STOP) Valid Valid
Manipulator Overrun (OT) Valid Valid
Speed Limit Valid Invalid
5-5
5.3 Turning OFF the Power Supply
5.3.1 Turning OFF the Servo Power (Emergency Stop)

The manipulator cannot be operated when the emergency stop button is
pressed and the servo power supply is turned OFF.
• Press the emergency stop button and the servo power supply is
turned off.
The emergency stop button is located on the upper right of the pro-
gramming pendant.
• The brake operates once the servo power supply is turned OFF, and
the manipulator can no longer operate.
The emergency stop mode can be operated at any mode.
(Teach mode, Play mode, Remote mode)
Programming Pendant
EMERGENCY STOP
Door upper side
5.3.2 Turning OFF the Main Power

After turning OFF the servo power, turn OFF the main power.
• When the main power switch of the YRC1000micro is turned to
“OFF” position, the main power is turned OFF.
YRC1000micro
Main power supply switch
When an hour glass pointer is appearing on the program-

ming pendant screen, the data writing is in process.
NOTE If turn the YRC1000micro power supply OFF during the
data writing, the data may be broken. Do not turn the power
supply OFF when the hour glass pointer is seen on the pro-
gramming pendant.
5-6
5.3.3 The Method of Stopping Manipulator Operation

The following 3 categories are stop functions of the manipulator.
– Stop Category 0
The immediate insulation of the motor power source to servo motor
causes the stop.
After the motor power is insulated, the manipulator and the external
axis decelerate by the brake and stop.
The manipulator and the external axis may run off the operation path
(Path).
– Stop Category 1
The manipulator and the external axis are controlled on the
operation path, decelerate and then stop.
After the stop, the manipulator and the external axis are locked by
the brake and the motor power is insulated.
– Stop Category 2
The manipulator and the external axis are controlled on the
operation path, decelerate and then stop.
After the stop, the stop position is retained in a state that the motor
power is being supplied.
Besides the safety signals, the YRC1000micro robotic system stops the
manipulator by the above three stop categories.
The method of stopping the manipulator by each stop signal is shown in
the following table.
5-7
Method of Stopping Manipulator

Signal Operation
Teach Mode Play Mode
External Emergency Stop (EXESP) Stop Category 0 Stop Category 1
Programming Pendant Emergency Stop Category 0 Stop Category 1
Stop (PPESP)
Safety Fence (Safety Plug) (SAFF) ― Stop Category 1
Programming Pendant Enable Stop Category 0
―
Switch (PPDSW)
Protection Stop Signal Stop Category 0 Stop Category 0
(PROTECTED STOP)
Manipulator Overrun (OT) Stop Category 0 Stop Category 0
Programming Pendant (HOLD) Stop Category 2 Stop Category 2
- : Invalid
Method of Stopping Manipulator

Mode Change
Operation
Teach mode to play mode Stop Category 0
Play mode to teach mode Stop Category 1
WARNING
When the stop category 1 is used, the stopping distance and the
stopping time are longer than those with the stop category 0.
Thus, when using the stop category 1, perform the risk assessment of
the whole system by considering increased stopping distance and
stopping time.
5-8
6 Test of Program Operation
DANGER
6-1
DANGER
WARNING
damage.
Switch of the programming pendant. After operation is completed,
the key must be removed and stored by the system administrator.
6-2
6.1 Movement of the Axes
6.1 Movement of the Axes

Move each axis of the manipulator by pressing the axis keys on the
programming pendant.
This figure illustrates each axis of motion in the joint coordinates.
Be sure to remove all items from the area before moving the
NOTE manipulator.
For details on the appropriate position of the fixture, the
INSTRUCTIONS for the manipulator.
Z+
U-Axis U+
R-Axis X+ B-Axis
R+
Y+
B+
X-
R- Z+
Y- T+
Z-
U-
B- T-Axis
Z-
X- X+ X- X+
T-
S- S+ R- R+
L-Axis
Y- Y+ Y- Y+ Y-
L- L+ B- B+ L-
Y+
L+
Z- Z+ Z- Z+
U- U+ T- T+
S-Axis
E- E+ 8- 8+ X- X+
S- S+
Axis Keys 6-axis robot
S Rotates main body R Rotates upper arm

X+
R+
X-
R-
X- X+
S- S+
L Moves lower arm forward/backward B Moves wrist up/down
Y+
B+
Y-
L-
Y+
L+
Y-
B-
U Moves upper arm up/down T Rotates wrist

Z+
U+
Z+
T+
Z- Z-
U- T-
6-3
6.2 Manual Brake Release Function

When the manipulator moves to unexpected places because of system or
operation errors and the operation can not be maintained, using the brake
release unit (optional) enables to release the brake of the arbitrary
working axis of the manipulator and operate manually.
Table 6-1: Brake Release Unit (Separate Unit Type)
Brake release unit side Manipulator side

4000
1CP
電源軸保持解放
POWER BRAKE RELEASE
1ＢＣ
ON
(1CN)
OFF
Manipularor type
S L U R B T
2CN
(2CN)
Brake release unit cable

Unit：mm
Power supply cable: 2 m (standard)
Weight: 3 kg
This brake release unit can be used in a state that the motor servo ON can
not be executed from the YRC1000micro controller.
Be very careful about the followings when using.
DANGER
• Before performing brake-release operation for a manipulator,
carefully read the MOTOMAN-□□□ INSTRUCTIONS of the
manipulator, and securely fix the axis whose brake will be released.
When the brake is released, depending on the axis and its posture, the
axis may fall down due to its own weight or may abruptly move upward
due to the attached balancer or weight, which may result in personal
• Release the brake of only one axis at one brake-release operation.
If the brakes of two or more axes must be released simultaneously out
of necessity, pay careful attention to ensure the safety of the
surrounding operation environment because the manipulator's arm may
move in an unexpected way.
equipment damage.
In case of purchase, inquire at the nearest YASKAWA branch office listed

on the back cover.
6-4
System Up
7 Security System
7.1 Protection Through Security Mode Settings
7 Security System

The YRC1000micro modes setting are protected by a security system.
The system allows the operation and the modification of settings
depending on the level of the operator. Fully understand the operator's
level to perform the proper operation and management.
7.1.1 Security Mode

There are five security modes “operation mode, editing mode,
management mode, safety mode and one time manage mode”. For the
editing mode, management mode and safety mode, a user ID is required.
For the editing mode and the management mode, the user ID must be 4 or
more and 16 or less characters with number(s) and symbol(s). As for the
safety mode, it must be 9 or more and 16 or less characters with
number(s) and symbol(s).
(Significant numbers and symbols: “0 to 9”, “-”, “.”.)
Operating the one time manage mode requires to enter the security code,
which is issued by YASKAWA sales representative.
Table 7-1: Security Mode Descriptions

Security Mode Explanation
Operation Mode This mode allows basic operation of the robot (stopping,
starting, etc.) for people operating the robot work on the line.
Editing Mode This mode allows the operator to teach and edit jobs and
robot settings.
Management This mode allows those authorized to set up and maintain
Mode robot system: parameters, system time and modifying user
IDs.
Safety Mode This mode allows the operator to setup the safety function,
and able to edit the files related to the safety function.
When the optional function “functional safety” is valid, the
security is changed to the safety mode to edit the some files,
such as the tool file.
Refer to “YRC1000micro OPTIONS INSTRUCTIONS FOR
FUNCTIONAL SAFETY FUNCTION (HW1484544)” for more
details.
One Time This mode allows to operator to maintain the mode which is
Manage Mode higher than the management mode.
The loading limitation of the batch data (CMOS.BIN), the
parameter batch data (ALL.PRM) and the functional
definition parameter (FD.PRM) are removed.
7-1
7 Security System
Table 7-2: Menu & Security Mode (Sheet 1 of 4)

Main Menu Sub Menu Allowed Security Mode
DISPLAY EDIT
JOB JOB Operation Edit
SELECT JOB Operation Operation
CREATE NEW JOB1) Edit Edit
MASTER JOB Operation Edit
JOB CAPACITY Operation -
RES. START (JOB)1) Edit Edit
RES. STATUS2) Operation -
CYCLE Operation Operation
TRASH JOB LIST3) Edit Edit
JOB EDIT (PLAY) Edit Edit
PLAY EDIT JOB LIST Edit Edit
VARIABLE BYTE Operation Edit
INTEGER Operation Edit
DOUBLE Operation Edit
REAL Operation Edit
STRING Operation Edit
POSITION (ROBOT) Operation Edit
POSITION (BASE) Operation Edit
POSITION (ST) Operation Edit
LOCAL VARIABLE Operation -
FLAG Operation Edit
IN/OUT EXTERNAL INPUT Operation Edit
EXTERNAL OUTPUT Operation Edit
GENERAL PURPOSE INPUT Operation Operation
GENERAL PURPOSE OUTPUT Operation Operation
SYSTEM INPUT Operation -
SYSTEM OUTPUT Operation -
RIN Operation -
CPRIN Operation -
REGISTER Operation Management
AUXILIARY RELAY Operation -
CONTROL INPUT Operation -
PSEUDO INPUT SIG Operation Management
NETWORK INPUT Operation -
NETWORK OUTPUT Operation -
ANALOG OUTPUT Operation -
SV POWER STATUS Operation -
LADDER PROGRAM Management Management
I/O ALARM Management Management
I/O MESSAGE Management Management
TERMINAL Operation Edit
I/O SIMULATION LIST Management Management
SERVO ON FACTOR Management -
SERVO OFF MONITOR Operation -
7-2
7 Security System

DISPLAY EDIT
ROBOT CURRENT POSITION Operation -
COMMAND POSITION Operation -
SERVO MONITOR Management -
WORK HOME POS Operation Edit
SECOND HOME POS Operation Edit
DROP AMOUNT Management Management
POWER ON/OFF POS Operation -
TOOL Edit Edit
INTERFERENCE Management Management
SHOCK SENS LEVEL Operation Edit
USER COORDINATE Edit Edit
HOME POSITION Management Management
MANIPULATOR TYPE Management -
ANALOG MONITOR Management Management
OVERRUN&S-SENSOR1) Operation Operation
LIMIT RELEASE1) Edit Edit
ARM CONTROL1) Management Management
SHIFT VALUE Operation -
SOFTLIMIT SETTING Management Management
SHOCK SEN LV.(CURRENT) Operation -
SYSTEM INFO VERSION Operation -
MONITORING TIME Operation Management
ALARM HISTORY Operation Management
I/O MSG HISTORY Operation Management
USER DEFINITION MENU Operation Edit
SECURITY Operation Operation
CPU RESET Operation Edit
EX.MEMORY LOAD Edit -
SAVE Operation -
VERIFY Operation -
DELETE Operation -
DEVICE Operation Operation
FOLDER Operation Management
INITIALIZE1) Operation -
7-3
7 Security System

DISPLAY EDIT
PARAMETER S1CxG Management Management
S2C Management Management
A1P Management Management
RS Management Management
S1E Management Management
SETUP TEACHING COND. Edit Edit
OPERATE COND. Management Management
OPERATE ENABLE Management Management
FUNCTION ENABLE Management Management
JOG COND. Management Management
PLAYBACK COND. Management Management
FUNCTION COND. Management Management
DISPLAY COLOR COND. Edit Edit
DATE/TIME Management Management
GRP COMBINATION2) Management Management
SET WORD Edit Edit
RESERVE JOB NAME Edit Edit
USER ID Edit Edit
SET SPEED Management Management
KEY ALLOCATION Management Management
JOG KEY ALLOC. Edit Management
RES. START (CNCT) Management Management
AUTO BACK SET Management Management
WRONG DATA LOG Edit Management
ENERGY SAVING FUNCTION Edit Management
ENCODER MAINTENANCE Edit Management
SAFETY FUNC. M-SAFETY SIGNAL ALLOC Operation Management
TIMER DELAY SET Operation Management
SAFETY LOGIC CIRCUIT Operation Management
PM PM (REDUCER) Operation Management
INSPECTION RECORD Operation Management
OPERATING STATUS Operation Edit
JOB MONITOR Operation Edit
STEP DIAGNOSIS Operation Edit
ROBOT MONITOR Operation Edit
7-4
7 Security System

DISPLAY EDIT
DISPLAY CHANGE FONT Operation Operation
SETUP CHANGE BUTTON Operation Operation
INITIALIZE LAYOUT Operation Operation
CHANGE WINDOW PATTERN Operation Operation
TOUCH OPE. SETTING Operation Operation
GENERAL WEAVING Operation Edit

GENERAL DIAG. Operation Edit
COMMON TO I/O VARIABLE CUSTOMIZE Operation Operation
ALL
APPLICATIONS
1 Displayed in the teach mode only.
2 Displayed in the play mode only.
3 Displayed when the job reconstruction function is valid.
*As for the menu and the security mode when the functional safety is valid, refer to
“YRC1000micro OPTIONS INSTRUCTIONS FOR FUNCTIONAL SAFETY
FUNCTION (HW1484544)” for more details.
7-5
7 Security System
7.1.1.1 Changing the Security Mode

1. Select {SYSTEM INFO} under the main menu.
– The sub menu appears.
2. Select {SECURITY}.
– The selection window of security mode appears.
7-6
7 Security System
– Security mode can be selected from “OPERATION MODE”,

“EDITING MODE”, “MANAGEMENT MODE” or “SAFETY MODE”.
3. Select the security mode to change.

– If the selected security mode is lower than the current security level,
the password will be required.
4. Enter the password.

– The following user ID numbers are set as default.
Editing Mode: [0000000000000000]
Management Mode: [9999999999999999]
Safety Mode: [5555555555555555]
5. Press [ENTER].
– If the password is correct, the security mode will be changed.
7-7
7 Security System
 Procedures to Change the Mode to the One Time Management Mode
1. Change to the management mode.

– When changing to the management mode, security mode can be
selected from “OPERATION MODE”, “EDITING MODE”,
“MANAGEMENT MODE”, “SAFETY MODE” or “ONE TIME
MANAGE MODE”.
2. Select “ONE TIME MANAGE MODE”.

– A character string input keypad is displayed. Input the one time
security code, which is issued by YASKAWA sales representative.
– If the password is correct, the security mode will be changed.
7-8
7 Security System
7.1.2 User ID
User ID is required for the operation of the editing mode, the management
mode or the safety mode.
For the editing mode and the management mode, the user ID consists of 4
or more and 16 or less characters which are number(s) and symbol(s).
For the safety mode, the user ID consists of 9 or more and 16 or less
characters which are number(s) and symbol(s).
(Significant numbers and symbols: “0 to 9”, “-”, “.”.)
7.1.2.1 Changing a User ID
The user ID can be modified only in the editing mode, management mode
or safety mode. Higher security modes can modify the user ID of lower
security modes.
1. Select {SETUP} under the main menu.

2. Select {USER ID}.

– The USER ID window appears.
7-9
7 Security System
3. Select the desired ID.

– The character input line appears, and a message “Input current ID
no. (4 or more digits)” appears.
(As for the safety mode, 9 or more digits) Select the desired ID.
4. Input the current ID and press [ENTER].

– When the correct user ID is entered, a new ID is requested to be
input. “Input new ID no.(4 or more digits)” appears.
(As for the safety mode, 9 or more digits)
5. Input new ID and press [ENTER].

– User ID is changed.
7-10
7 Security System
7.1.3 Main CPU SD Card ID

This section explains about the display of the Main CPU SD Card ID.
The main CPU SD Card ID is necessary to issue the one time security
code.
1. Change the security mode to the management mode.
2. Select {SYSTEM INFO} in the main menu.

3. Select {VERSION}.
– VERSION window appears.
7-11
7 Security System
4. Select {UTILITY} under the pull-down menu.

– “SD Card ID” appears.
5. Select “SD Card ID”.

– SD Card ID dialog of the main CPU appears.
7-12
8 System Setup
8 System Setup
WARNING
• Data related to the system's basic functions can be modified;
however, inappropriate modification may cause fatal incident or
failure for the manipulator or the whole system.
Before performing system setup, carefully read and understand the
instructions, and make sure to observe the following precautions.
• System setup must be performed under the supervision of the
administrator.
NOTICE
• Make sure to perform data storage and management whenever
creating or modifying data. (Use our recommended SD card.)
• YASKAWA is not responsible for any incident or failure caused by
inappropriate setting of data.
8-1
8 System Setup
8.1 Home Position Calibration
DANGER
8-2
8 System Setup
DANGER
WARNING
damage.
Failure to observe this instruction may result in injury due to
8-3
8 System Setup
8.1.1 Home Position Calibration
Teaching and playback are not possible before the comple-

tion of the home position calibration.
NOTE In a system with two or more manipulators, the home posi-
tion of all the manipulators must be calibrated before start-
ing teaching or playback.
Home position calibration is an operation in which the home position and

absolute encoder position coincide. Although this operation is performed
prior to shipment at the factory, it needs to be performed again for
following cases.
• Change the combination of the manipulator and YRC1000micro
• Replacement of the motor or absolute encoder
• Stored memory is cleaned. (by weak battery, etc.)
• Home position deviation caused by hitting the manipulator against a
workpiece, etc.
To calibrate the home position, use the axis keys to calibrate the home
position mark on each axis so that the manipulator can take its posture for
the home position. There are two operations for home position calibration:
• All the axes can be moved at the same time: Recalibrate the home
position by moving all the axes together if changing the combination
of manipulator and circuit board.
• Axes can be moved individually: Recalibrate the home position for
the individual axes that were affected by the replacement, if replac-
ing the motor or absolute encoder.
If the absolute data of its posture for the home position is already known,
set the absolute data again after completing home position registration.
Home Position
The home position is the position in which the pulse value is
SUPPLE
-MENT “0” for each axis and the posture at the position is the home
position posture. See chapter 8.1.3 “Home Position Pos-
ture of Manipulator” .
8-4
8 System Setup
8.1.2 Calibrating Operation
NOTE Home position calibration screen is shown only in the secu-

rity mode or the management mode.
8.1.2.1 Registering All Axes at One Time

1. Select {ROBOT} under the main menu.
– The sub menu appears
2. Select {HOME POSITION}.

– The HOME POSITIONING window appears.
8-5
8 System Setup
3. Select {DISPLAY} under the menu.

– The pull-down menu appears.
– The same operation as the instruction 3 can also be performed by

selecting [PAGE], and selection box appears.
4. Select the desired control group.

– Select the control group for HOME POSITIONING.
– The control group can also be selected by pressing [PAGE].
8-6
8 System Setup
5. Select {EDIT} under the menu.

6. Select {SELECT ALL AXES}.

– The confirmation dialog box appears.
7. Select {YES}.
– The position data of all axes which is shown are registered as home
position. When {NO} is selected, the registration will be canceled.
8-7
8 System Setup
8.1.2.2 Registering Individual Axes

– Perform the step 3 and 4 of the “Registering All Axes at One Time”
to select the desired control group.
4. Select the axis to be registered.
– Move the cursor to the axis to be registered, and select it.
– A confirmation dialog box appears.
5. Select {YES}.
– The position data of the axis which is shown is registered as home
position. When {NO} is selected, the registration will be canceled.
8-8
8 System Setup
8.1.2.3 Changing the Absolute Data

To change the absolute data of the axis for which the home position
calibration is completed, perform the following:
– By performing the step 3 and 4 of the “Registering All Axes at One
Time”, the HOME POSITIONING window is shown and the desired
control group can be selected.
4. Select the absolute data to be registered.
– The number can be entered.
5. Enter the absolute data by using the numeric keys.

6. Press [ENTER].
– Absolute data is modified.
8-9
8 System Setup
8.1.2.4 Clearing Absolute Data

– The sub menu appears
– By performing the step 2, 3 and 4 of the “Registering All Axes at One
Time”, the HOME POSITIONING window is shown and the desired
control group can be selected.
3. Select {DATA} under the main menu.
– The pull-down menu appears
4. Select [CLEAR ALL DATA].

8-10
8 System Setup
5. Select {YES}.
– All absolute data are cleared.
– When {NO} is selected, the registration will be canceled.
8-11
8 System Setup
8.1.3 Home Position Posture of Manipulator

The home position posture of a commonly used 6-axis vertically-
articulated manipulator is shown below.
° line
Angle of the B-axis center
with respect to
the U-axis center line (-0 )
Angle of the U-axis with respect to
the horizontal line of the ground (-0 )
Angle of the L-axis

with respect to the vertical line
to the ground (-0 )
The home position posture of each manipulator differs

NOTE depending on its model. Refer to the INSTRUCTIONS for
the manipulator corresponding to its model.
8-12
8 System Setup
8.2 Setting the Second Home Position (Check Point)
DANGER
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.
8-13
8 System Setup
DANGER
Connect the external emergency stop button to the 4-14 pin and
5-15 pin of the Safety connector (Safety)
WARNING
• When performing the position check operation for the second home
position (check point), pay careful attention to ensure the safety of
the surrounding operation environment.
If the “OUT OF RANGE (ABSO DATA)” alarm occurs, an error in the
encoder communication related components may be the cause of the
alarm. In this case, the manipulator may move in an unexpected
direction, which may result in personal injury and/or equipment
damage.
damage.
8-14
8 System Setup
8.2.1 Purpose of Position Check Operation
If the absolute number of rotation detected at power supply ON does not

match the data stored in the absolute encoder the last time the power
supply was turned off, alarm 4107 “OUT OF RANGE (ABSO DATA)” is
issued when the controller power is turned ON.
There are two possible causes of this alarm:
• An error was found in the encoder communication related compo-

nents.
• No error was found in the encoder communication related compo-

nents, but the manipulator was moved after the power supply was
turned OFF.
If there is an error in the encoder communication related components, the

manipulator may stall when playback is started. If the absolute data
allowable range error alarm has occurred, playback and test runs will not
function and the position must be checked.
"OUT OF RANGE (ABSO DATA)" alarm occurs
Reset alarm
Turn ON servo power
Procedure After Alarm Occurs
1, Position confirmation
operation
2, Compare second NG
home position (check point)*
pulses with current
position pulses Alarm occurs again
OK
3, Correct defective axis
• Replace encoder communication
related components
• Home position calibration
Position checking point
Playback possible
1, Position Check
After the “OUT OF RANGE (ABSO DATA)” alarm occurs, move to the
second home position using the axis keys and perform the position
confirmation. For performing the position confirmation, refer to
chapter 8.2.3 “Procedure after the Alarm” . Playback and test runs will
not function unless “CONFIRM POSITION” is performed.
8-15
8 System Setup
2, Pulse Difference Check

The pulse number at the second home position is compared with that at
the current position. If the difference is within the allowable range,
playback is enabled. If not, the alarm occurs again.
• The allowable range pulse is the number of pulses per rotation of the
motor (PPR data).
• The initial value of the second home position is the home position
(where all axes are at pulse 0). The second home position can be
changed. For details, refer to chapter 8.2.2 “Procedure for the Sec-
ond Home Position Setting (Check Point)” .
3, Alarm Occurrence
If the alarm occurs again, there may be an error in the encoder
communication related components. Check the components. After
adjusting the erroneous axis, calibrate the home position of the axis, and
then check the position again.
• When the home position calibration for all the axes is

performed at the same time, playback operations are
possible without the position confirmation.
• For a system with a manipulator that has no brake, after
the alarm occurs, there is a case that the playback
operations are possible without the position
confirmation. (However, as a rule, “CONFIRM
POSITION” must be performed.)
Under the above special conditions, the manipulator
moves as follows:
NOTE
After starting, the manipulator moves at low speed (1/10 of
the maximum speed) to the step indicated by the cursor.
If it is stopped and restarted during this motion, the low
speed setting is kept until the step at cursor is reached.
Regardless of cycle setting, the manipulator stops after the
cursor step is reached.
When starting the manipulator again after it is stopped, the
manipulator operates at the programmed speed and cycle
of the job.
8-16
8 System Setup
8.2.2 Procedure for the Second Home Position Setting (Check Point)
Apart from the “home position” of the manipulator, the second home
position can be set up as a check point for absolute data. Perform the
following steps to set the specified point.
If two or more manipulators or stations are controlled by one controller, the

second home position must be set for each manipulator or station.
– A sub menu appears.
2. Select {SECOND HOME POS}.
– The SECOND HOME POS window appears.

The message “Available to move to and modify specified point” is
shown.
3. Press [PAGE], or select “PAGE” to display the selection window for the
control group.
– The group axes by which the second home position is set is

selected when there are two or more group axes.
4. Press the axis keys.
– Move the manipulator to the new second home position.
5. Press [MODIFY] and [ENTER].
– The second home position is changed.
8-17
8 System Setup
8.2.3 Procedure after the Alarm
WARNING
• When performing the position check operation, pay careful attention
to ensure the safety of the surrounding operation environment.
An error in the encoder communication related components may be the
cause of the alarm. In this case, the manipulator may move in an
unexpected direction, which may result in personal injury and/or
equipment damage.
If the “OUT OF RANGE (ABSO DATA)” alarm occurs, perform the

followings:
• Reset the alarm
• Turn Servo power ON
And then confirm the second home position. After the confirmation, if the
encoder communication related components are found to be the cause of
the alarm, perform the necessary operations, such as replacing the
encoder communication related components, etc.
The robot current position data when turning main power supply OFF and
ON can be confirmed in “POWER ON/OFF POS” window.
Refer to “YRC1000micro MAINTENANCE MANUAL

SUPPLE
(RE-CHO-A115) 7.7 Position Data When Power is
-MENT Turned ON/OFF” for details on the “POWER ON/OFF
POS” window.
3. Press the page key [PAGE], or select "PAGE" to display the selection
window for the control group.
8-18
8 System Setup
– The group axes by which the second home position is set is

selected when there are two or more group axes.
4. Press [FWD].
– TCP moves to the second home position. The robot moving speed is
set as selected manual speed.
5. Select {DATA} under the menu.

6. Select {CONFIRM POSITION}.
– The message “Home position checked” is shown.
Pulse data of the second home position and current pulse data are
compared. If the compared error is in allowed range, playback
operation can be done.
If the error is beyond the allowed range, the alarm occurs again.
8-19
8 System Setup
8.2.4 Procedure after the Alarm
WARNING
• When performing the position check operation, pay careful attention
to ensure the safety of the surrounding operation environment.
An error in the encoder communication related components may be the
cause of the alarm. In this case, the manipulator may move in an
unexpected direction, which may result in personal injury and/or
equipment damage.
If the “OUT OF RANGE (ABSO DATA)” alarm occurs:

• Reset the alarm;
• Turn ON the servo power;
then confirm the second home position. After the confirmation, if the
encoder communication related components are found to be the cause of
the alarm, perform the necessary operation, such as replacing the
encoder, etc.
The robot current position data when turning main power supply OFF and
ON can be confirmed in “POWER ON/OFF POS” window.
For details on the “POWER ON/OFF POS” window, refer to

SUPPLE “YRC1000micro MAINTENANCE MANUAL (RE-CHO-A115)
-MENT
7.7 Position Data When Power is Turned ON/OFF”.

8-20
8 System Setup
3. Press the [PAGE], or select [PAGE] to open the selection window for
the control group.
– When there are two or more group axes, select the group axes to
which the second home position is to be specified.
4. Press [FWD].
– TCP moves to the second home position. The robot moving speed is
set as selected manual speed.
5. Select {DATA} under the menu.
6. Select {CONFIRM POSITION}.
– A message “Home position checked” appears.
– Pulse data of the second home position and current pulse data are
compared. If the compared error is in allowed range, playback
operation can be done.
– If the error is beyond the allowed range, the alarm occurs again.
8-21
8 System Setup
8.3 Tool Data Setting
8.3.1 Registering Tool Files
8.3.1.1 Number of Tool Files

There are 64 tool files numbered 0 to 63. Each file is called as a tool file.
TOOL FILE 0
TOOL FILE 63
Tool File Extension Function

Normally, one robot uses one kind of tool file. The tool file
extension function can change many tool files to be used by
SUPPLE one robot. Use the following parameter to set this function.
-MENT
S2C333: TOOL NO. SWITCHING (1: enabled; 0: disabled)
For more details, refer to “YRC1000micro OPERATOR’S
MANUAL (RE-CSO-A058) 8 Parameter”.
8.3.1.2 Registering Coordinate Data

When registering the tool file by number input operation, input the TCP of
the tool on the flange coordinates.
XF
YF
ツール
TCP
ZF
8-22
8 System Setup
2. Select {TOOL}.
(1) Move the cursor to the number of the desired tool, and press
{SELECT} in the tool list window.
(2) The tool coordinate window of the selected number appears.
– In the tool coordinate window, the tool number can be changed by

pressing the [PAGE] or selecting [PAGE].
– To switch the tool list window and the tool coordinate window, press
{DISPLAY}  {LIST} or {DISPLAY}  {COORDINATE DATA}.
3. Select the desired tool number.
4. Place the cursor in the part to register the desired coordinate data and
press [SELECT].
– The number is ready to input.
5. Input the coordinate data.
8-23
8 System Setup
6. Press [ENTER].
– The coordinate data is registered.
<Setting Example>
260 mm 260 mm 260mm
TCP TCP TCP 145mm

ZF ZF
Tool A Tool B Tool C
In case of Tool A, B
In case of Tool C
8-24
8 System Setup
8.3.1.3 Registering Tool Posture Data

The tool posture data is an angle data which shows the relation between
the flange coordinates and the tool coordinates. The angle when the
flange coordinates are rotated to meet to the tool coordinates becomes an
input value. Clockwise toward the arrow is the positive direction. Register
in the following order: Rz, Ry, Rx.
For the tool shown in the following figure, register Rz=180, Ry=90, Rx=0
Flange coordinate XF
YF
ZF XT
Tool coordinate
YT
ZT

2. Select {TOOL}.
– In the same way as shown in Explanation 2, 3 in
chapter 8.3.1.2 “Registering Coordinate Data” , open the desired
tool coordinate window.
4. Select the desired coordinate axis to modify.
– First, select Rz.
5. Input the tool posture data.
– Input rotation angle around ZF of the flange coordinates.
XF
YF
ZF YF
X F Rz = 180
8-25
8 System Setup
6. Press [ENTER].
– The rotation angle of Rz is registered.
In the same way, register the angle of Ry, Rx.

Ry must be the input rotation angle around Y’F of flange
coordinates.
X F
ZF
Y F (Y F )
Z F
Ry = 90
– Rx must be the input rotation angle around X’F of flange

coordinates.
X F
YF
Z F Rx = 0
8.3.1.4 Setting the Tool Load Information

The tool load information includes weight, a center of gravity position, and
moment of inertia at the center of gravity of the tool installed at the flange.
Sets the tool load information by the design value of the tool.
SUPPLE
For more details on the tool load information, refer to
-MENT chapter 8.4.3 “Tool Load Information Setting” .
If the design value is uncertain, use of the “Automatic Measurement of the

Tool Load and the Center of Gravity” enable to set the tool load
information easily.
For more details on “Automatic Measurement of the Tool

SUPPLE
Load and the Center of Gravity”, refer to
-MENT chapter 8.3.3 “Automatic Measurement of the Tool Load
and the Center of Gravity” .
8-26
8 System Setup
8.3.2 Tool Calibration
8.3.2.1 Tool Calibration

To ensure that the manipulator can perform motion type operations such
as linear and circular motion type correctly, accurate dimensional
information on tools such as a hand must be registered and the position of
the TCP must be defined.
Tool calibration is a function that enables this dimensional information to
be registered easily and accurately. When this function is used, the TCP is
automatically calculated and registered in the tool file.
What is registered in tool calibration is the coordinates of the TCP and the
tool posture data in the flange coordinates.
XF
Flange <Flange coordinates>
coordinates XF: Vertically upward direction when the current
position on the T-axis of the manipulator is "0"
YF: Y-axis complementing XF and ZF
ZF ZF: Direction perpendicular to the flange face
XT
YT
YF
Tool
coordinates ZT
8.3.2.2 Setting of Tool Calibration Method

There are three tool calibration methods, which are selected by setting
parameter.
S2C432: Designation of tool calibration method
0: Calibrates only the coordinates.
“Coordinates” calculated from 5 calibration teaching points is
registered in the tool file.
In this case “Tool Posture Data” is all cleared to be 0.
1: Calibrates only the posture.
“Tool Posture Data” calculated from the first calibration
teaching point is registered in the tool file.
In this case, “Coordinates” will not be changed. (the prior
value is maintained.)
2: Calibrates the coordinates and the posture.
“Coordinates” calculated from 5 calibration teaching points
and “Tool Posture Data” calculated from the first calibration teaching point
are registered in the tool file.
8-27
8 System Setup
• In case of S2C432=0 (only coordinates is calibrated),

tool posture data is overwritten with 0.
(When the coordinates calculated from tool calibration is
registered in the tool file in which the tool posture data is
already registered, the tool posture data will be deleted.)
NOTE
• In case of S2C432=1 (only posture is calibrated), the
coordinates are maintained.
• In case of S2C432=1, 5 teaching points need to be
registered though only the first point is used for
calculation.
8.3.2.3 Teaching of Calibration Point
 Teaching for defining coordinates

In order to calibrate coordinates, five different postures (TC1 to 5) must be
taught with the TCP as the reference point. The tool dimensions are
automatically calculated on the basis of these five points.
TC2
TC1 TC3
TC4
TCP
TC5
Each posture must be arbitrary. Accuracy may decrease when pose

setting is rotated in a constant direction
8-28
8 System Setup
 Teaching for defining posture

The calibration of tool posture data is performed with the first calibration
teaching point (TC1).
Teach TC1 with Z-axis of the desired tool coordinates downward vertically
to the ground. (the Z-axis of the tool coordinates is parallel to the Z-axis of
the base tool and points to the opposite direction.)
Tool posture data is automatically calculated with this TC1 posture.
The X-axis of the tool coordinates is defined in the same direction as the
X-axis of the base coordinates.
Tool
YT
TCP
XT Z
ZT
X
Y
In case of calibrating with S2C432=2, teach TC1 with Z-axis

SUPPLE of the desired tool coordinates downward vertically to the
-MENT
ground. Then teach the other calibration teaching points
(TC2~TC5) with the all tool points meet at the TC1’s tool
point as shown in the figure below.
TC2 TC1
TC4
TC3
TC5
If teaching in one place as the figure above is impossible

due to the interference of peripheral equipment and so on,
perform calibration of coordinates with S2C432=0 or 2, and
then change to S2C432=1, teach only TC1 in a different
position and register the tool posture data.
TC1
TC2
TC3 TC4 TC1
TC5
[S2C432 = 0 or 2 ] [S2C432 = 1 ]
8-29
8 System Setup
• There are 64 tool files numbered 0 to 63.

• In a basic system with one manipulator and one tool, the
SUPPLE
tool file for tool No.0 is used.
-MENT
• If there is more than one tool, for example when using a
multihand, use the tool numbers in the order of 0, 1, 2,
etc.

2. Select {TOOL}.
– In the same way as shown in the instruction 2 and 3 of the
chapter 8.3.1.2 “Registering Coordinate Data” , display the desired
4. Select {UTILITY} under the menu.

8-30
8 System Setup
5. Select {CALIBRATION}.
– The TOOL CALIBRATION window is shown.
6. Select the robot.

(1) Select the robot to calibrate.
(When the robot has already been selected or there is only one of
robot, this operation should not be performed.)
(2) Select “**” in the TOOL CALIBRATION window and select the
robot in the shown selection dialog box.
(3) The robot is set.
8-31
8 System Setup
7. Select “POSITION”.
– The selection dialog box is shown.
(1) Select the teaching point for calibration.
8. Move the manipulator using the axis key.

9. Press [MODIFY] and [ENTER].
– Taught position is registered.
Repeat 7 to 9 operation to teach TC1 to TC5.
“” indicates that teaching is completed and “” indicates that it is
not completed.
– To check the taught positions, call up the required window among

TC1 to TC5 and press [FWD]. The manipulator moves to the set
position.
– If there is a difference between the current position of the
manipulator and the shown position data, “TC” next to
“POSITION” in the window flashes.
8-32
8 System Setup
10. Select “COMPLETE”.

– Calibration data is registered in the tool file. Once the calibration is
completed, the tool coordinate window is displayed on the screen.
8-33
8 System Setup
8.3.2.4 Clearing Calibration Data

Before the calibration of a new tool, clear the robot information and
calibration data.
1. Select {DATA} under the pull-down menu.
2. Select {CLEAR DATA}.

– The confirmation dialog box is shown.
8-34
8 System Setup
3. Select {YES}.
– All data is cleared.
If tool angle data is required, input the data number in the

SUPPLE
-MENT Refer to chapter 8.3.1.3 “Registering Tool Posture Data”
for the operating instructions.
8.3.2.5 Checking the TCP

After registering the tool file, check if the TCP is correctly registered by
performing a TCP fixed operation like the one shown below, in any
coordinate system other than the joint.
Tool center
point
8-35
8 System Setup
1. Press [COORD].
– Select any coordinate system except “ JOINT” by pressing
[COORD].
2. Select desired tool number.

– Show the tool coordinate window of the desired tool by pressing the
[PAGE] or selecting it in the tool list window.
3. Move the R, B, or T axes using the axis key.
– By pressing the axis keys for the R, B, and T axes, change the
manipulator pose without changing the TCP position.
If this operation shows a large TCP error, adjust the tool data.
TCP
For details on the TCP fixed operation, refer to

SUPPLE “YRC1000micro OPERATOR'S MANUAL (RE-CSO-A058)
-MENT
2.3.7 Motion about TCP”.
8-36
8 System Setup
8.3.3 Automatic Measurement of the Tool Load and the Center of Gravity
8.3.3.1 What is the Automatic Measurement of the Tool Load and the Center of Gravity?
With this function, the user can register the load of tool, the position of the
tools center of gravity and the moment of inertia at the center of gravity.
The tool load, the position of it’s center of gravity and the moment of
inertia at the center of gravity are measured and registered in a tool file.
This function can be used where the manipulator is installed

NOTE level on the ground.
For the conditions required for manipulator installation, refer
to chapter 8.4 “ARM Control” .
8.3.3.2 Measurement of the Tool Load and the Center of Gravity

To measure the tool load and the center of gravity, move the manipulator
to its home position (U-, B- and R-axes: horizontal to the ground) and
operate the U-, B- and T-axes.
U-axis
U+
R-axis
B-axis
B+ T-axis
T+
U-
L-axis
B- T-
Home Position
(Horizontal positions of U,B,R-axes
with respect to the ground)
S-axis
Installation with zero degree on the ground
To correctly measure the tool load or the center of gravity,

NOTE remove the cables or wires connected to the tool.
The measurement may not be performed properly because
unnecessary loads are applied.
8-37
8 System Setup

2. Select {TOOL}.
– The tool list window appears.
– The tool list window is called up only when the file extension function
is valid.
If the file extension function is invalid, the tool coordinate window appears.
8-38
8 System Setup

– Move the cursor to the desired number in the tool list window and
press [SELECT].
– The tool coordinate window of the selected number is shown.
– In the tool coordinate window, the number can be changed by
pressing the [PAGE] or selecting [PAGE].
– To switch the tool list window and the tool coordinate window, press
{DISPLAY}  {LIST} or {DISPLAY}  {COORDINATE DATA}.
4. Select {UTILITY} under the menu.
8-39
8 System Setup
5. Select {W.GRAV.POS MEASURE}.

– The window for the automatic measurement of the tool load and the
center of gravity is shown.
6. Press the [PAGE].

– In a system with several manipulators, use the [PAGE] to change
the group to be controlled.
7. Press [FWD].
– Press [FWD] once, and the manipulator moves to the home position
(U-, B- and R-axes: horizontal to the ground).
8. Press [FWD] again.
– Press [FWD] again, and measurement starts. Keep the button
pressed until measurement is completed.
The manipulator moves in the order listed below. Once measurement is
completed, “” changes to “”.
1 Measurement of the U-axis: U-axis home position +4.5 degrees 

-4.5 degrees
2 Measurement of the B-axis: B-axis home position +4.5 degrees 
-4.5 degrees
3 First measurement of the T-axis: T-axis home position +4.5 degrees
 -4.5 degrees
4 Second measurement of the T-axis: T-axis home position +60
degrees  +4.5 degrees  -4.5 degrees
• The speed during measurement automatically changes to

“Medium”.
• During the measurement, “HOME” or “U” blinks on the
screen.
SUPPLE • During the measurement, the [FWD] button must be kept
-MENT
pressed. If the button is released during the measurement
or if it is released before “” changes into “”, the mea-
surement is aborted and the following message appears:
“Stopped measurement”
• The measurement starts again from the first home position.
8-40
8 System Setup
– When the measurement of the tool load and the center of gravity is
completed (when all the measurement statuses of the tool load and
the center of gravity has changed to “”), the measured data
appears on the screen.
9. Select “REGISTER”. (When measuring only the tool load and the
center of gravity.)
– The measured data is registered in the tool file, and the tool
coordinate window appears.
– Select “CANCEL” to open the tool list window without registering
the measured data in the tool file.
– Select “FWD” and the manipulator moves to the home position 1
and the measurement of the moment of inertia at the center of
gravity starts.
8-41
8 System Setup
8.3.3.3 Measurement of the Moment of Inertia at the Center of Gravity
Measure the moment of inertia at the center of gravity.
The moment of inertia at the center of gravity does not need

to be measured when this data is small enough for the
moment of inertia calculated from weight and the center of
SUPPLE
gravity position. However, the measurement is required
-MENT when the moment of inertia of the tool is large (as a rough
guide, the tool is considered to be large when the tool size is
about more than 2-times the distance between the flange
and the center of gravity).
The size of the tool is not too big. The size of the tool is big.
Measurement of the moment of inertia Measurement of the moment of inertia
at center of gravity is not necessary. at center of gravity is necessary.
1. Press [FWD].
– Press [FWD], and the manipulator moves to the home position 1 (U-
axis: horizontal to the ground, R-axis: rotating axis of B-axis is
vertical to the ground, T-axis: T-axis home position +90 degrees).
If the tool is interfered with during the measurement,

NOTE operate the S-, L- and R-axes and move the manipulator to
avoid the interference. Then move the axis to the home
position 1.
8-42
8 System Setup

– Press [FWD] again, and measurement of B-axis 1 and B-axis 2
starts.
1 Measurement of the B-axis 1: B-axis home position +30 degrees 

-30 degrees
2 Move to the measurement position of B-axis 2
Measurement of the B-axis 2: B-axis home position +30 degrees

3
-30 degrees
When the measurement is completed, the measured data appears on
the screen
• During the measurement, the [FWD] button must be kept

SUPPLE
-MENT surement is aborted and the following message appears:
• “Stopped measurement”
The measurement starts again from the home position1.
3. Press [FWD].
– Press [FWD], and the manipulator moves to the home position 2
(R-axis: rotating axis of B-axis is horizontal to the ground, B-axis:
vertical to the ground).
If the tool is interfered with during the measurement,

NOTE operate the S-, L- and T-axes and move the manipulator to
avoid the interference. Then move the axis to the home
position 2.
8-43
8 System Setup

– Press [FWD] again, and measurement of T-axis starts.
Measurement of the T-axis: T-axis home position +30 degrees 

1
-30 degrees
When the measurement is completed, the measured data appears on
the screen
• During the measurement, the [FWD] button must be kept

SUPPLE
-MENT surement is aborted and the following message appears:
• “Stopped measurement”
The measurement starts again from the home position2.
5. Select “REGISTER”. (When measuring only the tool load and the
center of gravity.)
– The measured data is registered in the tool file, and the tool
coordinate window appears.
– Select “CANCEL” to open the tool list window without registering
the measured data in the tool file.
8-44
8 System Setup
8.4 ARM Control
8.4 ARM Control
8.4.1 ARM Control

ARM Control, a control system originally developed by YASKAWA,
achieves an enhanced robot motion performance such as improved path
accuracy or reduced cycle time.
The moment of inertia and the gravity moment etc. of each axis are
calculated by the ARM control function, and YRC1000micro controls robot
motion according to the result. It is necessary to set the robot setup
condition and the tool load information to request these accurately.
The robot setup condition is robot installation angle relative to ground and
the weight and a center of gravity position of the load installed at each part
of robot, etc.
The tool load information is weight, a center of gravity position, and
moment of inertia at the center of gravity, of the tool installed at the flange.
It is necessary to set these information correctly to do a better operation
control by the ARM control.
8.4.2 ARM CONTROL Window
CAUTION
• Correctly set the robot setup condition.
• Perform the settings of the robot setup condition with due care so
that all the units and values are correct.
Failure to observe this instruction may cause improper operation
control, which may result in a shortened life of the speed reducer and/or
an alarm occurrence.
• Perform this setting at the time of setting up the manipulator.
If this setting is modified at another time out of necessity, check the
path of the manipulator's operation for each job after the
modification of this setting
• Perform this setting at setup the manipulator.
If the setting is modified out of necessity, check the path of
manipulator's operation for each job afterwards.
Modifying the settings of the ARM control may slightly change the path
of the manipulator's operation at the execution of a job. Make sure to
check the path of the manipulator's operation before executing the job.
Failure to observe this instruction may cause collision between a tool
and a fixture, etc., which may result in personal injury and/or equipment
damage.
8-45
8 System Setup
8.4 ARM Control
8.4.2.1 Robot Setup Condition

Fulfill the following robot setup condition to enable the ARM control.
• Robot installation angle
• S-head payload
• U-arm payload
 Robot installation angle

The angle of the manipulator installed relative to ground is set in ANGLE
REL. TO GROUND to calculate the gravity moment which loads to each
axis of the manipulator.
The robot installation angle sets how much X axis of the robot coordinates
has inclined with the ground around Y axis of the robot coordinates. The
direction of + in the U axis operation from the home position posture of the
manipulator becomes direction of + of the robot installation angle.
Therefore, the robot installation angle for a vertical downward wall mount
specification becomes -90 degrees.
Z
Robot
installation +
Angle
<Example>
0 degrees -90 degrees +90 degrees 180 degrees

If the robot installation angle is not correctly set, the manipulator cannot be
properly controlled. Therefore, make sure to set the value correctly,
paying special attentions to the direction “+” or “-”.
Only rotation angle around Y axis of the robot coordinates

NOTE can be set in the robot installation angle.
Contact YASKAWA representative when robots is installed
to incline Y axis of the robot coordinates relative to ground.
8-46
8 System Setup
8.4 ARM Control
 S-HEAD PAYLOAD
Set the weight and the position of the gravity center of the load roughly
when a device such as a transformer is installed on the S-head.
It is not necessary to set these values if no load is installed on the S-head.
• WEIGHT (unit: kg)
Set the weight of the installed load.
It is not required to set a correct value, and it is recommended to set
a value slightly larger than the actual weight. (Round up the value
with each fraction between 0.5 to 1 kg.)
• X (FROM S-AXIS), Y (FROM S-AXIS) (unit: mm)
Set the position of the gravity center of the installed load by the dis-
tance from the S-axis center in the directions of X and Y.
It can be set with a rough value.
The directions of X and Y conform to the robot coordinates. When
the position is in the negative direction, set a negative value.
Fig. 8-1: Load on the S-Head (Top View)
-X
S-axis center
-Y +Y
(X position, Y position)
+X
8-47
8 System Setup
8.4 ARM Control
 U-ARM PAYLOAD
Set the weight and the position of the gravity center of the load roughly
when a device such as a motor for the wire feeder is installed on the U-
arm.
A standard value is set at the factory.
Set “0” for the weight if no device is installed on the U-arm.
• WEIGHT (unit: kg)

Set the weight of the installed load.
It is not required to set a correct value, and it is recommended to set
a value slightly larger than the actual weight. (Round up the value
with each fraction between 0.5 to 1 kg.)
• X (FROM U-AXIS), HEIGHT (FROM U-AXIS) (unit: mm)

Set the position of the gravity center of the installed load. It can be
set with a rough value.
X (FROM U-AXIS) is the horizontal distance from the U-axis rotation
center to the position of the gravity center of the load. If the mass
point is on the rear side with respect to the U-axis rotation center, set
a negative value.
HEIGHT (FROM U-AXIS) is the height in the vertical direction from
the U-axis rotation center to the position of the gravity center of the
load.
Fig. 8-2: Load on the U-Arm: Position of the Center of Gravity (Side View)
X (From U-Axis)
(-) (+)
U-axis
rotation Position of the center of gravity
center
HEIGHT
(From U-Axis)
NOTE The ARM CONTROL window is displayed only when the

security mode is set to the management mode.
8-48
8 System Setup
8.4 ARM Control
2. Select {ARM CONTROL}.
– The ARM CONTROL window appears.
GO
3. Press the page key , or select [PAGE].

BACK
PAGE
– Select the desired control group when there are two or more group
axes.
4. Select the desired item.
5. Input the value and press [ENTER].
8-49
8 System Setup
8.4 ARM Control
8.4.3 Tool Load Information Setting
WARNING
• After modifying the tool load information, check the path of the
manipulator's operation for each job which uses the corresponding
tool file.
Perform the settings of the tool load information after installing the tool
and before teaching a job. If the tool load information is modified at
another time, check the path of the manipulator's operation for each job
which uses the corresponding tool file.
Modifying the tool load information may slightly change the path of the
manipulator's operation at the execution of a job. Make sure to check
the path of the manipulator's operation before executing the job.
Failure to observe this instruction may cause collision between a tool
and a fixture, etc., which may result in personal injury and/or equipment
damage.
CAUTION
• Correctly set the tool load information.
If the tool load information is not set correctly, the life of speed reducer
may be shorter or the alarm may occur.
Failure to observe this instruction may result in a shortened life of the
speed reducer and/or an alarm occurrence.
The following message appears as a reminder when the tool load
information is input. “Input correct tool information. Using robot with
wrong tool information may result in premature failure of the robot”.
8-50
8 System Setup
8.4 ARM Control
8.4.3.1 Tool Load Information

Tool load information includes weight, a center of gravity position, and
moment of inertia at the center of gravity of the tool installed at the flange.
These are registered in the tool file.
XF' Moment of inertia around the Center of Gravity

Ix, Iy, Iz
XF
Ix
YF'
Iy
YF
ZF'
Iz
Weight:W
* Flange Coodinates
ZF XF: It is a direction right above when T axis
is 0 pulse position and the flange surface
of the manipulator turned to the front.
Center of Gravity Position YF: Y axis led by XF,ZF
( Xg, Yg, Zg ) ZF: Perpendicular direction from flange surface
8.4.3.2 How to Calculate Tool Load Information
 Weight: W (Unit: kg)

The total weight of the installing tool is set.
It is not required to set a correct value, however, it is recommended to set
a value slightly larger than the actual load. (Round up the value with each
fraction between 0.5 to 1 kg.)
 Center of gravity position: xg, yg, zg (Unit: mm)

The center of gravity position of the installed tool is set as the position in
the flange coordinates.
Since it is usually difficult to get a strict center of gravity position, it can be
set with a rough value. Presume and set a center of gravity position
roughly from outline of the tool.
Set the value when the center of gravity position of the installed tool is
clear from specifications, etc.
 Moment of inertia at the center of gravity: lx, ly, lz (Unit: kg·m2)

It is an moment of inertia of the tool at the center of gravity position.
The value is calculated around the each axis of the coordinates which is in
parallel to the flange coordinates and which home position is the center of
gravity position of the tool.
It is not required to set a correct value, however, it is recommended to set
a value slightly larger than the actual value.
This setting is used to calculate the moment of inertia which loads to each
axis of the manipulator. However, the moment of inertia at the center of
gravity does not need to be set when this data is small enough for the
moment of inertia calculated from weight and the center of gravity
position.
However, the setting is required when the moment of inertia of the tool is
large (as a rough guide, the tool is considered to be large when the tool
8-51
8 System Setup
8.4 ARM Control
size is about more than 2-times the distance between the flange and the
center of gravity).
The size of the tool is not too big. The size of the tool is big.
Setting the moment of inertia at center Setting the moment of inertia at center
of gravity is not necessary. of gravity is necessary.
Rough value of the moment of inertia at the center of gravity can be

calculated by the following methods.
• Method to approximate the entire tool in hexahedron or cylinder.
• Method to calculate from each weight and center of gravity position
of plural mass.
the following setting examples for details.
<Example 1>
In the example of the figure below, the center of gravity is set on the flange
coordinates assuming that the center of gravity is positioned slightly
inclined to the head from the center.
There is no need to set the moment of inertia at the center of gravity since
the size of the tool is not too large.
<Setting>
•W : 7.000 kg
• Xg : 100.000 mm
• Yg : 0.000 mm
YF
• Zg : 70.000 mm
• Ix : 0.000 kg •m2
Center of Gravity Position
= (100, 0, 70) • Iy : 0.000 kg •m2
XF
70
• Iz : 0.000 kg •m2
Total Weight
100
Approx. 6.3 [kg]
7.00 [kg] ZF
8-52
8 System Setup
8.4 ARM Control
• The own moment of inertia calculation for hexahedron

and cylinder
The own moment of inertia of hexahedron and cylinder can
be calculated by the next expression when the center of
gravity is at the center.
the expression when the calculation of the moment of inertia
at the center of gravity.
Z Z
Ly
r
Lx
SUPPLE Iz Iz
-MENT Iy Lz
Ix Y H Y
Ix Iy
X
X Weight:W Weight: W
2 2 2
Ly + Lz 3 r + H2
Ix = *W Ix = Iy = *W
12 12
Lx 2 + Lz 2 r2
Iy = *W Iz = *W
12 2
* Unit of Weight : [kg]
Lx 2 + Ly 2
Iz = *W * Unit of Length : [m]
2
12 * Unit of Ix, Iy, Iz : [kgm ]
<Example 2>
It is necessary to set the moment of inertia at the center of gravity when

the entire size of the tool and workpiece is large compared to the distance
from the flange to the center of gravity position.
Calculate the moment of inertia at the center of gravity roughly from the
expression (the aforementioned supplement: “The own moment of inertia
calculation for hexahedron and cylinder”), by approximating the entire tool
in the shape of the hexahedron or the cylinder.
If the weight of held workpiece is greatly different, it is more effective to set

tool load information on each workpiece and to switch the tool on each
step according to the held workpiece. Set the tool load information in the
state to hold the heaviest workpiece when using the tools without
switching them.
500 YF
Weight of tool:
Approx. 55 kg.
ZF
250
XF Weight of workpiece:
Approx. 40 kg.
400
1000
Weight: W = 55 + 40 = 95
= approx. 100[kg]
8-53
8 System Setup
8.4 ARM Control
Center of gravity: Position at flange right under 250mm almost

(Xg, Yg, Zg) = (0,0,250)
Moment of inertia at the center of gravity:
The hexahedron of 0.500 x 0.400 x 1.000[m] which encloses the
entire tool + workpiece is assumed.
By the expression to calculate the own moment of inertia of
hexahedron,
Ix = (Ly2 + Lz2 / 12) * W
= ((0.4002 + 1.0002) / 12) * 100 = 9.667 = approx. 10.000
Iy = (Lx2 + Lz2 / 12) * W = ((0.5002 + 0.4002) / 12) * 100 = 3.417
= approx. 3.500
Iz = (Lx2 + Ly2 / 12) * W = ((0.5002 + 1.0002) / 12) * 100 = 10.417
= approx. 10.500
<Setting>
•W : 100.000 kg
• Xg : 0.000 mm
• Yg : 0.000 mm
• Zg : 250.000 mm
• Ix : 10.000 kg.m2
• Iy : 3.500 kg.m2
• Iz : 10.500 kg.m2
8-54
8 System Setup
8.4 ARM Control
How to calculate “Center of gravity position” and “moment of inertia at center of grav-
ity” for plural mass
The center of gravity position and the moment of inertia at the center of gravity of the
entire tool can be calculated by the weight and the center of gravity position of each
mass when the tool can be thought that the tool consists of two or more big mass.
1. Divide the tool into some parts as the weight and the center of gravity position can
be roughly presumed. It is not necessary to divide in detail. The tool is
approximated in construction of rough parts.
2. Calculate the weight and the center of gravity position of the each parts on flange
coordinates. It does not care by a rough value. Calculate the own moments of
inertia of the big parts. (If parts are small, it is not necessary to calculate the own
moments of inertia. above-mentioned supplement: “The own moment of inertia
calculation for hexahedron and cylinder” for how to calculate the own moment of
inertia.)
wi : Weight of the i-th parts [kg]
(xi, yi, zi) : Center of gravity position of the i- th parts
(On flange coordinates) [mm]
Icxi, Icyi, Iczi : Own moments of inertia of the i-th parts [kg*m2]
SUPPLE 3. The center of gravity position of the entire tool is calculated by the next
-MENT
expression.
xg = {w1 * x1 + w2 * x2 + .... + wi * xi} / (w1 + w2 + .... + wi)
yg = {w1 * y1 + w2 * y2 + .... + wi * yi} / (w1 + w2 + .... + wi)
zg = {w1 * z1 + w2 * z2 + .... + wi * zi} / (w1 + w2 + .... + wi)
4. The moment of inertia at the center of gravity position of the entire tool is
calculated by the next expression.
Ix = {w1 * ((y1 - yg)2 + (z1 - zg)2) * 10-6 + Icx1} + {w2 * ((y2 - yg)2 +
(z2 - zg)2) * 10-6 + Icx2}
...................
+ {wi * ((yi - yg)2 + (zi - zg)2) * 10-6 + Icxi}
Iy = {w1 * ((x1 - xg)2 + (z1 - zg)2) * 10-6 + Icy1} + {w2 * ((x2 - xg)2 +
(z2 - zg)2) * 10-6 + Icy2}
.....................
+ {wi * ((xi - xg)2 + (zi - zg)2) * 10-6 + Icyi}
Iz = {w1 * ((x1 - xg)2 + (y1 - yg)2) * 10-6 + Icz1} + {w2 * ((x2 - xg)2 +
(y2 - yg)2) * 10-6 + Icz
.....................
+ {wi * ((xi - xg)2 + (yi - yg)2) * 10-6 + Iczi}
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8 System Setup
8.4 ARM Control
<Example 3>
When there are two or more big mass as shown in the figure below,
perform:
1. Set the center of gravity position when the center of gravity position of
the entire tool is roughly understood, and set the moment of inertia at
the center of gravity calculated by approximating the entire tool in the
shape of hexahedron or cylinder. (It is enough in this setting usually.);
or
2. When weight in each mass and the center of gravity position are
understood, the center of gravity position and the moment of inertia at
the center of gravity of the entire tool can be calculated. (
aforementioned supplement column: “How to calculate ‘Center of
gravity position’ and ‘moment of inertia at the center of gravity’ for
plural mass”.)
This example shows the calculation with the method 2.
(Top View)
Center of Flange
YF
YF
100
50 150
40
XF
Part 1
70 XF Part 2
(Part 1) (Part 2)
Part 1
Weight: w1 = 3 kg Weight: w2 = 6 kg
ZF Center of Gravity: Center of Gravity:
x1 = 100 mm x2 = 100 mm
y1 = 50 mm y2 = -150 mm
Part 2 z1 = 40 mm z2 = 70 mm
Weight : W = w1 + w2
= 3 + 6 = 9 = approx. 10[kg]
Center of gravity Xg = (w1 * x1 + w2 * x2) / (w1 + w2)
= (3 * 100 + 6 * 100) / (3+6) = 100.0 [mm]
Yg = (3 * 50 + 6 * (-150)) / (3+6) = -83.333 [mm]
Zg = (3 * 40 + 6 * 70) / (3+6) = 60.0 [mm]
The moment of inertia at the center of gravity position:
Ix = {w1 * ((y1 - Yg)2 + (z1 - Zg)2) * 10-6 + Icx1}
+ {w2 * ((y2 - Yg)2 + (z2 - Zg)2) * 10-6 + Icx2}
= 3 * ((50 - (-83))2 + (40 - 60)2) * 10-6
+ 6 * (((-150) - (-83))2 + (70 - 60)2) * 10-6
= 0.082 = approx. 0.100
Iy = 3 * ((100 - 100)2 + (40 - 60)2) * 10-6
+ 6 * ((100 - 100)2 + (70 - 60)2) * 10-6
= 0.002 = approx. 0.010
Iz = 3 * ((100 - 100)2 + (50 - (-83))2) * 10-6
+ 6 * ((100 - 100)2 + ((-150) - (-83))2) * 10-6
= 0.080 = approx. 0.100
* The own moment of inertia (Icxi, Icyi, Iczi) of the tool is disregarded in
this example, since each tool is smaller than the entire tool.
8-56
8 System Setup
8.4 ARM Control
<Setting>
•W : 10.000 kg
• Xg : 100.000 mm
• Yg : -83.333 mm
• Zg : 60.000 mm
• Ix : 0.100 kg.m2
• Iy : 0.010 kg.m2
• Iz : 0.100 kg.m2
8.4.3.3 Tool Load Information Registering
Tool load information is registered in the tool file.
2. Select {TOOL}.
– The tool coordinate list window appears.
– The tool coordinate list window appears only when TOOL NO.
SWITCH in the TEACHING CONDITION window is set to PERMIT.
– When TOOL NO. SWITCH in the TEACHING CONDITION window

is set to PROHIBIT, the tool window appears.
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8 System Setup
8.4 ARM Control

(1) Move the cursor to the number of the desired tool, and press
[SELECT] in the tool list window.
(2) The tool coordinate window of the selected number appears.
(3) Select the desired number in the tool coordinate window by press-
ing the [PAGE] or clicking on the [PAGE] button.
(4) To switch the tool list window and the tool coordinate window,
press {DISPLAY}  {LIST} or {DISPLAY}  {COORDINATE
DATA}.
4. Select the desired item to register and input the value.
– The window can be scrolled with the cursor.
– The menu enters the state of a numeric input if the cursor is on the
desired item to register and the [SELECT] is pressed.
5. Press [ENTER].
– The input value is registered.
– The servo power is automatically turned OFF when editing the value
while the servo power is ON, followed by a message “Servo off by
changing data” displayed for three seconds.
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8 System Setup
8.4 ARM Control
• When the data setting is not done

It is considered that data is not set correctly in tool load
information in the following cases.
• When the weight (W) is “0”.
• When the center of gravity position (Xg, Yg, Zg) are all
“0”.
In these cases, the manipulator is controlled by the initial
setting values (vary according to each robot model) which
were set to the parameter before shipping.
Initial Setting Value:
Weight: W = Payload
Center of gravity position: (Xg, Yg, Zg) =
(0, 0, Allowed value of B-axis for payload)
In this case, when an actual tool load is not large enough,
the manipulator cannot sufficiently exert its function, (speed
and acceleration / deceleration). Especially, when operat-
ing the manipulator with the initial setting value, a difference
of 100 kg or more in the load between the actual tool load
and the initial setting value may cause vibrations in the
manipulator motion: it is therefore essential to correctly set
the tool load information for the proper operation of the
manipulator.
NOTE
Moreover, when the tool which an actual tool center of grav-
ity position greatly offsets in X-direction or Y-direction is
installed the generated moment by the tool cannot be com-
pensated.
To set the tool load information correctly, following message
appears when the playback operation is executed by using
the initial setting value.
“Using robot without setting tool info. may result in prema-
ture failure of the robot. Set W, Xg, Yg, and Zg in the tool
file.”
• Switch of the tool file
In case that two or more tool files are used, information on
an effective tool file is referred for tool load information used
by the ARM control at that time in according to switch tool
file.
Set the same value of tool load information in each tool file
when the tool file is switched to change only TCP (when
neither the weight nor the center of gravity position of the
entire tool installed in the flange is changed).
Moreover, set tool load information to the corresponding
tool file respectively when total weight and the center of
gravity position etc. of the tool is changed (when the system
which exchange the tool by automatic tool changer).
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8 System Setup
8.5 Work Home Position
8.5.1 What is the Work Home Position?

The Work Home Position is a reference point for manipulator operations. It
prevents interference with peripheral device by ensuring that the
manipulator is always within a set range as a precondition for operations
such as starting the line. The manipulator can be moved to the set work
home position by operation from the programming pendant, or by signal
input from an external device. When the manipulator is in the vicinity of the
work home position, the work home position signal turns ON.
8.5.2 Setting Work Home Position
8.5.2.1 Work Home Position Window

2. Select {WORK HOME POS}.

– The WORK HOME POSITION window is appears.
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8 System Setup

– When two or more manipulators exist in the system, use the [PAGE]
to change the control group, or click on [PAGE] to select the desired
control group.
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8 System Setup
8.5.2.2 Registering/Changing the Work Home Position

1. Press the axis keys in the work home position display.
– Move the manipulator to the new work home position.
2. Press [MODIFY], [ENTER].
– New work home position is set.
When the work home position is changed, the cubic interfer-

ence area is automatically set as cube 64 to 63 in the base
coordinate system.
• The cube 64 is for ROBOT1
• The cube 63 is for ROBOT2
The work home position cube is a cube as shown in fig. 8-3
“S3C1097: The work home position cube length of its sides
(µm)” ; the length of its sides (a in fig. 8-3) is determined by
a parameter of S3C1097 (units: μm).
By changing the contents of this parameter, the size of the
cube can be changed.(The initial value is 10cm)
Fig. 8-3: S3C1097: The work home position cube length of
NOTE its sides (µm)
Ｐ
ａａ／２
ａ／２
ａ／２
Specify whether “COMMAND POSITION” or “FEEDBACK

POSITION” is to be set to the work home position cube sig-
nal’s CHECK MEASURE in the interference area settings.
“COMMAND POSITION” is the default setting.
For the INTERFERENCE AREA window, refer to
chapter 8.6 “Interference Area” .
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8 System Setup
8.5.2.3 Returning to the Work Home Position
 In the teach mode

1. Press [FWD] in the work home position display.
– The manipulator moves to the new work home position. The moving
speed is the selected manual speed.
 In the play mode

When the work home position return signal is input (detected at leading
edge), the TCP of the manipulator is moved to the work home position.
When the manipulator moves, a message “Operation origin returning” is
displayed. In this case, the move interpolation is MOVJ, and the speed
applied is the one set in the parameters. (S1CxG56; units: 0.01%.)
8.5.2.4 Output of the Work Home Position Signal

This signal is output any time the current position of the TCP of the
manipulator is checked and found to be within the work home position
cube.
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8 System Setup
8.6 Interference Area
8.6.1 Interference Area

The interference area is a function that prevents interference between
multiple manipulators or the manipulator and peripheral device. The areas
can be set up to 64 areas. Three types of methods to use each
interference area are as follows:
• Cubic Interference
• Outside of cubic area
• Axis Interference
The YRC1000micro judges whether the TCP of the manipulator is inside
or outside this area, and outputs this status as a signal.
8.6.2 Cubic Interference Area
8.6.2.1 Cubic Interference Area

This area is a rectangular parallelepiped which is parallel to the base
coordinate, robot coordinate, or user coordinate. The YRC1000micro
judges whether the current position of the manipulator’s TCP is inside or
outside this area, and outputs this status as a signal.
Robot coordinate
Z-axis
Cubic
interference
area
Cubic
interference
User coordinates area
Z-axis
X-axis
Y-axis Y-axis
X-axis
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8 System Setup
 Types of Cubic Interference Area

Two types of method to use the cubic interference area are as follows.
• Cubic Interference
Inside the specified cube is defined as the interference area.
When the current position of manipulator's TCP is located inside the
cube, the corresponding specific output signal is ON.
• Outside of cubic area
Outside the specified cube is defined as the interference area.
When the current position of manipulator's TCP is located outside
the cube, the corresponding specific output signal is ON.
TCP
TCP
Cubic Interference Area
Cubic Interference Area
TCP is located inside the cube TCP is located outside the cube
・Cubic interference: Specified output signal = ON ・Cubic interference: Specified output signal = OFF
・Outside of cubic area: Specified output signal = OFF ・Outside of cubic area: Specified output signal = ON
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8 System Setup
8.6.2.2 Cube Setting Method

There are three ways to set cubic a interference area as described in the
following sections:
1. Enter the maximum and minimum values for the cube coordinates.
Z-axis
Maximum
value
Cubic
interference X-axis
area axis
Minimum
value
Y-axis
2. Move the manipulator at the maximum and minimum value positions of

the cube corner using the axis keys.
Z-axis
Maximum
value
X-axis
Minimum
value
Y-axis
3. After entering the lengths of the three faces of the cube (axial length)
using the Numeric keys, move the manipulator to the center point of
the cube using the axis keys.
Z-axis
Y X
Z X-axis
Center
point
Y-axis
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8 System Setup
8.6.2.3 Setting Operation

2. Select {INTERFERENCE}.
– The INTERFERENCE AREA window is shown.
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8 System Setup
3. Select the desired cube number.

– Select the desired cube number with the [PAGE] or by number input.
– When selecting the cube number by number input, select [PAGE] to
input the desired signal number.
4. Select “METHOD”.
– A selection dialog box appears.
(1) Select “CUBIC INTERFERENCE” or “OUTSIDE OF CUBIC
AREA”.
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8 System Setup
5. Select “CONTROL GROUP”.

(1) Select the desired control group.
6. Select “REF COORDINATES”.

– A selection box appears.
(1) Select the desired coordinate.
(2) If the user coordinates are selected, the number input line is dis-
played. Input the user coordinate number and press [ENTER].
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8 System Setup
7. Select “CHECK MEASURE”.

– Each time [SELECT] is pressed, “COMMAND POSITION” and
“FEEDBACK POSITION” are displayed alternately.
– “COMMAND POSITION” : When the command position (which is

displayed on the current position window) is in the interference area,
the signal is turned ON.
– “FEEDBACK POSITION” : When the actual position of the
manipulator is in the interference area, the signal is turned ON.
To stop the manipulator movement using the interference

signal (use the cube interference signal for mutual interfer-
ence between robots), set CHECK MEASURE to “COM-
MAND POSITION”.
NOTE When set to the “FEEDBACK POSITION”, the manipulator

decelerates to a stop after entering the interference area.
When using the interference signal to inform an external
unit of the actual manipulator position, use the “FEEDBACK
POSITION” setting to enable the signal output in more
accurate timing.
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8 System Setup
8. Select “ALARM OUTPUT”.

– Each time [SELECT] is pressed, “OFF” and “ON” are displayed
alternately.
When selecting “ON” and if the manipulator’s TCP approaches

inside the pre-defined interference area, the following alarm occurs
and the manipulator stops immediately.
AL4902 CUBE INTERFERENCE (TCP)
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8 System Setup
 Number Input of the Cube Coordinates

(1) Each time [SELECT] is pressed, “MAX/MIN” and “CENTER POS”
switch alternately.
(2) Select “MAX/MIN”.
2. Input number for “MAX” and “MIN” data and press [ENTER].
– The cubic interference area is set.
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8 System Setup
 Teaching Corner
switch alternately.
2. Press [MODIFY].
– A message “Teach max./min. position” appears.
3. Move the cursor to “<MAX>” or “<MIN>.”

– Move the cursor to “<MAX>” when changing the maximum value,
and move cursor to “<MIN>” when changing the minimum value.
The cursor only moves to either “<MIN>” or “<MAX>” at this time.
4. Move the manipulator using the axis keys.
– Move the manipulator to the maximum or minimum position of the
cube using the axis keys.
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8 System Setup
5. Press [ENTER].
– The cubic interference area is registered.
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8 System Setup
 Number Input of the Side of Cube and Teaching Center

switch alternately.
(2) Select “CENTER POS”.
2. Input data for length of the cube, then press [ENTER].

– The length is set.
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8 System Setup
3. Press [MODIFY].
– A message “Move to center point and teach” appears. The cursor
only moves to either “<MIN>” or “<MAX>” at this time.

– Move the manipulator to the center point of the cube using the axis
keys.
5. Press [ENTER].
– The current position is registered as the center point of the cube.
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8 System Setup
 Current Position and Interference Area Judgment
1 INTERF. STATE
Displays the signal status of the specific output signal (#50080 to
#50157) “Cube/Axis interference in xx”.
“●”: Inside of the interference, “○”: Outside of the interference
2 CURRENT POS
Displays the current robot position.
3 OK
“●”: within the range, “○”: out of the range, which is between “MAX” and
“MIN” displayed the current value of the axis.
Only when METHOD is OUTSIDE OF CUBIC AREA
“○”: within the range, “●”: out of the range, which is between “MAX” and
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8 System Setup
8.6.3 Axis Interference Area
8.6.3.1 Axis Interference Area

The axis interference area is a function that judges the current position of
the each axis and outputs a signal. Once the maximum and minimum
values have been set at the plus and minus sides of the axis to define the
working range, a signal indicating whether the current position of the axis
is inside or outside this range is output. (ON: inside, OFF: outside)
Fig. 8-4: Axis Interference Signal for Station Axis
Max value 0 Min value
+ side - side
ON
OFF
8.6.3.2 Setting Operation

– The INTERFERENCE AREA window appears.
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8 System Setup
3. Select the desired interference signal number.

– Select the desired interference signal number using the [PAGE] or
by number input.
– When selecting the desired interference signal number by number
input, select [PAGE] to input the desired signal number.
(1) Select “AXIS INTERFERENCE”.
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8 System Setup
5. Select “CONTROL GROUP”.

– A selection box appears. Select the desired control group.
6. Select “CHECK MEASURE”.

– Each time [SELECT] is pressed, “COMMAND POSITION” and
“FEEDBACK POSITION” switch alternately.
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8 System Setup
7. Select “ALARM OUTPUT”.

– Each time [SELECT] is pressed, “OFF” and “ON” are displayed
alternately.
When selecting “ON” and if the manipulator’s axes approach inside

the pre-defined interference area, the following alarm occurs and the
manipulator stops immediately.
AL4901 AXIS INTERFERENCE
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8 System Setup
 Number Input of the Axis Data Coordinates

switch alternately.

2. Input number for “MAX” and “MIN” data and press [ENTER].
– The axis interference area is set.
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8 System Setup
 Teaching Corner
switch alternately.
2. Press [MODIFY].
– A message “Teach max./min. position” appears.
3. Move the cursor to “<MAX>” or “<MIN>”.

– Move the cursor to “<MAX>” when changing the maximum value,
and move cursor to “<MIN>” when changing the minimum value.
– Move the manipulator to the maximum or minimum position of the
cube using the axis keys.
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8 System Setup
5. Press [ENTER].
– The cubic interference area is registered.
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8 System Setup
 Number Input of Center Position (WIDTH) and Teaching Center

switch alternately.
(2) Select “CENTER POS”.
2. Input number for “WIDTH” data and press [ENTER].

– “WIDTH” is set.
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8 System Setup
3. Press [MODIFY].
– A message “Move to the center point and teach” appears.

– Move the manipulator to the center position of the cube using the
axis keys.
5. Press [ENTER].
– The center position of the cube is registered.
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8 System Setup
 Current Position and Interference Area Judgment
1 INTERF. STATE
Displays the signal status of the specific output signal (#50080 to
#50157) “Cube/Axis interference in xx”.
“●”: Inside of the interference, “○”: Outside of the interference
2 CURRENT POS
Displays the current robot position.
3 OK
“●”: within the range, “○”: out of the range, which is between “MAX” and
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8 System Setup
8.6.4 Clearing the Interference Area Data

– The INTERFERENCE AREA window is shown.
3. Select interference signal to be cleared.

– Select the desired interference signal number to be cleared using
the [PAGE] or by number input.
– When selecting the desired interference signal number by number
input, select [PAGE] to input the desired signal number.
4. Select {DATA} in the pull-down menu.
8-88
8 System Setup

6. Select {YES}.
– All the data of the interference signal number are cleared.
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8 System Setup
8.7 Shock Detection Function
8.7.1 Shock Detection Function
The shock detection function is a function to decrease damage due to the

collision by stopping the manipulator without any external sensor when
the tool or the manipulator collide with peripheral device.
When the shock is detected either in teach mode or in play mode, the
manipulator is stopped immediately.
WARNING
The shock detection function does not completely prevent damage to
the peripheral devices or guarantee human safety. Make sure to take
safety measures such as installing safety fences. For details on safety
measures, refer to chapter 1 “Safety” to chapter 6 “Test of Program
Operation” for the safety measures in details.
damage.
8.7.2 Shock Detection Function Setting
At the factory default setting, the threshold value is set to detect a collision
without a miss even when the manipulator is operating at the maximum
speed, on the assumption that the tool file is correctly set. To detect a
collision during normal operation, check the following points:
• The tool’s load and moment do not exceed the rated values.
• The actual tool load and the tool file setting value are the same.
• The U-arm payload information and the set weight of U-arm payload
in the ARM CONTROL window are the same.
In addition, detection sensitivity can be decreased for only a specific
section where a contact task is performed.
The detection sensitivity is set by setting the detection level.
8.7.2.1 Shock Detection Level Setting
The shock detection level is set in the shock detection level set file.
The shock detection level set file are nine condition files as following
figure.
• Condition numbers 1 to 7 are used when the detection level is
changed in a specific section in play mode.
• Condition number 8 is used as standard in play mode: this function is
operated by the detection level set in this file during playback opera-
tion.
• Condition number 9 is for teach mode: the shock detection function
applies the detection level set here when the manipulator is operated
in teach mode.
• Condition numbers 1 to 8 are set for each axis and condition 9 is set
for each group.
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8 System Setup
The detection level is changed by a job instruction SHCKSET.

• After the instruction is executed, the shock will be detected by the
specified detection level when the condition number is specified with
the SHCKSET instruction.
• The detection level is returned to standard level when the SHCKRST
instruction is executed.
Setting in the specific section
in play mode
(Condition number 1 to 7)
Standard used
for play mode
(Condition
number 1 to 8)
Shock Detection
Level File
Condition number 1 Used for teach mode

(Condition number 9)
Condition number 7
Condition number 8
Condition number 9
The detection level of condition number 8 (a standard in play

SUPPLE mode) is adopted in play mode excluding the range between
-MENT
SHCKSET and SHCKRST in the job.
Teach Mode Each Axis Setting Function

Usually, the detection level setting of teach mode is set for
each group.
SUPPLE By using this function, the detection level can be set for each
-MENT
axis.
S2C869: Teach Mode Each Axis Setting Function
(1: VALID, 0: INVALID)
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8 System Setup
2
3
4
5
1 Condition Number (1 to 9)
1 to 7: for changing detection level in play mode.
8: for standard detection level in play mode.
9: for detection level in teach mode.
2 Robot Select
Select the manipulator whose detection level is to be changed.
3 Function Select
Specifies VALID/INVALID of the shock detection function. The shock
detection function is specified for each manipulator.
1. Select the manipulator whose function is to be enabled or disabled.
2. Move the cursor to “VALID” or “INVALID” and press [SELECT]. Each

time [SELECT] is pressed, “INVALID” and “VALID” are displayed
alternately. The change is available for all the condition numbers.
4 Max. Disturbance Force

Indicates the maximum disturbance force to the manipulator when the
manipulator is moved in play back operation or axis operation.
this value when inputting the detection level value in 5 .
The maximum disturbance force can be cleared by selecting {DATA} 
{CLEAR MAX VALUE} in the menu.
5 Detection Level (Level range: 1 to 500)

Specifies the shock detection level. Set a value larger than the maxi-
mum disturbance force.
The value set by default (the level 100) enables the function without
false detection even if the manipulator is operated at the maximum
speed.
To change DETECT LEVEL, move the cursor to the subject manipula-
tor, and press [SELECT] to display the numeric input status; input the
value with a numeric key and press [ENTER]. To increase the detection
sensitivity, set the level to small value, and to decrease the sensitivity,
set the level to large value.
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8 System Setup
 Method of Shock Detection Level File Setting

2. Select {SHOCK SENS LEVEL}.
– The EACH AXIS LEVEL window appears.
– Perform either of the following operations to display the page of
desired condition number:
(1) Press [PAGE] in the window. Enter the desired condition number
using numeric keys and press [ENTER]. Then the page of the
condition number appears.
(2) Press the [PAGE] to change the condition number.
3. Level setting for the condition numbers 1 to 8.
Level setting values can be set for each axis on the EACH AXIS
LEVEL window.
Perform the following “Disturbance force measurement”, then perform
“Setting all levels at once”.
 Disturbance force measurement

1 Mount the tool, workpiece, external equipment, and equipment on
the arm to the manipulator.
2 Set the tool file correctly.
For material handling: Set the total load information
(weight, center of gravity, and the moment of
inertia at the center of gravity) of the hand
and the maximum load workpiece.
For other applications: Set the load information
(weight, center of gravity, and the moment of
inertia at the center of gravity) of the tool.
3 Set the detection level values of all the axes to 100.
(1) Open the SHOCK DETECT LEVEL window.
(2) Select {DATA}, then {CLEAR MAX VALUE}.
4 Perform the JOB.
 Setting all levels at once

1 Open the SHOCK DETECT LEVEL window.
2 Select {DATA}, then {CHANGE EVERY LEVEL}.
3 Enter 120 in the coefficient (%) by which the max. disturbance force
is multiplied.
The following calculated value A or B, whichever is larger, is set to
the DETECT LEVEL.
A: (Max. disturbance force) x (coefficient = 120%)
B: (Max. disturbance force) + 15
<Example>
When the max. disturbance force is 80, the DETECT LEVEL is 96.
When the max. disturbance force is 10, the DETECT LEVEL is 25.
4. Level setting for the condition number 9.

The level setting for the condition number 9 is for the teach mode.
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8 System Setup
This setting is made for each group.

the max. disturbance force to set the DETECT LEVEL.
• Perform all the jobs to use for 5 to 6 hours.

• If a work job is performed both with holding a workpiece
and without holding a workpiece, measure both patterns.
• In the event of a collision while measuring the max. distur-
bance force, clear the max. disturbance force by selecting
{DATA}, then {CLEAR MAX VALUE}. Then try again.
• The max. disturbance force is cleared when the power is
turned ON/OFF. Therefore, DO NOT set the level based
NOTE
on the max. disturbance force immediately after turning
ON/OFF the power.
• When the teaching point, operation speed, operation posi-
tion, etc. of a job are greatly changed due to teaching
modification, etc., measure the max. disturbance force
and set the DETECT LEVEL again.
• When the load of tool or workpiece is greatly modified,
measure the max. disturbance force and set the DETECT
LEVEL again.
To avoid false detection during manipulator operation, set

the following calculated value A or B, whichever is larger, to
the DETECT LEVEL. An emergency stop of the manipula-
tor due to the false detection may become a factor to dam-
age the speed reducers and tools.
NOTE A: (Max. disturbance force) x (coefficient = 120%)

B: (Max. disturbance force) + 15
<Example>
When the max. disturbance force is 80, set the
DETECT LEVEL to 96 or more.
When the max. disturbance force is 10, set the
DETECT LEVEL to 25 or more.
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8 System Setup
To adjust to the change in the grease viscosity at a cold

start, the offset value is automatically added to DETECT
LEVEL until the robot has operated for a certain period of
NOTE time.
Thus, at a cold start, the shock detection will be performed
only when the value is more than or equal to the sum of
DETECT LEVEL and the offset value.
The offset value varies depending on the manipulator type.
NOTE DETECT LEVEL can be modified only when the security

mode is set in the management mode.
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8 System Setup
8.7.2.2 EACH AXIS LEVEL (CURRENT) Window

Able to confirm the current detection level.
1
2
3
4
1 Robot Select
Select the manipulator to display the detection level.
2 Function Select
Displays the valid/invalid status of the shock detection function.
3 Max. Disturbance Force
Indicates the maximum disturbance force to the manipulator when the
manipulator is moved in play back operation or axis operation.
The maximum disturbance force can be cleared by selecting {DATA} 
{CLEAR MAX VALUE} in the menu.
4 Detection Level
Displays the shock detection level.
When the maximum disturbance force exceeds this set value, the shock
is detected.
To adjust to the change in the grease viscosity at a cold

start, the offset value is automatically added to DETECT
LEVEL until the robot has operated for a certain period of
NOTE time.
Thus, at a cold start, the shock detection will be performed
only when the value is more than or equal to the sum of
DETECT LEVEL and the offset value.
The offset value varies depending on the manipulator type.
8.7.2.3 Tool Load Information Setting

To increase the accuracy of shock detection, set the tool load information
in the tool file. Refer to chapter 8.4.3 “Tool Load Information Setting” for
details of the tool load information setting.
8.7.2.4 U-Arm Payload Setting

To perform shock detection more accurately, set the U-arm payload.
See chapter 8.4.2 “ARM CONTROL Window” for details of the U-arm
payload setting.
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8.7.2.5 Instruction of Shock Detection Function
 SHCKSET instruction
The SHCKSET instruction changes the shock detection level to the value
set in the shock detection level file during play back operation.
The additional items of the SHCKSET instruction are as follows.
SHCKSET R1 SSL#(1) AXIS1=100 AXIS2=100 AXIS3=100 AXIS4=100

AXIS5=100 AXIS6=100 AXIS7=100 AXIS8=100
1 Robot Setting
Specifies the manipulator (R1 to R2)/ station (ST1 to ST3) of which
shock detection level is to be modified.
If nothing is specified, the modification is applied to the shock detection
level of the job control group in this instruction.
However, in case of coordinated job, the modification is applied to the
shock detection level of the slave axis group.
2 Shock Detection Level Condition Number (1 to 7)
Specifies the shock detection level condition number in which the detec-
tion level in playback mode is set.
3 Changing the Shock Detection Level for Each Axis
(Setting range: 1 to 500)
Change the shock detection level specified in the changing the shock
detection level for the each axis.
If the shock detection level is not specified, the level will be the detection
level specified in the shock detection level condition number.
As for the manipulator with six axes, each axis indicates as follows.
AXIS1 AXIS2 AXIS3 AXIS4 AXIS5 AXIS6
↓ ↓ ↓ ↓ ↓ ↓
S-axis L-axis U-axis R-axis B-axis T-axis
If the non-existing axis in the system was specified to change the shock
detection level for each axis, the its specified shock detection level is
invalid.
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 SHCKRST instruction
The shock detection level changed by the SHCKSET instruction is reset
and returned to the detection level of the standard (value set in condition
number 8) by the SHCKRST instruction.
The additional item of the SHCKRST instruction is as follows.

SHCKRST R1
1 Robot Setting
Specifies the manipulator (R1 to R2)/ station (ST1 to ST3) of which
shock detection level is to be modified.
If nothing is specified, the modification will be applied to the shock
detection level of the job control group of this instruction.
However, in case of coordinated job, the modification is applied to the
shock detection level of the slave axis group.
 Instruction Registration
The instruction is registered when the cursor is in the address area in the
JOB CONTENT window in teach mode.
1. Select {JOB} under the main menu.
Address Instruction
Area
2. Select {JOB}.
3. Move the cursor in the address area.
 SHCKSET
1. Move the cursor to the immediately preceding line where the
SHCKSET instruction is to be registered.
2. Press [INFORM LIST].
– The inform list dialog box is shown.
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3. Select SHCKSET instruction.
(1) SHCKSET instruction is shown in the input buffer line.
(2) Change the value of additional item and numerical data.
(3) Press [INSERT] then [ENTER].
4. Change the value of additional item and numerical data.
– < When registering the instruction as it is >

Operate the step 5 when registering the instruction in the input
buffer line as it is.
– < When adding or changing the additional item >
• When changing the shock detection level
(1) When changing the shock detection level, move the cursor to the
shock detection level condition number; hold down [SHIFT] and
press the up/down cursor key to change the condition number.
• When the value is input with the numeric key
(1) When the value is input with the numeric key, press [SELECT] to
display the input buffer line.
(2) Press [ENTER] to change the number in the input buffer line.
• When the robot specification is added
(1) When the robot specification is added, move the cursor to the
instruction in the input buffer line and press [SELECT] to display
the DETAIL window.
(2) Move the cursor to “UNUSED” of “ROBOT/STATION”, and press

[SELECT].
(3) The selection box appears.
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(4) Point the cursor to the robot/station to be added and press

[SELECT].
(5) When the addition of robot/station is completed, press [ENTER].

(6) The DETAIL window closes and the JOB CONTENT window
appears.
• When the shock detection level for the each axis change is added
(1) Move the cursor over the instruction in the input buffer line, and
select [Select] to display the DETAIL EDIT window.
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(2) Move the cursor to “UNUSED” of any “SENS(AXIS)” to change the

detection level, and press [SELECT].
(3) The selection box appears, and select “AXIS=”.

(4) Press [ENTER] after adding the items.
(5) The JOB CONTENT window appears, after closing the DETAIL
EDIT window.
• When changing the shock detection level for the each axis
(1) When changing the shock detection level for the each axis, move
the cursor to the shock detection level; hold down [SHIFT] and
press the up/down cursor key to change the level.
• When the value is input with the numeric key

(1) When the value is input with the numeric key, press [SELECT] to
display the input buffer line.
(2) Input the numbers, and then press [ENTER]. The value in the
input buffers is changed.
5. Press [INSERT] then [ENTER].
– The instruction displayed in the input buffer line is registered.
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 SHCKRST
1. Move the cursor to the immediately preceding line where the
SHCKRST instruction is to be registered.
2. Press [INFORM LIST].
– The inform list appears.
3. Select SHCKRST instruction.

– SHCKRST instruction appears in the input buffer line.
4. Change the value of the additional item.

– < When registering the instruction as it is >
Operate the step 5 when registering the instruction in the input
buffer line as it is.
– < When adding or changing the additional item >
(1) When adding the robot specification, move the cursor to instruc-
tion in the input buffer line and press [SELECT] to display the
DETAIL window.
(2) Move the cursor to “UNUSED” of “ROBOT/STATION”, and press

[SELECT].
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(3) The selection box appears.

(4) Point the cursor to the robot to be added and press [SELECT].
(5) When the addition of robot is completed, press [ENTER].

(6) The DETAIL window closes and the JOB CONTENT window
appears.
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8.7.2.6 Resetting the Shock Detected

When the collision of tool/manipulator and peripheral device is detected
with the shock detection function, the manipulator stops instantaneously
with alarm output. In this case, the shock detection alarm is displayed.
The shock detection alarm in teach mode and play mode can be reset by
the following operation.
1. Press [SELECT].
– The alarm is reset when “RESET” is selected on the alarm display,
and the shock detection status is released.
2. Operation after resetting the detection status.
– In teach mode, the JOG operation of the manipulator is enabled by
resetting the status.
– In the play mode, move the manipulator once to the safety position
in the teach mode to check the damage though the playback
operation is possible after resetting the status.
When manipulator is stopped instantaneously while having

contact with the object and the detection alarm is tried to
reset on the alarm window, the situation in which the alarm
cannot be reset may occur since the collision may be
NOTE
detected again after resetting.
In this case, set the shock detection function “INVALID”, or
increase the detection level in teach mode and retreat the
manipulator to a safety position.
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8.8 User Coordinates Setting
8.8.1 User Coordinates
8.8.1.1 Methods for User Coordinates Setting
There are two methods for user coordinates setting as following.

• Perform teaching by axis operations of the manipulator
User coordinates are defined by three points that have been taught
to the manipulator through axis operations. These three defining
points are ORG, XX, and XY, as shown in the diagram below. These
three points of positional data are registered in a user coordinate file.
Z-axis
X-axis
XX
XY
Y-axis ORG
User coordinate definition point

ORG: Home position
XX: Point on the X-axis
XY: Point on the Y-axis
ORG is the home position, and XX is a point on the X-axis. XY is a point

on the Y-axis side of the user coordinates that has been taught, and the
directions of Y- and Z-axes are determined by point XY.
NOTE It is important that the two points ORG and XX be taught

accurately.
• Specify the amount of change from the basic coordinates

User coordinates are defined by specifying the coordinates as a
basic coordinates (base coordinates or user coordinates) and the
amount of change of coordinate value from the basic coordinates.
As shown in the following figure, the data X, Y, Z, Rx, Ry, Rz indicate
the amount of change of coordinate value. These six data is regis-
tered in the user coordinates file.
Z-axis
Z-axis Specify the amount of change
（X、Y、Z、Rx、Ry、Rz） X-axis
Y-axis
Definition of user coordinates

Y-axis
X-axis
Basic coordinates
X,Y,Z are the amount of movement with respect to the basic

coordinates. Rx, Ry, Rz are the rotation angle with respect to the
basic coordinates.
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 User Coordinates Files

Up to 63 kinds of user coordinates can be registered. Each coordinates
has a user coordinate No. and is called a user coordinate file.
User coordinate file 1

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8.8.2 User Coordinate Setting

2. Select {USER COORDINATE}.
(1) The USER COORDINATE window appears.
(2) The “” mark indicates that the user coordinates is completed to
set and the “” mark indicates that it is not completed.
(3) To check the position of the user coordinates select {DISPLAY} 
{COORDINATE DATA}.
(4) The following window appears.
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 Perform teaching by axis operations of the manipulator

1. Move the cursor to the user coordinate number to be set.
2. Press [SELECT].
– The user coordinate setup window is shown.
3. Select the robot.

– Select “**” on the upper left of the window to select the subject robot.
(This operation can be omitted if the robot selection has already
been made or if there is only one robot.)
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4. Select “SET POS”.

– Select the teaching point.
5. Move the manipulator to the desired position with the axis keys.
6. Press [MODIFY] then [ENTER].
– Taught position is registered.
– Repeat the steps 2 to 4 to teach ORG, XX and XY.
– “” indicates that teaching is completed and “” indicates that it is
not completed.
– To check the taught positions, call up the required window among

ORG to XY and press [FWD]. The manipulator moves to the set
position.
– If there is a difference between the current position of the
manipulator and the displayed position data, “ORG”, “XX”, or “XY”
flashes.
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7. Select {COMPLETE}.
– User coordinates are registered in the file.
– Once the user coordinate setting is completed, the following
window appears.
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 Specify the amount of change from the basic coordinate

1. Move the cursor to the user coordinate number to be set.
2. Select {DISPLAY} of the main menu.

– The pull-down menu is shown.
3. Select {COORDINATE VALUE}.
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4. Select “ROBOT”.
– Select the target robot.
5. Select “BASIC COORDINATE”.

– Select the base coordinate/user coordinate for the basic coordinate.
The user coordinates number which is not yet registered or

NOTE currently selected cannot be selected.
Also, the user coordinates number which uses another user
coordinates as the basic coordinates cannot be selected.
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– When the user coordinate is selected for the basic coordinate,

“( :REGISTERED STATUS)” or “( : UNREGISTERED STATUS)”
is shown. indicates the user coordinates number which is fully
registered. indicates the user coordinates number which is not yet
registered.
If the user coordinates which specify another user

coordinates number in unregistered status as the basic
coordinates are used, the alarm no.4508 “SPECIFIED
NOTE ERROR(COORDINATE) [18]” occurs.
To select the user coordinates for the basic coordinates,
specify the registered user coordinates number as the basic
coordinates.
6. Select the item to be set and input the number.

– Input the amount of change from the basic coordinate.
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7. Select {REFLECT}.
– The user coordinate is created and registered in the user coordinate
file.
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8.8.3 Clearing the User Coordinates

1. Select {DATA} under the pull-down menu.
3. Select {YES}.
– All data is cleared.
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8.9 Overrun/Tool Shock Sensor Releasing
CAUTION
When operating the manipulator with the overrun or shock sensor
released, pay careful attention to ensure the safety of the surrounding
operation environment.
If the manipulator stops by overrun detection or tool shock sensor

detection, release the overrun or tool shock sensor by the following
procedure and reset the alarm and move the manipulator with the axis
keys.
2. Select {OVERRUN & S-SENSOR}.
– The OVERRUN & SHOCK SENSOR window appears.
– Select either “EMERGENCY STOP” or “HOLD” to set the item
“SHOCK SENSOR STOP COMMAND” which specifies the stop
condition in the current shock sensor detection.
– “E-STOP” and “HOLD” are displayed alternately every time
[SELECT] is pressed.
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3. Select “RELEASE”.
– The control group in which overrun or shock sensor is detected is
indicated with “”.
– If “RELEASE” is selected, overrun or tool shock sensor is released
and “CANCEL” indication will be displayed.
4. Select “ALM RST”.

– The alarm is reset and manipulator can be moved with the axis
keys.
After releasing the overrun or tool shock sensor, if

NOTE “CANCEL” is selected or the window is changed to the other
one, the release of the overrun or tool shock sensor will be
canceled.
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8.10 Soft Limit Release Function
8.10 Soft Limit Release Function

The switches that are set to detect the motion range of the manipulator
are called limit switches. The operating range is monitored by the software
in order to stop motion before these limit switches are reached. These
software limits are called “soft limits”. The operating range of the
manipulator is controlled by the following two soft limits.
• Maximum motion range for each axis
• Cubic operation area set parallel to the robot coordinate system
These soft limits are continually monitored by the system, and the
manipulator automatically stops when the its TCP reaches a soft limit.
When the manipulator is stopped at a soft limit, temporarily release the
soft limit by the following procedure, then move the manipulator away from
the soft limit in a direction opposite to the earlier operation direction.
2. Select {LIMIT RELEASE}.
– The LIMIT RELEASE window appears.
3. Select “SOFT LIMIT RELEASE”.

– Each time [SELECT] is pressed, “VALID” and “INVALID” switch
alternately.
– When “SOFT LIMIT RELEASE” is set to “VALID”, a message “Soft
limits have been released” appears.
– When “SOFT LIMIT RELEASE” is set to “INVALID”, a message

“Softlimits off released” is displayed for a few seconds.
• The taught data cannot be registered when the soft limit is

NOTE being released.
• The setting of “SOFT LIMIT RELEASE” becomes
“INVALID” when the mode is changed to the play mode.
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8 System Setup
8.11 All Limit Release Function
CAUTION
When operating the manipulator with all the limits released, pay careful
attention to ensure the safety of the surrounding operation
environment.
Since all the limits are released, the manipulator may move beyond its
range of motion, which may result in damage to the manipulator or
other equipment.
The following limits can be released with the All Limit Release function:
Limit Type Contents

Mechanical Limit Limit to check manipulator’s range of motion.
L-U Interference Limit to check L- and U-axis interference area.
Soft Limit on Each Axis Soft limit to check manipulator’s range of
motion.
Cube Interference Limit to check cube interference area set by
user.
All limit release function is not available if the security mode

NOTE is not in the management mode.
Refer to chapter 7 “Security System” for details on the
security modes.
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2. Select {LIMIT RELEASE}.
– The LIMIT RELEASE window appears.
3. Select “ALL LIMITS RELEASE”.

– “VALID” and “INVALID” are displayed alternately every time
– When “ALL LIMIT RELEASE” is changed to “VALID”, a message “All
limits have been released” is displayed. When the setting changes
to “INVALID”, a message “All limits off released” is displayed for a
few seconds.
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8.12 Instruction Level Setting
8.12.1 Setting Contents
8.12.1.1 Instruction Set

There are three instruction sets that can be used when registering the
instructions for the robot programming language (INFORM III): the subset
instruction set, the standard instruction set, and the expanded instruction
set.
Subset Instruction Set

The instructions displayed in the instruction list are limited to just those
that are most frequently used, reducing the number of instructions that
can be registered. Since few instructions are shown, selection and input
are simple.
Standard Instruction Set / Expanded Instruction Set

All the INFORM III instructions can be used. The number of additional
items to be used in each instruction differ in the standard instruction set
and expansion instruction set.
In the standard instruction set, the following functions cannot be used.
However, operation becomes easier because the number of data items
decreases when registering an instruction.
• Use of local variables and arrangement variable
• Use of variables for additional items (Example: MOVJ VJ = I000)
When instructions are executed, for example during playback, all the
instructions can be executed regardless of the instruction set used.
Fig. 8-5: Instruction Set
Expanded instruction set
Standard instruction set
Subset instruction set
Frequency used
All instructions
instructions
Use of local variables and arrangement variables

Use of variables for additional items
Job calls with arguments
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8 System Setup
8.12.1.2 Learning Function

When an instruction is entered from the instruction list, the additional
items that were entered last time are also shown. This function can
simplify instruction input.
– To register the same additional items as those in the former
operation, register them without changing.
1. An instructions are registered.
2. The next time an attempt is made to register the same instruction as in

1, the same additional items as were registered last time are also
shown in the input buffer line.
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8.12.2 Setting the Instruction Set Level

2. Select {TEACHIG COND}.
– The TEACHING CONDITION window appears.
3. Select “LANGUAGE LEVEL”.

– The selection list appears.
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4. Select desired language level.

– Language level is set.
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8.12.3 Setting the Learning Function

The learning function is set at “VALID” by default.
2. Select {TEACHIG COND}.
– The TEACHING CONDITION window appears.
3. Select “INSTRUCTION INPUT LEARNING”.

– “VALID” and “INVALID” are displayed alternately every time
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8.13 Setting the Controller Clock
8.13 Setting the Controller Clock

The clock inside the YRC1000micro controller can be set as follows.
2. Select {DATE/TIME}.
– The DATE/TIME SET window appears.
3. Select “DATE” or “TIME”.

– The input buffer line appears.
4. Input the new date/time.
– For instance, to set the date to April 30, 2016, input “2016.4.30”.
To set the time at twelve o’clock, enter “12.00”.
5. Press [ENTER].
– The date/time is changed.
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8.14 Setting the Play Speed

2. Select {SET SPEED}.
– The SPEED SET window is shown.

– When two or more manipulators and stations exist in the system,
use the [PAGE] to change the control group, or click on [PAGE] to
select the desired control group.
4. Select “JOINT” or “LNR/CIR”.

– The type of speed alternately changes from “JOINT” to “LNR/CIR”.
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5. Select the speed to modify.

– The input buffer line appears.
6. Input the speed value.
7. Press [ENTER].
– The speed is modified.
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8.15 Numeric Key Customize Function
8.15.1 About the Numeric Key Customize Function

With this function, the user can set the function of the specific keys for
each application to the other function. The specific keys are allocated to
the numeric keys on the programming pendant.
Since any frequently used operation can be allocated to the numeric keys
on the programming pendant, the number of key operations is decreased
and which reduces the teaching time.
The Numeric Key Customize Function is allowed to set only

NOTE when the security mode is in the management mode or
higher.
8.15.2 Allocatable Functions

There are two allocation methods as follows:
• Key Allocation (EACH)
• Key Allocation (SIM)
8.15.2.1 Key Allocation (EACH)

With key allocation (EACH), the manipulator operates according to the
allocated function when the numeric key is pressed. The allocatable
functions are listed below.
Function Description
Manufacturer Allocated by YASKAWA. Allocating another function
invalidates the function allocated by the manufacturer.
allocation
Instruction Allocates any instructions assigned by the user.
allocation
Job call allocation Allocates job call instructions (CALL instructions). The
jobs to be called are only those registered in the reserved
job names. (Specified by the registration No.)
Display allocation Allocates any displays assigned by the user.
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8.15.2.2 Key Allocation (SIM)

With key allocation (SIM), the manipulator operates according to the
allocated function when the [INTERLOCK] and the numeric key are
pressed at the same time. The allocatable functions are listed below.
Function Description
Alternate output Turns ON/OFF the specified GP output signal when
allocation [INTERLOCK] and the allocated Numeric key are
pressed at the same time.
Momentary output Turns ON the specified GP output signal when
allocation [INTERLOCK] and the allocated Numeric key are
Pulse output Turns ON the specified GP output signal only for the
allocation specified period when [INTERLOCK] and the allocated
Numeric key are pressed at the same time.
Group output Sends the specified output to the specified GP group
allocation output signals when [INTERLOCK] and the allocated
(4-bit/8-bit) Numeric key are pressed at the same time.
Analog output Sends the specified voltage to the specified output port
allocation when [INTERLOCK] and the allocated Numeric key are
Analog incremental Sends the voltage increased by the specified value to the
output allocation specified output port when [INTERLOCK] and the
allocated Numeric key are pressed at the same time.
SUPPLE
In a system for multiple applications, a numeric key can be
-MENT allocated for each application.
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8.15.3 Allocating Operation
8.15.3.1 Allocation Window

2. Select {KEY ALLOCATION}.
– The KEY ALLOCATION (EACH) window appears.
3. Select {DISPLAY}.
– Pull-down menu appears.
– To call up the KEY ALLOCATION (SIM) window, select {ALLOCATE
SIM. KEY}.
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4. Select {ALLOCATE SIM. KEY}.

– The KEY ALLOCATION (SIM) window appears.
– In a system multiple applications, press the [PAGE] to change the
window to the allocation window for each application, or click on
[PAGE] to select the desired application number.
8.15.3.2 Instruction Allocation

1. Set this function in the KEY ALLOCATION (EACH) window. Move the
cursor to “FUNCTION” of the key to be allocated and press [SELECT].
– Selection list appears.
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2. Select “INSTRUCTION”.
– The instruction is shown in the “ALLOCATION CONTENT”.
(1) To change the instruction, move the cursor to the instruction and
press [SELECT]. Then the instruction group list appears.
(2) Select the group which contains the instruction to modify.

(3) When the instruction list dialog box is shown, select the instruction
to be changed.
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8.15.3.3 Job Call Allocation

Set this function in the KEY ALLOCATION (EACH) window.
1. Move the cursor to the “FUNCTION” of the key to be allocated and
press [SELECT].
– A selection list appears.
2. Select “JOB CALL”.
– The reserved job registration No. is shown in the “ALLOCATION
CONTENT” (reserved job registration No.: 1 to 10).
– The reserved job registration is performed in the reserved job name
window.
(1) To change the reserved job registration No. move the cursor to the
No. and press [SELECT]. Then input buffer line appears.
(2) Input the number to be changed, and press [ENTER].
8.15.3.4 Display Allocation

Set this function in the KEY ALLOCATION (EACH) window.
press [SELECT].
2. Select [DISPLAY].
3. Move the cursor to “ALLOCATION CONTENT” and press [SELECT].
– Character input is available.
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4. Input the name of the reserved window and press [ENTER].

– The reserved name input to the “ALLOCATION CONTENT” is
shown.
5. Open the window for allocation.

6. Press [INTERLOCK] and the allocated key at the same time.
– A message “Reserved display registered” appears, and the window
is registered.
– In this case, the CURRENT POSITION window is registered by
pressing [INTERLOCK] + [0] with the CURRENT POSITION window
displayed on the screen.
When allocate the display allocation to a key, key allocation

(SIM) will be set to the display set.
SUPPLE
-MENT
Unable to allocate the display allocation and the another
function to the same key.
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8.15.3.5 Alternate Output Allocation

Set this function in the KEY ALLOCATION (SIM) window.
press [SELECT].
2. Select “ALTERNATE OUTPUT”.

– The output No. is displayed in the “ALLOCATION CONTENT”.
(1) To change the output No., move the cursor to the No. and press
[SELECT]. Then numeric value can be entered.
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8.15.3.6 Momentary Output Allocation

press [SELECT].
2. Select “MOMENTARY OUTPUT”.
– The output No. is displayed in the “ALLOCATION CONTENT”.
(1) To change the output No., move the cursor to the No. and press
[SELECT]. Then numeric value can be entered.
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8.15.3.7 Pulse Output Allocation

press [SELECT].
2. Select “PULSE OUTPUT”.
– The output No. and output time are displayed in the “ALLOCATION
CONTENT”.
(1) To change the output No. or output time, move the cursor to the
No. or time and press [SELECT]. Then numeric value can be
entered.
(2) Input the number or time to be changed, and press [ENTER].
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8.15.3.8 Group (4-bit/8-bit) Output Allocation

press [SELECT].
2. Select “4 BIT OUTPUT” or “8 BIT OUTPUT”.
– The output No. and output value are displayed in the “ALLOCATION
CONTENT”.
(1) To change the output No. or output value, move the cursor to the
No. or value and press [SELECT]. Then numeric value can be
entered.
(2) Input the number or value to be changed, and press [ENTER].
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8.15.3.9 Analog Output Allocation

press [SELECT].
2. Select “ANALOG OUTPUT”.
– The output port number and the output voltage value are displayed
in the “ALLOCATION CONTENT”.
(1) To change the output port No. or output voltage value, move the
cursor to the No. or voltage value and press [SELECT]. Then
numeric value can be entered.
(2) Input the number or voltage value to be changed, and press
[ENTER]
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8.15.3.10 Analog Incremental Output Allocation

press [SELECT].
2. Select “ANALOG INC OUTPUT”.
– The output port No. and incremental value are displayed in the
“ALLOCATION CONTENT”.
(1) To change the output port No. or incremental value, move the cur-
sor to the No. or incremental value and press [SELECT]. Then
numeric values can be entered.
(2) Input the number or incremental value to be changed, and press
[ENTER].
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8.15.4 Allocation of I/O Control Instructions

In key allocation (SIM), output control instructions can be allocated to the
numeric keys that have been allocated one of the following I/O controls
with key allocation (EACH).
Function Output Control Instruction allowed to be
Allocated
Alternate output allocation DOUT OT# (No.) ON
Momentary output allocation
Pulse output allocation PULSE OT# (No.) T = output time
Group output allocation (4-bit) DOUT OGH (No.) output value
Group output allocation (8-bit) DOUT OG# (No.) output value
Analog output allocation AOUT AO# (No.) output voltage value
1. Allocation of I/O control instruction.

– Allocate the I/O control instruction with key allocation (SIM) following
the aforementioned procedure.
2. Move the cursor to the “FUNCTION” of the key that has been allocated
with I/O control with key allocation (SIM) and press [SELECT].
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3. Select “OUTPUT CONTROL INST”.

– The instruction corresponding to the I/O control allocated by key
allocation (SIM) is displayed in the “ALLOCATION CONTENT”.
– The allocated instruction changes automatically when

“ALLOCATION CONTENT” is changed by key allocation (SIM).
Even if the I/O control allocation is changed to the default setting
allocated by the manufacturer with key allocation (SIM), the settings
for key allocation (EACH) remain the same.
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8.15.5 Execution of Allocation
8.15.5.1 Executing the Instruction/Output Control Allocation

1. Press the key allocated for instruction allocation or output control
allocation.
– The allocated instruction is displayed in the input buffer line.
2. Press [INSERT] and [ENTER].

8.15.5.2 Executing the Job Call Allocation

1. Press the key allocated for the job call allocation.
– The CALL instruction is displayed in the input buffer line.
– The CALL instruction shown in the input buffer line is registered.
8.15.5.3 Executing the Display Allocation

1. Press the key allocated for the display allocation.
– The allocated display appears.
8.15.5.4 Executing the I/O Control Allocation

Alternate output allocation, momentary output allocation, pulse output
allocation, group output allocation (4-bit/8-bit), analog output allocation,
analog incremental output allocation are executed by the following
operation.
1. Press [INTERLOCK] and the key allocated for I/O control allocation at
the same time.
– Allocated functions are executed.
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8.16 Changing the Output Status

The status of GP output signals can be changed from the programming
pendant by using either of the following two methods.
• On the GP output status window
• On the RELAY ON window
The method that uses the RELAY ON window, which is described here,
simplifies the operation for changing the status of signals that are used
frequently.
A maximum of 64 GP output signals can be shown on the

RELAY ON window and the number of the signals which are
NOTE shown in the parameters S4C327 to S4C390 must be set in
advance. If they are not set, the sub menu in the RELAY
ON window will not be displayed.
1. Select {IN/OUT} under the main menu.

2. Select {RELAY ON}.
– The RELAY ON window appears.
3. Select the desired signal to change the output status.

– Select the status ( or ) of the desired signal.
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4. Press [INTERLOCK] +[SELECT].

– The output status is changed. (: status ON; : status OFF.)
It is also possible to turn the relevant GP output signal ON

SUPPLE
only for the duration that [INTERLOCK]+[SELECT] are
-MENT pressed. This selection is made in advance by setting the
parameters (S4C391 to 454) to “1”.
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8.17 Changing the Parameter Setting

The parameters are protected not to be changed easily.
The following operations are allowed only for the operator who can set the
security mode to the management mode or higher.
The operations must be performed properly.
1. Select {PARAMETER} under the main menu.
2. Select the parameter type.
– The PARAMETER window appears. Select the desired parameter.
3. Move the cursor to the desired parameter number.
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– When the desired parameter number is not in the current window,

move the cursor in the following way:
(1) Move the cursor to a parameter number and press [SELECT].
(2) Enter the desired parameter number with the numeric keys.
(3) Press [ENTER].
(4) The cursor moves to the selected parameter number.
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Set the parameters in the following manner.
1. Select the parameter data to be set.
(1) Move the cursor to the parameter number data (decimal or binary)
in the PARAMETER window, and press [SELECT].
(2) To enter a decimal setting, select the decimal figure.
(3) To enter a binary setting, select the binary figure.
2. Enter the value.
– If a decimal figure is selected, enter a decimal value with the

numeric keys.
– If a binary figure is selected, move the cursor to the binary figure

data in the input buffer line, and press [SELECT].
– Each time [SELECT] is pressed, “0” and “1” alternate in the window.
– “0” or “1” can also be entered with the numeric keys.
3. Press [ENTER].
– The new setting appears in the position where the cursor is located.
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8.18 File Initialization
8.18.1 Initializing Job File

1. Turn ON the power supply again while pressing [MAIN MENU] on the
programming pendant simultaneously.
3. Select {FILE} under the main menu.
4. Select {INITIALIZE}.
– The INITIALIZE window appears.
5. Select {JOB}.
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6. Select {YES}.
– The job data is initialized.
When JOB is initialized, the following files are reset at the

same time.
Be careful when initializing JOB.
• User coordinates
NOTE
• Memory play file
• Variable data
• Robot calibration data
• Conveyor calibration data
8.18.2 Initializing Data File

5. Select {FILE/GENERAL DATA}.
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6. Select the data file to be initialized.

– The selected data file/general data are marked with “”.
– The parameters marked with “” cannot be selected.
7. Press [ENTER].
8. Select {YES}.
– The selected data file/general data are initialized.
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8.18.3 Initializing Parameter File

5. Select {PARAMETER}.
– The parameter selection window appears.
6. Select the parameter to be initialized.

– The selected parameter is marked with “”.
– The parameters marked with “” cannot be selected.
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7. Press [ENTER].
8. Select {YES}.
– The selected parameter is initialized.
8.18.4 Initializing I/O Data

5. Select {I/O DATA}.
– The I/O data selection window appears.
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6. Select data to be initialized.

– The selected data is marked with “”.
– The I/O data marked with “n” cannot be selected.
7. Press [ENTER].
8. Select {YES}.
– The selected data is initialized.
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8.18.5 Initializing System Data

5. Select {SYSTEM DATA}.
– The system data selection window appears.
6. Select the parameter to be initialized.

– The selected data is marked with “”.
– The system data marked with “” cannot be selected
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7. Press [ENTER].
8. Select {YES}.
– The selected data is initialized.
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8.18.6 Reset Safety Circuit Board FLASH Data
8.18.6.1 Saving Dual Data

The data related to the safety function is saved in the safety circuit board
memory in a duplicated manner for safety.
When the control power is turned ON, check is performed to see that dual
data sets are the same.
If they are different when the control power is turned ON, the following
alarm occurs.
Alarm 0300: “VERIFY ERROR(SYSTEM CONFIG-DATA)[10]”
In the system with the functional safety function, a message “Select

‘Safety Board FLASH Reset’ in the maintenance mode” is displayed after
the following operations.
Turning ON or OFF causes error in verification.
• The data related to the safety function is loaded from an external
storage.
• A parameter related to the safety function is rewrote by setting
operations in maintenance mode.
• The zeroing function is performed.
• Encoder is reset
In case one of the above mentioned operations is performed, re-set the

data following the procedures shown in chapter 8.18.6.2 “FLASH Data
Reset” .
In the maintenance mode, there are cases when parameters related to the
safety function are rewrote by several setting operations.
For this reason, the message “Select ‘Safety Board FLASH Reset’” may
be displayed.
Perform the safety board FLASH reset operation by following the
procedure shown in chapter 8.18.6.2 .
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8.18.6.2 FLASH Data Reset

If the following alarm occurs when the control power supply is turned ON,
Alarm 0300: “VERIFY ERROR(SYSTEM CONFIG-DATA)[10]”
perform the following operations to re-set the data of the function safety
board.
1. When the controller power is turned ON,
Alarm 0300: “VERIFY ERROR(SYSTEM CONFIG-DATA)[10]” occurs
and the maintenance mode is started up.
2. Select {SYSTEM} under the main menu. Then, press {SECURITY} to
change the security mode to the safety mode.
3. Select {FILE} under the main menu. Then, select {INITIALIZE} under
the sub menu.
– INITIALIZE window appears.
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4. Move the cursor to {Safety Board FLASH Reset} and press [ENTER].
5. The dialog box “Reset?” is displayed. Select {YES}.

– The data of the safety circuit board is re-set. A few seconds later,
the buzzer sounds and the data setting is completed.
6. When the data reset is completed, turn the control power OFF and
then turn the power ON again.
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8.18.7 Reset 3DGraphics Robot Model

5. Select {3DGraphics Robot Model Reset}.

6. Select {YES}.
– The 3D graphic model is reset.
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8.19 Display Setting Function
8.19.1 Font Size Setting

YRC1000micro enables changing the font size displayed on the screen.
The fonts displayed on the screen can be selected from eight patterns of
fonts in the font size setting dialog box.
8.19.1.1 Applicable Range for the Font Size Change

Changing the font size is allowed in the general display area indicated in
the following figure:
8.19.1.2 Settable Font Size

The following eight patterns of fonts are available in setting the size of
fonts displayed on the screen.
Font Size Font Style
1 Small Regular
2 Small Bold
3 Regular Regular
4 Regular Bold
5 Large Regular
6 Large Bold
7 Extra large Regular
8 Extra large Bold
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8.19.1.3 Setting the Font Size

To set the font size, first off display the font size setting dialog box as
follows.
1. Select {DISPLAY SETUP} then {CHANGE FONT} under the main
menu.
2. The font size setting dialog box appears on the center of the current
window.
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 To set the font size in the font size setting dialog box, follow the
procedure below.
1. Specify the font style.

– The {Bold Type} check box can be checked or unchecked
alternately each time the check box is selected.
• Check the {Bold Type} check box as follows to set the font to the bold
style.
• Clear the {Bold Type} check box as follows to set the font to the reg-
ular style.
2. Specify the font size.

– Select a button from the four buttons in the dialog box.
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3. The font size setting dialog box is closed, and the screen displays the
font specified in the dialog box.
 To cancel the setting of the font size, follow the procedure below.
1. Select {Cancel} in the font size setting dialog box.
2. The dialog box closes without changing the font size.
Do not turn OFF the YRC1000micro power supply when the

NOTE font size is being changed (when the font size setting dialog
box is on the screen).
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8.19.2 Operation Button Size Setting

YRC1000micro enables changing the size of operation buttons.
The button size in the main menu area, menu area, and instruction list can
be respectively selected from three sizes.
8.19.2.1 Applicable Range for the Button Size Change

Changing the button size is allowed in the main menu, menu (pull-down
menu), and instruction list indicated in the following figure:
8.19.2.2 Settable Button Size

The following three sizes of buttons are available in setting the size of
each operation button; the font style of the character string on buttons can
also be specified.
Button Size Font Style
1 Small Regular
Bold
2 Regular Regular
Bold
3 Large Regular
Bold
8.19.2.3 Setting the Button Size

To set the button size, first off display the button size setting dialog box as
follows.
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1. Select {DISPLAY SETUP} then {CHANGE BUTTON} under the main

menu.
– The font size setting dialog box appears on the center of the current
window.
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 To set the button size in the button size setting dialog box, follow the
procedure below.
1. Specify the area to set the button size.

(1) Select the desired area from the area setting buttons.
(2) The buttons in the selected area is subject to size setting.
(3) Note that only the last-selected button determines the area subject
to size setting, even if settings are performed several times before
then.
2. Specify the font style.

– The {Bold Type} check box can be checked or unchecked
alternately each time the check box is selected.
• Check the {Bold Type} check box as follows to set the font to the bold
style.
• Clear the {Bold Type} check box as follows to set the font to the reg-
ular style.
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3. Specify the button size.

– Select a button from the three buttons in the dialog box.
4. The font size setting dialog box is closed, and the screen displays the
buttons specified in the dialog box.
– The modification is applied only to the buttons in the area selected
with the area setting button. (In this example, the change is applied
only to the pull-down menu buttons in the menu area.)
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 To cancel the setting of the button size, follow the procedure below.
1. Select {Cancel} in the button size setting dialog box.
– The dialog box closes without changing the button size.

NOTE button size is being changed (when the button size setting
dialog box is on the screen, or when an hourglass is indi-
cated in the middle of the screen).
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8.19.3 Initialization of Screen Layout

The font/button size changed with the font/button size setting function can
be collectively changed back to the regular size.
8.19.3.1 Initializing the Screen Layout

To initialize the screen layout, follow the procedure below.
1. Select {DISPLAY SETUP} then {INITIALIZE LAYOUT} under the main
menu.
– A confirmation dialog box appears on the center of the current

window.
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 To Initialize the screen layout, follow the procedure below.
1. select {OK}.
– The dialog box is closed, and the font/button sizes are collectively
changed to the regular size.
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 To cancel the Initialized screen layout, follow the procedure below.
1. Select {CANCEL}.
– The dialog box closes without changing the current screen layout.

NOTE screen layout is being initialized (when the confirmation dia-
log box is on the screen, or when an hourglass is indicated
in the middle of the screen).
8.19.4 Layout Storage

The settings of the font or button sizes are saved in the programming
pendant. The screen displays the font/button size specified last time with
the current programming pendant.
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8.20 Encoder Back-Up Error Recovery Function
8.20.1 About Encoder Back-Up Error Recovery Function
A motor of the robot, the travel axis or the rotation station which is
controlled by the YRC1000micro is connected with the back-up buttery in
order to keep the position information even though the control power is
disconnected. This buttery consumes buttery power through time, and the
alarm “4312 ENCODER BATTERY ERROR” occurs when the voltage
becomes lower than 2.8V. If the battery is not replaced and keep
consuming more battery power, it will cause the lost of the position
information. In addition, the alarm “4311 ENCODER BACK-UP ERROR”
occurs. Meanwhile, there would be a gap between the manipulator
position and the position of the absolute encoder.
This function is used to recover the absolute data by moving the axis
whose position information is lost to a position close to the home position
by axis operation.
8.20.2 Encoder Back-Up Error Recovery Function Operation
1. Press {SELECT}.
– When select the “RESET” in the alarm display, the alarm is reset.
The manipulator can be move by the axis operation key.
2. Adjust the alarm occurring axis to the home position mark of the each
manipulator axis by the axis operation key.
– Refer to chapter 7.1.1.1 “Changing the Security Mode” for the

operation of the changing the security mode.
4. Select {ROBOT} in the main menu.
5. Select {HOME POSITIONNING}.
– The home positioning display appears. The absolute data of the axis
which is occurring the encoder back-up error appears with the “ ✻ ”
which indicates the undefined state.
6. Select the control group.
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7. Select {UTILITY} in the menu.

8. Select {BACKUP ALM RECOVERY} in the menu.

– The back-up alarm recovery display appears.
9. Select the axis to be fixed.

– Move the cursor over the axis to fix, and select it. The confirmation
dialog appears.
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10. Select {YES}.

– The absolute data of the selected axis is recovered.
– Select {NO} to cancel the operation.
11. Select the current position.
– To display the current position window, refer to “YRC1000micro
MAINTENANCE MANUAL (RE-CHO-A115) 7.8.1 Current Position
Window”.
12. Confirm the current position.
– Confirm the recovered current position, and modify the followings
depending on its values.
(1) The pulse number is approximately “0”.
• Recovered normally.
(2) The pulse number is approximately “4096”.
• Move the recovered axis to the 4096 pulse position, and register
the individual axis to calibrate the home position.
(3) The pulse number is approximately “-4096”.
• Move the recovered axis to the -4096 pulse position, and register
the individual axis to calibrate the home position.
As for the registering the individual axis, refer to
chapter 8.1.2.2 “Registering Individual Axes” .
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8.21 Preventive Maintenance Function
8.21.1 Preventive Maintenance Function

The preventive maintenance function contains the function which provides
the information of diagnosis the duration of life for the speed reducer and
the function which informs the inspection time of the robot. Furthermore, it
contains the function which provides the information of the life span of the
controller components. Use these functions for the preventive
maintenance for the robot.
The followings are the features.
• Preventive maintenance function for the speed reducer
• Inspection notice function
• Preventive maintenance function for the hardware
8.21.2 Preventive Maintenance Function for the Speed Reducer

Diagnoses the duration of life for the speed reducer by using the both
methods of the lifetime calculation and the torque average value. The
diagnosis is executed by operating the job in the play mode. It is
unnecessary to prepare the job for this diagnosis.
• The accuracy of the performance of the life diagnosis is

not guaranteed. Use this function as the one of the
methods to determine the duration of life for the speed
reducer.
• If the periodic grease replenishment and grease
replacement are not performed, or the excessive
NOTE pressure is applied to the speed reducer, such as the
mechanical interference etc, it will be failed before
reaching to the diagnosis period.
• The diagnosis is performed by executing the job in the
play mode. When operating the robot in the teach mode
(operation by the axis key, FWD operation and test
operation), the life diagnosis function is not performed.
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8.21.2.1 Diagnose by the Lifetime Calculation
 Outline
This function calculates the torque and the speed of the each axis during
the job operation, and diagnoses the time to replace the speed reducer by
the lifetime calculation. The replacement time is informed by displaying
the message and turning the replacement signal ON.
Operating the job in the play mode performs the diagnosis automatically.
NOTE This function is only available for the robot axes. As for the
external axes, this function is not available.
 Set the Replacement Signal

Set the GP output signal to notify the replacement time by following
procedures.
2. Select {PM} in the main menu.
3. Select {PM(REDUCER)}.
4. Select {DISPLAY} in the menu.
– {=SETUP CONDITION} appears under the pull down menu.
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5. Select {=SETUP CONDITION}.

– The condition setup window is appears.
6. Move the cursor to over the {=REPLACEMENT SIGNAL}, and select.

– Able to enter the values.
7. Enter the GP output signal.
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 Lifetime Calculation Window

– The lifetime calculation window appears. In the case of the another
window appears, select {DISPLAY}, and select the {=LIFE
CALCULATION} in the pull down menu to display the lifetime
calculation window.
1 2 3 4
Each item on the screen represents the following description.

① =TIME TO REPLACEMENT
Displays the rest of the lifetime to replace the speed reducer. The
calculation of the subtraction of the number is operated automatically by
performing the job in the play mode.
② =NOTICE TIME
By setting the time in this item, the replacement time is informed by
displaying the message and turning the replacement signal ON before the
“TIME TO REPLACEMENT” becomes “0”.
For example, when setting with “100”, the message will be displayed 100
hours before the “TIME TO REPLACEMENT” becomes “0”, and the
replacement signal will be turned ON as well.
For example, when setting with “-100”, the message will be displayed 100
hours after the “TIME TO REPLACEMENT” became “0”, and the
replacement signal will be turned ON as well.
③ =WARNING
Select this item to invalidate the notification signal and displaying the
message. [Invalid] and [Valid] will alternate each time when pressing the
[Select].
④ =RESET
Select this item after replacing the speed reducer.
Addition to the message is deleted, and the replacement signal is OFF,
“TIME TO REPLACEMENT” is reset.
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 Invalidate the Replacement Signal and the Message Display

Able to invalidate the replacement signal and the message display in each
axis. Invalidate the replacement signal and the message display by the
following procedures, in the case of the speed reducer seems to operate
normally even though the replacement signal is turned ON.
2. Select {=PM} in the main menu.
3. Select {=PM(REDUCER)}.
– The lifetime calculation window appears. In the case of the another
window appears, select {DISPLAY}, and select the {=LIFE
CALCULATION} in the pull down menu to display the lifetime
calculation window.
4. Move the cursor over the “=WARNING” to invalidate the desired axis,
and select [Select]. [Invalid] and [Valid] will alternate each time when
press the [Select].
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 Graph Display
The lifetime calculation can be checked in the graph. The shift of lifetime
calculation is shown on the programming pendant, so that it is possible to
check visually how the lifetime decreases. Use this function as a method
to judge the lifetime of the speed reducer. The graph is shown by the
following procedures.
1. Select {PM} of main menu.
– The pull down menu is shown.
4. Select {GRAPH}.
– The graph is shown.
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5. Select {GRAPH}.
6. Select {Lifetime}
– The calculation result is shown as a graph.
The vertical axis of the graph indicates the time to replace. The horizontal
axis indicates the operation time.
To change the display range of the horizontal axis, modify the MIN and
MAX values of display time.
To change the display range of the vertical axis, modify the MIN and MAX
values of time to replace.
By pressing {CSV Save}, the lifetime calculation data can be saved as a
CSV format into the external memory device.
For the other operations, refer to chapter 8.21.2.2 “Diagnose by the
Torque Average Value” .
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8.21.2.2 Diagnose by the Torque Average Value
 Diagnosis Element
Monitors the torque waveform during the job operation, and calculates the
average value of the vibration amplitude by extracting the waveform from
the torque arising from the speed reducer. This data is called the torque
average value, and it is the basis data to diagnose the lifetime. The
following chart shows the lifetime curved line according to the torque
average value and the operation hours.
Torque average value
Failure
Started operation
Lifetime curved line
Running in Normal operation Deterioration
Operation hours
Lifetime curved line
As the condition of the speed reducer is changing to “deterioration” from

“normal operation”, the torque element changes to “increase” from
“normal”. It is estimated that the speed reducer is in the deterioration
period as the number of the torque element is increasing by the
deterioration of the speed reducer.
This function records the torque element arising from the deterioration of
the speed reducer on a daily basis, and diagnoses the lifetime of the
speed reducer by monitoring the change of the torque element.
Torque
トルク Torque
トルク
Speed
速度 Speed
速度
Torque and speed at the normal operation period Torque and speed at the deterioration period
By operating a job in the play mode, a data (the torque element arising
from the deterioration of the speed reducer) for each axis is recorded
automatically on a daily basis, and the data is accumulated.
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When the difference value between the latest value “the average value
from the measured result of the five days (the initial value) including the
day to diagnose” and the average value “the average of 30 days (the initial
value) between prior to 60 days from the day to diagnose and prior to 90
days from the day to diagnose” becomes the threshold value or more, it
determines the speed reducer is almost failure, and outputs the warning.
The average value is indicated with%, and 100% indicates the standard
torque.
Latest period (5 days)
Torque average value Latest value

(average of the nearest value)
When the measured value is greater

than the threshold value, it outputs the warning.
Average period (30 days)

Average value
……… (average value of the average period)
Prior to 60 days from the day to diagnose
Prior to 90 days Prior to 60 days A day to diagnose
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 Setting Procedures
The setting procedures are described as follows.
– The lifetime calculation window appears.
4. Select {DISPLAY} in the menu.

– The {=SETUP CONDITION} appears in the pull down menu.
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– The setup window appears.
– Modify the condition as necessary.
1 2
3
4
5
6
7
8
9
6. Select {End} button.

① =TORQUE VARIATION ACCEPT RATE
It is determined as accept OK when the measured value (the latest value -
the average value) is smaller than the set value or the equal value. It is
determined as accept NG when the measured value is greater than the
set value. The torque variation accept rate can be set as “High”, “Medium”
or “Low”. The initial value of each item is 50%, 40% and 20%.
② =TORQUE VARIATION ALART OUTPUT

• =ACCEPT RATE HIGH
The warning output signal is turned ON when the number of the day,
which is determined as accept NG (the latest value - the average
value > “=ACCEPT RATE HIGH”), is more than the number of the
consecutive days. If unnecessary to output the signal, set the item
“0”. The initial value of this item is “0”.
• =ACCEPT RATE MID, LOW
The GP output signal, which is set by “=ACCEPT RATE MID” and
“=ACCEPT RATE LOW”, is turned ON when it is determined as fol-
lows.
The latest value - the average value > “=ACCEPT RATE MID”.
The latest value - the average value > “=ACCEPT RATE LOW”.
If unnecessary to output the signal, set the item “0”. The initial value
of this item is “0”.
③ =CONSECUTIVE DAYS (ACCEPT NG)

It is determined as the speed reducer is almost failure, when the number
of the day, which is determined as tolerance NG (the latest value - the
average value > “=ACCEPT RATE HIGH”), is more than the number of this
item. The initial value of this item is “3” (days).
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④ =CALCULATION DAYS
Set the period to calculate the average value. The initial value of this item
is “30” (days).
⑤ =ELAPSED DAYS FROM CALC. START
Set the period to calculate the average value from the day to diagnose.
The initial value of this item is “60” (days).
⑥ =LATEST MEASURED DAYS
Set the period to calculate the latest value. The initial value of this item is
“5” (days).
⑦ =ERROR DELETE FILTER
Use to delete the error when calculate the average value. The following
values (torque average) are excepted from the calculation of the average
value.
• The average from the previous day exists.
The average from the previous day / any measurement value of the
average period×100 > filter setting value
The any measurement value of the average period / the average

from the previous day×100 > filter setting value
• The average from the previous day does not exist.
The latest value / any measurement value of the average

period×100 > filter setting value
The any measurement value of the average period / the latest

value×100 > filter setting value
The initial value of this item is “200” (%).
⑧ =GRAPH NAME
The name of the graph can be registered.
⑨ =REPLACEMENT SIGNAL
Use this item to calculate the lifetime. Refer to “Set the Replacement
Signal” .
NOTE Even though the initial value is set, the accuracy of the life
diagnosis is not guaranteed performance.
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 Data Confirmation
By operating a job in the play mode, a data (the torque element arising
from the deterioration of the speed reducer) for each axis is recorded
automatically on a daily basis, and the data is accumulated. It is
unnecessary to prepare the job for this diagnosis.
Able to refer to the data by following procedures.
– The pull down menu appears.
4. Select {=TORQUE MONITOR}.

– The torque monitor window appears.
1
2
3
4 5 6 7 8 9
5. Press [PAGE] key.

– Able to refer to the data of a date corresponding to the number by
pressing the [PAGE] key. Modify the number as necessary.
Unable to measure the torque average value because the

SUPPLE axis of the measured value indicating “✻” is not operating, or
-MENT
the motion speed is less than the reference speed.
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① =NG COUNT (IN A ROW)
Shows the number of the variation days, which is higher than the value of
the torque variation “HIGH”. The warning output signal, which is set by
“=ACCEPT RATE HIGH”, is turned ON when the number of the day above is
more than the number of the consecutive accept NG days.
② =NG COUNT (ACCUM.)

Shows the total number of the variation days, which is higher than the
value of the torque variation “HIGH”. The number of “=NG COUNT (IN A
ROW)” is reset as “0”, when a day does not exceed the torque variation.
However, this “=NG COUNT (ACCM.)” will not be reset.
③ =MEASURED DATE
Shows the date of the measurement or the updated speed reducer
diagnosis database.
④ =MEAS.
Shows the measured torque average.
⑤ =AVE.
Shows the arithmetic mean of the average period (certain number of the
days, which is calculated in the past, based on the MEASURED DATE).
However, the measured values excepted in the =ERROR DELETE
FILTER are not included.
⑥ =VARIATION (The Determining Value)

Shows the difference value between the latest value and the average
value. When this value exceeds the value, which is set at the torque
variation, it is determined as accept NG.
⑦ =LATEST
Shows the arithmetic mean of the latest period (certain number of the
days included the measured day).
⑧ =WARNING
Select this item to invalidate the warning output signal. [Invalid] and
[Valid] will alternate each time when press the [Select].
⑨ =RESET
Select this item after replacement of the speed reducer. The warning
output signal will be turned OFF, and the old data will not be used for the
lifetime diagnosis.
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 Invalidate the Warning Output Signal

Able to invalidate for each axis. Invalidate the warning output signal by
the following procedures, in the case of the speed reducer seems to
operate normally even though the warning output signal is turned ON.

– The lifetime calculation window appears.
4. Select {=TORQUE MONITOR}.
– The torque monitor window appears.
Move the cursor over the “=WARNING” of the desired axis to invalidate,
and press [Select]. [Invalid] and [Valid] will alternate each time when
pressing the [Select].
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 Graph Display
After the measurement, the variation can be checked by a graph.
The graph is updated every 24 hours automatically. The measured value
and changes of the variation can be displayed on the programming
pendant. Thus, the changes of the torque can be checked visually.
Use the graph display as the one of the methods to judge the lifetime of
the speed reducer.
The graph can be shown by the following procedures.
4. Select {=GRAPH}.
– The graph appears.
3
1 2 6
8
9
10
5. Select {CLOSE}.
– Return to the lifetime calculation window.
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① =Graph
Select the {Graph}, and the pull down menu appears. Either “=Vari.” or
“=Meas.” can be selected.
• When selecting “=Vari.”,

the variation (=latest value - average value) appears on the graph.
The line of each “Hi”, “Mid” and “Lo” appears.
“Hi” means “the torque variation accept high”.
“Mid” means “the torque variation accept medium”.
“Lo” means “the torque variation accept low”.
When changing “the torque variation accept high”, “the torque varia-
tion accept medium” or “the torque variation accept low” on the each
setting window, the lines for “Hi”, “Mid” and “Lo” on the graph also
correspond to the setting values.
In the case of the graph above, it shows a “variation” > “Lo” of the T-axis,
and the warning output signal, which is set by “torque variation low”, is
ON.
• When selecting “=Meas.”,

the measured value is displayed on the graph.
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② =Group
Select {=Group}, and the pull down menu appears. Select the group to
display.
③ =Name
The names set in the each setting window are displayed.
④ =Renew
Pressing the “=Renew” button updates the latest data.
⑤ =Days
Set the number of the days between 5 and 150 days to be displayed. The
latest data is displayed on the right side of the graph, and the old data set
by “=Days” is displayed on the left side of the graph.
⑥ =Torque
The minimum value and the maximum value of the vertical axis can be
set. “MIN” is the minimum value, and “MAX” is the maximum value.
⑦ =Axis
Removing the tick in the box hides the axis on the screen.
⑧ =Save CSV
Pressing the “CSV” button saves the variation and measured value into
the external memory device as CSV format. As for the external device, it
can be saved into both SD card and USB, but the data is priory save into
the SD card. The followings are the name for a file and a folder to be
saved.
File name: “the name which is set in the each setting window” + “year/
month/day” + “hour/minute/second”. CSV
Folder name: “SR LIFE DIAGNOSIS”
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⑨ =Hard COPY
Pressing the “=Hard COPY” button saves the hard copy of the screen as
JPG format into the USB memory stick.
The following is a name for the file.
File name: “year/month/day” + “hour/minute/second”. JPG
⑩ =CLOSE
Pressing “=CLOSE” button closes the graph window.
8.21.2.3 After Replacement of the Speed Reducer

The lifetime diagnosis does not perform correctly if use the old data after
replacement of the speed reducer. Thus, reset the data for the lifetime
diagnosis, and prevent using the data before replacement day.
Perform the following procedures after replacement of the speed reducer.
4. Select {DISPLAY}, select the {=LIFE CALCULATION} or {=TORQUE
MONITOR] in the pull down menu.
– The lifetime calculation window or the torque monitor window
appears.
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5. Move the cursor over the “Reset” on the axis window of which speed
reducer is replaced, and press {Select}.
– The confirmation dialog appears.
6. Select {YES}.
– The data of its axis is reset, and the replacement day is recorded
into the “=INSPECTION RECORD” window.
– The operation is canceled when select “No”.
The procedures above can be performed in the lifetime window or the
torque monitor window.
The replacement day is recorded into the “INSPECTION RECORD”
window by performing the procedures above.
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8.21.3 Inspection Notice Function

The inspection notice function turns the notice signal ON and displays the
message when the inspection time has come.
Perform the inspection by the authorized personnel or YASKAWA
representative (the list on the back cover) when the notice signal is turned
ON.
8.21.3.1 Setting Procedures

.Perform the setting procedures as follows.
3. Select {=INSPECTION NOTICE}.
– The inspection notice window appears.
4. Select {DISPLAY} in the main menu.

– {=SETUP CONDITION} is displayed in the pull down menu.
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– {=SETUP CONDITION} window appears.
Modify each items if necessary.
① ②
1 TIME
Before the remaining time to the inspection is “0”, the message is shown
and the inspection signal is ON at the time which is set in this item. For
example, if “100” is set, the message is shown and the signal is ON 100
hours before the remaining time to the inspection is “0”.
The time can be set in the management mode.
2 SIGNAL
Set the GP output number which notifies the inspection time.
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8.21.3.2 The Inspection Notice Window

2. Select {=INSPECTION NOTICE}.
– The inspection notice window appears.
① ② ③ ④

1 Inspection items
The contents of the inspection are shown. The contents differ depending
on the model of manipulators. For details of the contents, refer to the
manipulator's instruction manual corresponding to the model.
2 REMAINING
The remaining time to the inspection is shown. When the servo power is
ON, the measurement automatically starts and the numeric value is
reduced. When the value is “0” in this item, the inspection signal is turned
ON and the message is shown.
3 INTERVAL
The time interval of the inspection is shown.
4 ESTIMATE
The estimated date for the inspection is shown.
When the inspection signal is turned ON or the message is

displayed, perform the inspection by an authorized person-
NOTE nel or the YASKAWA representative (listed on the back
cover of this instruction manual). The message is displayed
continuously until the YRC1000micro is inspected.
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8.21.4 Record of Inspection Date and Replacement Date

The dates when the inspection or the replacement was done can be
checked by following procedures.
2. Select {=INSPECTION RECORD}.
3. Select {DISPLAY}, and select {=INSPECTION DATE} in the pull down
menu.
– The inspection date can be checked.
4. Select {DISPLAY}, and select {=REPLACEMENT DATE} in the pull

down menu.
– The replacement date can be checked.
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8.21.5 Management of the Data

According to the torque average value, such as the speed reducer
preventive maintenance data base, the preventive maintenance elements,
the record of the inspection and replacement, can be loaded/saved into
the external memory device.
As for the external device menu, refer to “YRC1000micro OPERATOR’S
MANUAL (RE-CSO-A058) 7. External Memory Device” for more details.
1. Select {EX.MEMORY} in the main menu.
– The external memory menu window appears.
2. Select {LOAD} or {SAVE}.

– The load window or the save window appears.
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3. Select the “SYSTEM DATA”.

– The system data selection window appears.
(The following is an example of a window.)
4. Select the system data to load or save.

– For the speed reducer preventive maintenance data base, select
“={PM(REDUCER)FILE}”.
– For the speed reducer preventive maintenance condition, select
“={PM(REDUCER)CONDITION}”.
– For the record of the inspection and replacement date, select”=
{INSPECTION RECORD FILE}”.
The selected system data is displayed with “ ★ ”.
5. Press [Enter].
6. Select {YES}.
– The selected system data is saved.
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8.21.6 Preventive Maintenance for the Hardware

This function estimates the life span of the controller components by
calculating the consumed amount with considering the usage environment
and the load, and outputs GP signals to be the reference for the
replacement time.
The function overview is described below.
8.21.6.1 Target Components for Diagnosis

Regarding the following, calculations of the consumed amount and
outputs of the GP signals to be the reference for the replacement time are
performed.
• Cooling fan*
• Capacitor
• Amplifier IGBT
• Contactor
• Motor (numbers of revolution and reverse revolution are displayed)
*Even though a fan is an one of target components, some models do not
have the fan. Refer to the INSTRUCTIONS for the each manipulator to
confirm if it has the fan.
8.21.6.2 Replacement Time Display
 Stepwise Display of Replacement Time

For each component, a judgment from A to D is displayed, and it can be
used as the reference for the replacement time.
Judgment Status
display
A New - Used about half of its life span
B Used about half of its life span
C Used about half of its life span - Time to replace (reference)
D Time to replace (reference)
 Signal Output of Replacement Time

If any of the components is judged as D, ON signal is output from the GP
output which is set as “Alarm signal” of the file.
However, only one signal for this GP signal can be output for one
controller.
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 Mask of Signal Output

The GP output signals can be masked for each component.
If any of the components is judged as D, ON signal is output from the GP

output which is set as "Alarm signal" of the file. This signal is output
continuously, so the signal to inform the replacement time of the
component cannot output newly. Therefore, the signal of the replacement
time for other components can be output by masking the signal output of
the component which is already judged as D and turning OFF the GP
output signal temporarily.
Even if the masking is performed, D remains to be displayed for the
component judged that it should be replaced.
8.21.6.3 Replacement of Component
 Record of Replacement Date of Component

When the component is replaced, the replacement date (year, month,
day) can be recorded. It can be used for the reference for the next
replacement time or for the estimation of the failure mode by the failure
time.
 Life Span Setting at Replacement of Component

A new component or an used one, whichever it is replaced with, the life
span setting can be performed.
For the used component, after recording the replacement date, the value
1 - 100% can be set as the leftover life.
 Display of the Numbers of Motor Revolution and Reverse Revolution

The accumulated values are displayed regarding the number of each
motor revolution and the number of reverse revolution of positive and
negative revolution. They can be used as the reference for the
replacement time of the speed reducer or motor.
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8.21.7 Setting of Preventive Maintenance for the Hardware
8.21.7.1 Setting of Replacement Time Display

2. Select {PM (HARDWARE)}.

– Alarm signal setting and unit selection window appears.
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3. Input the numerical value of the alarm signal.

When any of components in this controller comes to the replacement
time, the GP output signal which is already set turns ON.
– * For example, 125 is input.

4. Select the unit.
Or select the unit from {DISPLAY} in the menu.
– * For example, {COOLING FAN} is selected.
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5. The following information is displayed:

Starting from the left,
(1) “ ” is displayed when the replacement time is judged as D.
(2) Component name
(3) GP output signal valid/invalid
(4) The first date of use
(5) Leftover life judgment
– When {COOLING FAN} is selected:
① ② ③ ④ ⑤
– When {CAPACITOR} is selected:
– When {AMPLIFIER IGBT} is selected:
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– When {CONTACTOR} is selected:
6. When replaced with a new component, select “”.

– A confirmation dialog box appears. When replaced with a new
component, select {YES}.
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7. When replaced with an used component, select {BEGINNING}.
– A window to input the numerical value appears. Input the

replacement date using half-width characters like {2009.3.14}.
After that, a following confirmation dialog box appears. When
replaced with an used component, select {YES}.
8. When manually setting the approximate value to the leftover life, input
the numerical value “0 - 100%”.
9. When the numerical value displayed in the confirmation dialog box is

correct, select {YES}.
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8.21.7.2 Mask of Replacement Time Display (Signal Display)

Perform the masking of the replacement time display according to the
following procedures:
1. When any of the components comes to the replacement time, the
message is displayed per unit.
2. The message is also displayed per component.

Invalidate the output.
– After checking the components, invalidate the output.
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3. The GP output signal is turned OFF. And the message turns to be

hidden.However, the stepwise display remains D.
– * Before the replacement, perform the above operation in order to

detect the multiple components because only one GP
output of life diagnosis can be output for one controller.
The masking cycle is as follows:
Replacement time of a component, GP output ON, Checking the
component and turning OFF the output of the component, GP output
OFF, Replacement time of another component, GP output ON.
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8.21.8 Display of the Numbers of Motor Revolution and Reverse Revolution
8.21.8.1 Display of the Numbers of Revolution and Reverse Revolution

1. Select each menu in the following order. {=PM} in the main menu,
{PM(HARDWARE)}, {MOTOR}.
8.21.8.2 Percent Display of the Number of Motor Revolution

At the motor rated number of revolution, it displays how many percent it
has operated with 100% representing the case it operates 20000 hours.
1. Select each menu in the following order. {PM} in the main menu,
{PM(HARDWARE)}, {MOTOR}. And then select {DISPLAY} on the
menu to select {REVOLUTION(%)}.
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8.21.8.3 Resetting the Number of Revolution

Used when the motor replaced with a new one.
1. Select “” of the axis to be reset by moving the cursor to it, and then
select {YES}. on the dialog box.
The day of the first use (BEGINNING) is automatically changed.
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8.21.8.4 Changing the Numbers of Revolution and Reverse Revolution

Used when the motor replaced with an used one.
1. Select the number of the axis to be reset by moving the cursor to it,
and then set the number.
To set the day of the first use (BEGINNING), select the date of the axis
to be reset by moving the cursor to it, and then set the date.
– * When changing the number of revolution.
– * When changing the number of reverse revolution.
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8.22 Operating Status Monitor Function
With this function, the operating status of the manipulator (Operation time,
IO waiting time, energy saving time, time for stopping by the alarm) can be
checked. The status can be checked consecutively for 5 days if measured
by the hour, for 100 days if measured by the day, for 60 months if
measured by the month.
 Graph of the Operating Status

The graph of the operating status is shown by the following steps.
2. Select {OPERATING STATUS}.
– The operating status window is shown.
⑦ ⑧ ⑨
⑩ ⑪
3. Select {END}.
– The initial window is shown again.
1 OPERATE
Indicates the cumulative time for executing the move instruction.
2 IO WAIT
Indicates the cumulative time for which the manipulator's operation is
stopped by the WAIT instruction or etc.
3 ENERG-SAVE
Indicates the cumulative time for which the servo power is OFF by the
energy saving function.
4 ALM.STOP
Indicates the cumulative time until the next start after the occurrence of
the alarm.
5 OTHERS
Indicates the time other than above items no. 1 to no. 4 .
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6 Set the range of horizontal axis of the graph

The range of horizontal axis can be changed by setting the numeric value.
7 ITEM
Select {ITEM} and the pull down menu is shown.
“ALL”, “OPERATE”, “IO WAIT”, “ALM.STOP” or “OTHERS” are selectable.
• “ALL” is selected.
OPERATE, IO WAIT, ALM.STOP and OTHERS are shown.
• “OPERATE” is selected.
OPERATE only is shown.
• “IO WAIT” is selected.
IO WAIT only is shown.
• “ALM.STOP” is selected.
ALM.STOP only is shown.
• “OTHERS” is selected.
OTHERS only is shown.
8 UNIT
Select {UNIT} and the pull down menu is shown.
“HOUR”, “DAY”, or “MONTH” are selectable.
• “HOUR” is selected.
The unit of the horizontal axis of the graph is the hour.
For the item no. 6 , the value can be set in the range from -96 to 0.
• “DAY” is selected.
The unit of the horizontal axis of the graph is the day.
For the item no. 6 , the value can be set in the range from -100 to -3.
• “MONTH” is selected.
The unit of the horizontal axis of the graph is the month.
For the item no. 6 , the value can be set in the range from -60 to -3.
9 UPDATE
By pressing "UPDATE", the data can be updated.
10 HARD COPY
By pressing “HARD COPY”, the hard copy on the window can be save into
the USB memory stick as a JPG format. The file name to be saved is the
following.
File name: “year/month/date”_ “hour/minute/second”.JPG
11 END
By pressing “END”, the graph window is closed.
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8.23 Job Monitor Function

With this function, the following items are shown. The number of job
execution, the playback time, the moving time, the IO stop time,
the energy saving time, the load ratio of each axis for each job.
 Job Registration
For the job registered on the JOB MONITOR ENTRY window, the
measurement is performed. A job is registered by the following steps.
The maximum 10 jobs can be registered.
2. Select {JOB MONITOR}.
– The JOB MONITOR window is shown.
3. Select {DATA}.
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4. Select {JOB MONITOR ENTRY}.

– The JOB MONITOR ENTRY window is shown.
5. Job registration
(1) The maximum 10 jobs can be registered. Move the cursor to the
desired number and press [SELECT]. The job name window is
shown. (If the number in which the job has already registered is
selected, the dialog “Clear data?” shows up. Select {YES}.)
(2) Move to the desired job and press [SELECT].

The job is registered in the JOB MONITOR ENTRY window.
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 Measurement of Data
When the playback is performed for the job registered in the JOB
MONITOR ENTRY window, measurement automatically starts.
The data is automatically updated every time the playback is performed.
Measurement is performed for the section from NOP to END or RET of the
registered job. And if the hold, the emergency stop or the alarm occurs
during measurement, the measurement ends.
Also, if 600 seconds pass after starting the measurement and the
conditions mentioned above are not satisfied, the measurement ends.
Following examples show the timing when measurement ends and the
data is updated.
<Example 1> No RET in the section
TEST1.JBI
NOP→ measurement starts
MOVJ
MOVJ
END→ measurement ends
<Example 2> RET in the section
TEST2.JBI
MOVJ
RET→ measurement ends
END
<Example 3>The hold, the emergency stop or the alarm stop occurs
during measurement.
TEST1.JBI
MOVJ
MOVJ→ measurement ends

(The hold, the emergency stop or the alarm stop occurs)
END
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<Example 4>The registered job (TEST1.JBI) calls another registered job

(TEST2.JBI)by CALL instruction or etc.
TEST1.JBI
MOVJ
MOVJ
CALL JOB: TEST2
:
END→ measurement starts
In this case, the job monitor data of TEST2 is not updated.
 Data Check
The number of job execution, playback time, moving time, IO stop time,
energy saving time are shown. Also, the lifetime of the speed reducer, the
load ratio, the maximum speed, the average speed, the maximum torque
and the average torque of each axes are shown.
The data can be checked by following steps.
2. Select {JOB MONITOR}.
– The JOB MONITOR window is shown
3. Press {PAGE}.
– It is possible to check the data of the date whose number
corresponds to the number of pressing {PAGE}. Modify if
necessary. The data of the current day is updated with the latest
data every time a job is executed. For the previous data, the
average values of the day are shown. The data of the maximum 50
days can be checked.
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4. Move the cursor to the desired job name and press {OPEN}.
– The JOB DIAGNOSIS window is shown. The lifetime of the speed
reducer, the load ratio, the maximum speed, the average speed, the
maximum torque and the average torque of each axes are shown.
– It is possible to check the data of the date whose number
corresponds to the number of pressing {PAGE}. Modify if
necessary. The data of the current day is updated with the latest
data every time a job is executed. For the previous data, the
average values of the day are shown. The data of the maximum 50
days can be checked.
5. Press {CLOSE}.
– The JOB MONITOR window is shown again.
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 Management of Data
The job monitor data can be saved by the external memory menu.
For details of the external memory menu, refer to “YRC1000micro
OPERATOR'S MANUAL (RE-CSO-A058) 7. External Memory Devices”.
2. Select {SAVE}.
3. Select “SYSTEM DATA”.
4. Select “JOB MONITOR DATA”.
5. Press [ENTER].
6. Select {YES}.
– “JOB MONITOR DATA” is saved.
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8.24 Robot Monitor Function

With this function, the threshold values are set for the following items.
Torque, collision detect external force value, speed FB, and error pulse.
When the values is equal to the threshold values or more, the GP output
signal is turned ON.
 Setting the threshold value and GP output signal

Perform the setting of the threshold value and GP output signal in
accordance with the following procedure.The data can be checked by
following steps.
2. Select {ROBOT MONITOR}.
– The ROBOT MONITOR window is shown
3. Set the “CONTROL GOUP”.

– Select the control group in the pull down menu.
4. Set the “ITEM”.
– Select the item (Torque, collision detect external value, speed FB,
error pulse) in the pull down menu.
5. Set the threshold value.
– Move the cursor to “VALUE” of the desired axis and input the
threshold value.
6. Set the GP output number.
– Move the cursor to “OUT#” of the desired axis and input the GP
output number.
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 Management of Data
The robot monitor data can be saved by the external memory menu.
For details of the external memory menu, refer to “YRC1000micro
OPERATOR'S MANUAL (RE-CSO-A058) 7. External Memory Devices”.
2. Select {LOAD} or {SAVE}.
– The LOAD or SAVE window is shown.
3. Select “SYSTEM DATA”.
4. Select “ROBOT MONITOR DATA”.
5. Press [ENTER].
6. Select {YES}.
– “ROBOT MONITOR DATA” is saved.
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8.25 Brake Line Ground Judgment Function
8.25.1 About the brake Line Ground Judgment Function

If the current flowing through the brake line exceeds the capacity of the
control power supply unit, the DC 24V power supply will be disconnected
by the protective circuit of the control power supply unit; then an alarm
“1683 DC24V POWER SUPPLY FAILURE(SV)” occurs.
This function identifies the position where the ground fault occurred after
arising the alarm “1683 DC24V POWER SUPPLY FAILURE(SV)”. It is
able to identify which axis brake line does the ground fault occur by
inspecting the each axis from the programming pendant.
Identify the ground fault of the brake line by the following methods.
(1) Turn the servo ON the group which the ground fault occurs.
(2) Discharge the any axis brake, and then confirm if the DC 24V
power supply will be disconnected.
8.25.2 Operating Condition

1. Condition of the controller
The controller has restarted normally by restarting the controller after
arising the alarm “1683 DC24V POWER SUPPLY FAILURE(SV)”.
2. Mode
Only teach mode
3. Security
All security mode, such as Operation, Edit and Management mode
4. Others
• Must be SERVO OFF
• The emergency signal is not input (Pendant, controller, external sig-
nal
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8.25.3 Operation
8.25.3.1 Occurrence of a DC 24V Power Supply Failure (SERVO)

– When detecting either the ground fault or the short circuit of the
brake line, the alarm “1683 DC24V POWER SUPPLY
FAILURE(SV)” occurs.
– Restart the control power, and perform the brake line ground check.
8.25.3.2 Brake Line Ground Check

1. Select {BRAKE LINE GROUND CHECK} in the sub-menu from
{ROBOT} in the main menu.
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2. Press {YES}.
– The confirmation dialog appears due to prevent the mis-operation.
– Select {YES}., then the brake line ground check appears.
– Select {NO}, the window returns to the previous window.
3. Move the cursor over the axis to perform the brake line ground check,
and press [SERVO ON READY]. Grip the enable switch and long
press [SELECT] while pressing down the [INTER LOCK] to perform
the brake line ground check.
– Perform the brake line ground check to the every single axis
– The brake line ground check is canceled in the case of following
conditions.
• [SELECT] operation is released.
• The emergency button of the programming pendant or external
signal is pressed.
• Enable switch is released or gripped further.
• The servo alarm occurs.
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8 System Setup
JUDGEMENT REQUIRED: The ground check is not performed

BRAKES LINE NORMAL: The brake line is normal.
DETECTED GROUND: The ground fault or short circuit of the
brake line
ABNORMAL END: The ground check is canceled.
(i.e. the dislocation of the axis is detected, and so on)
4. Detecting the Brake Line Ground Fault

– When the brake line ground fault or the short circuit is detected, the
alarm “1694 GROUND FAULT (BRAKE LINE)” occurs.
– Inspect the brake line of the axis which raised the alarm.
– Restart the control power, and perform the brake line ground check
to the rest of the axes.
8.25.3.3 Initializing the Related Information
1. The sub menu {BRAKE LINE GROUND CHECK} appears after

selecting the {ROBOT} in the main menu.
2. Select {DATA} in the menu.
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8 System Setup
3. Select {CLEAR}.
4. Press {YES}.
– The related information of the brake line ground check is initialized.
– {BRAKE LINE GROUND CHECK} does not appear in the main
menu until the alarm “1683 DC24V POWER SUPPLY
FAILURE(SV)” occurs.
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8 System Setup
8.26 Safety Logic Circuit
8.26.1 Outline
The safety logic circuit is a function to create a safety logic circuit by the
It enables to set up the logical operations, such as stopping the
manipulator and outputting the servo ON signal.
The contents of this function are described below, however, the GP safety
I/O board which is the optional board is required to prevent losing the
safety function.
If a logic (AND, OR, etc.) is performed by using non-safety data and
another safety signal without using the GP safety I/O board which is the
optional board, the output result will be non-safety data.
If non-safety data is used for an application in which safety is required, the
safety function will not be maintained. Thus, make sure to properly
perform a risk evaluation of the robot system before using non-safety
data.
The followings are the contents of this function.
• Executes the safety logic circuit by the safety circuit board corre-
sponded to the secure authentication.
• The safety logic circuit consists of the system section and the user
section.
• The system section of the safety logic circuit is the specific circuit of
YASKAWA, so that the safety logic circuit cannot be edited.
Meanwhile, for the user part, it is possible to edit.
• Both system and user section of the safety logic circuit consist of a
circuit with 2 inputs and 1 output or a circuit with 1 input and 1 output.
• Both system and user section of the safety logic circuit consist of 128
lines.
• Both system and user section of the safety logic circuit are operated
in every 2 ms cycle.
• Both system and user section of the safety logic circuit can be
referred by the all modes regardless the security mode, however the
user section can be edit only when the security mode is “SAFETY
MODE” plus under the teach mode and the servo is OFF.
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8 System Setup
Following is the example of configuration with the safety PLC.
(Extension GP Safety I/O board )

option
ADDITIONAL BOX
For the connection of the Extension GP Safety I/O board

NOTE (optional), the board of JANCD-ASF32-1E(8 points avail-
able) can be connected to each safety circuit board
(JANCD-ASF30-1E).
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8 System Setup
8.26.2 Changing the Security Mode

To create/edit the safety logic circuit, change the security mode to the
safety mode.
1. Display of the window.
– Select {SECURITY} from {SYSTEM INFO} in the main menu.
2. Change to the safety mode.
– Select {SAFETY MODE}.
– Enter the password for the safety mode, and then press [ENTER].
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8 System Setup
– When the entered password is correct, the mode is changed to

{SAFETY MODE}. After changing to the safety mode, the icon on
the status area is changed to .
For the key pad of the numerical input, display (available)

and hide (non-available) can be switched by selecting the
NOTE “DISPLAY SETTING” in the main menu shown on the pro-
gramming pendant.
At factory setting, the key pad is set as display (available).
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8 System Setup
8.26.3 Available I/O Signals and Instructions in Safety Logic Circuit

The following is the explanation of the input and output signals and logic
(instructions) available in the safety logic circuit.
1 . Logic
No. Display Contents Note
1 NOT Negative (reverse of signal)
2 DSU Detection of signal rising edge
3 DSD Detection of signal falling edge
4 AND Logic AND

5 OR Logic OR
2 . Input signal 1/ Input signal 2 (Signal1/Signal2)

1 EXESP External emergency stop input signal
(●: Under emergency stop [release]/〇: Not under emergency
stop [short circuit])
2 #n FSBIN[x] GP safety input signal (8 points) This signal is
(●: OFF [release]/ 〇 : ON [short circuit]) shown when the
optional GP safety
I/O board
is connected.
3 #n FSBOUT[x] GP safety output signal (8 points)) This signal is
(●: ON status/ 〇 : OFF status) shown when the
GP safety I/O
board (option)
is connected.
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8 System Setup

4 FS-OUT[x] Functional safety output in the safety logic circuit 64 points This signal is
functional safety
function (option) is
enabled.
5 HOLD Hold
(●: OFF (Hold signal is not input.)/〇: ON (Hold signal is being
input.))
6 MS-OUT[x] Machine safety output used in the safety logic circuit (64
points)
(●: ON status/ 〇 : OFF status)
7 PBESP Controller emergency stop signal
8 #n PFLIN[x] Output signal to PFL board (ASF04-E) 32 points This signal is
optional PFL
board(ASF04-E) is
connected.
9 #n PFLOUT[x] Input signal from PFL board (ASF04-E) 32 points This signal is
optional PFL
board(ASF04-E) is
connected.
10 PLAY Play mode
(●: Play mode/ 〇 : Not play mode)
11 PPDSW PP enable switch signal
(●: Released [release]/ ○ : Grip [short circuit])
12 PPESP PP emergency stop signal
13 R[x] Work area 128 points (auxiliary relay)
14 REMOTE Remote mode
(●: Remote mode/ 〇 : Not remote mode)
15 S-EXDSW External enable switch signal in the safety logic circuit
(●: ON (servo ON enabled)/ 〇 : OFF (servo OFF status)
16 S-EXESP External emergency stop signal in the safety logic circuit
(●: Release/ 〇 : Press (emergency stop status)
17 S-FST Full speed mode in the safety logic circuit
(●: Full speed mode/ 〇 : Safety speed)
18 S-SAFF Safety fence signal in the safety logic circuit
(●: Close/ 〇 : Open (servo OFF status))
19 SAFF Safety fence signal
(●: Open/ 〇 : Close)
20 #n SFRON[x] Servo ON/OFF signal 4 points
(●: Servo ON/ 〇 : Servo OFF)
21 SPIN[x] Specific input signal 32 points
22 SVON Servo ON/OFF status
(●: Servo ON/ 〇 : Servo OFF)
23 SVONRDY0 Servo ON ready
(●: Servo ON available status/ 〇 : Servo OFF)
24 TEACH Teach mode
(●: Teach mode/ 〇 : Not teach mode)
n: The number of the safety circuit board (Maximum 2)
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8 System Setup
3 . Output signal
1 #n FSBOUT[x] GP safety output signal (8 points) This signal is
optional GP safety
circuit board is
connected.
For details, refer to
chapter 8.26.7 “S
etting for the GP
Safety I/O Signals” .
2 MS-OUT[x] Machine safety signal output signal in the safety logic circuit 64
points
(●: ON output/ 〇 : OFF output)
3 #n PFLIN[x] Output signal to PFL board (ASF04-E) 32 points This signal is
optional PFL
board(ASF04-E) is
connected.
4 R[x] Work area 128 point (auxiliary relay)
(●: ON output/ 〇 : OFF output)
5 S-EXDSW External enable switch signal in the safety logic circuit
(●: ON (servo ON enabled)/ 〇 : OFF (servo OFF status)
6 S-EXESP External emergency stop signal in the safety logic circuit
(●: Release/ 〇 : Press (emergency stop status)
7 S-FST Full speed test signal in the safety logic circuit
(●: Full speed test/ 〇 : Safety speed)
8 S-SAFF Safety fence signal in the safety logic circuit
(●: Close/ 〇 : Open (servo OFF status))
9 SVOFF CAT0 Turns OFF the servo power supply to the robot. (Category0
stopped)
(●: Robot stop request/ 〇 : Not robot stop request)
10 SVOFF CAT1 Turns OFF the servo power supply to the robot. (Category1
stopped)
(●: Robot stop request/ 〇 : Not robot stop request)
n: The number of the safety circuit board (Maximum 2)
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8 System Setup
When the robot is stopped by request stop from the safety

logic circuit signal, the message “Robot is stopped by safety
NOTE logic circuit” is shown on the message area of the program-
ming pendant. And the control status signal #80343(servo
OFF status by safety logic circuit) is turned ON
4 . Timer
1 TMR[8] One shot pulse width timer 8 timer
2 TM[4] OFF DELAY OFF Delay timer 4 timer
3 TM[4] ON DELAY ON Delay timer 4 timer
5 .Comment
It is possible to input up to 32 characters in one-byte (16 characters in
two-byte).
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8 System Setup
8.26.3.1 Switching Display of System and User Section

1. Operation for switching display.
By pressing [PAGE] shown on the programming pendant and selecting
the USER or SYSTEM, the display of the system and user section of
the safety logic circuit can be switched.
SYSTEM: The system section of the safety logic circuit is shown.

USER: The user section of the safety logic circuit is shown.
2. Display of the system section.
(SYSTEM) is shown in the title line while the system section is shown.
For the display of the system section

(SYSTEM) is shown in the title line.
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8 System Setup
3. Display of the user section.

There is no message next to STS in the title line while the user section
is shown.
For the display of the user section

No message is shown next to STS
in the title line.
SUPPLE
There is a case that the system section of the safety logic
-MENT circuit is not defined at factory setting.
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8 System Setup
8.26.4 Safety Logic Circuit

– Select {SAFETY LOGIC CIRCUIT} from {SAFETY FUNC.} in the
main menu.
2. Create the safety logic circuit

– Create the safety logic circuit. The setting items are “INPUT1”,
“LOGIC”, “INPUT2” and “OUTPUT”.
Set “TIMER” and “COMMENT” if necessary.
– The INPUT1 and INPUT2 must be set.
– When setting the input 1 or 2, LOGIC is also must to be set.
– OUTPUT is also must be set. The same output signal cannot be set
to the multiple logic circuit.
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8 System Setup
After creating the safety logic circuit, the status changes from “DONE” to
“NOT DONE”. The “WRITE” button is shown on the left down corner of the
screen.
3. Canceling the edit

– To start over the editing, select {CANCEL EDIT} from {EDIT} in the
pull-down menu.
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8 System Setup
4. Line clear
– To clear the one line, select {LINE CLEAR} from {EDIT} in the pull-
down menu.
5. All line clear

– To clear the all line, select {ALL LINE CLEAR} from {EDIT} in the
pull-down menu.
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8 System Setup
6. Copy
– Choose the desired area to make a copy, and select {COPY} from
{EDIT} in the pull-down menu.
– Go to the area to paste, select {PASTE} from {EDIT} in the main

menu to paste.
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8 System Setup
7. Transferring and updating the safety logic circuit file

(1) After creating the safety logic circuit, select {WRITE}.
– The safety logic circuit file is transferred to the safety circuit board.
If there is a blank line in the safety logic board, it will be filled
automatically.
– When the transfer of the safety logic circuit file is successfully
performed, the following window is shown.
(2) When {CONFIRM} shown on the programming pendant is

selected, the confirmation dialog of “Update the file?” is shown.
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8 System Setup
(3) Press {YES}., and then the file transferred to the safety circuit
board is written in the FLASH ROM. The status becomes “DONE”
from “NOT DONE”.
If press {NO}, the file will not be updated. The status remains
“NOT DONE”.
• If press {YES}. on the confirmation dialog, the all

information related to the safety logic circuit is
transferred to the safety circuit board as the safety logic
circuit file and written in the FLASH ROM of the safety
NOTE
circuit board.
• If select {WRITE}, the all output signals output from the
safety circuit board are turned OFF until the writing
process is completed.
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8 System Setup
When {WRITE} is selected, if the same output signals are

set for two or more sections, the following error message
shows up. So that, correct the safety logic circuit.
NOTE
8. Execution of the safety logic circuit

– When the write operation is completed, the safety logic circuit is
executed. If the set signal is ON, “ ” is shown. If the set signal is
OFF, “ ”is shown. The safety logic circuit is always executed
except the write operation.
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8 System Setup
8.26.5 Signal List Window

The ON/OFF status list of the signals used in the safety logic circuit is
shown.
1. Select {SAFETY FUNC.}-{SLC SIGNAL DISPLAY}
2. The signals used in the safety logic circuit is shown.
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8 System Setup
8.26.6 <Setting ON/OFF to the Input Signals

The display of the ON/OFF status of input signals used in the safety logic
circuit can be switched.
1. Select {SAFETY FUNC.}-{SLC SIGNAL DISPLAY SET}.
2. The ON/OFF status of input signals used in the safety logic circuit can
be switched by pressing [SELECT] on the programming pendant
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8 System Setup
No. Signal Normal Open Normal Close

Name
1 EXESP External emergency stop input signal External emergency stop input signal
(●: Under emergency stop/ 〇 : Normal) (●: Normal/ 〇 : Under emergency stop)
2 FSBIN GP safety input signal (ASF32) GP safety input signal (ASF32)
(●: OFF [release]/ 〇 : ON [short circuit]) (●: ON [short circuit]/ 〇 : OFF [release])
3 HOLD Hold Hold
(●: ON (Hold signal is being input.)/ 〇 : ON (●: OFF (Hold signal is not input.)/ 〇 : ON
(Hold signal is not input.)) (Hold signal is being input.))
4 PPDSW Programming pendant enable switch signal Programming pendant enable switch signal
(●: Grip/ 〇 : Not grip (servo OFF)) (●: Not grip (servo OFF)/ 〇 : Grip)
5 PPESP Programming pendant emergency stop signal Programming pendant emergency stop signal
(●: Under emergency stop/ 〇 : Normal) (●: Normal/ 〇 : Under emergency stop)
6 SAFF Safety fence signal Safety fence signal
(●: Open (safety fence opened)/ 〇 : Close) (●: Close/ 〇 : Open (safety fence opened))
3. For example, when the EXESP signal is changed from “Normal Open”
to “Normal Close”, the mark “●” indicates the external emergency stop
signal is in the normal state (Normal Close) and the mark “〇” indicates
the external emergency stop signal is being input (Normal Open).
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8 System Setup
4. Select {WRITE} and then {CONFIRM} to enable the changed settings.

When the data is updated correctly, the status on the title line is
changed from “NOT DONE” to “DONE”.
When the ON/OFF settings of the input signals are

changed, outputting the signals that have been output nor-
NOTE mally may fail. This may lead to a serious accident. After
changing the ON/OFF settings of the input signals, be sure
to confirm the safety logic circuit operates normally.
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8 System Setup
8.26.7 Setting for the GP Safety I/O Signals
8.26.7.1 Preliminary setting for the GP Safety I/O Signal

When using the GP safety I/O signal (type: ASF32 board), start up the
maintenance mode and perform the following operations.
1. Display of the window
– Turn the power ON while pressing [MAIN MENU] on the
2. Change the security
– When the maintenance mode is started, Select {SECURITY} from
{SYSTEM}.
3. Change to the safety mode.
(1) Select {SAFETY MODE}.
(2) Input the password for the safety mode and press [ENTER].
4. When the correct password is input, the mode is changed to {SAFETY
MODE}.
– After changing to the safety mode, the icon shown on the status
area is changed to .
5. After changing the security, select each menu in the following order.
{SYSTEM},{SETUP},{OPTION FUNCTION},{SAFETY I/O BOARD
SETTING}.
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8 System Setup
6. Press [SELECT] on the programming pendant and set the GP safety I/

O board ASF32.
NOT USED: GP safety I/O board is not used.

JANCD-ASF32-1E: The I/O 8 points of GP safety I/O signal are available.
NOTICE
• When starting up the robot system, confirm the function and wiring
of the general-purpose safety I/O signals.
7. Press [ENTER] on the programming pendant and select {YES}.

The data is updated.
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8 System Setup
8. After updating the data, select in the following order.

{FILE}, {INITIALIZE}, “Safety Board FLASH Reset”.
– When “bleep” sounds, the initialization is completed and the
message on the programming pendant disappears. Also, if the
message “Select ‘Safety Board FLASH reset’” is shown on the
message area of the programming pendant, perform “Safety Board
FLASH reset”.
9. Turn OFF/ON the YRC1000micro.
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8 System Setup
8.26.7.2 Setting for the GP Safety Output Signals

1. Select {SAFETY FUNC.}-{F-SAFETY SIGNAL ALLOC}.
– The following window is shown. The mark at the center of the
window indicates ON/OFF status. “ ” means OFF and “ ”
means ON.
2. To use the GP safety output signals in the safety logic circuit, press
[SELECT] on the programming pendant and set “M-SAFE”.
– The GP safety output signals allocated to “M-SAFE” are available in
the safety logic circuit. However, if the setting is “NOT USED”, the
signals are available only on the functional safety circuit board.
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8 System Setup

– When the data is updated correctly, the status on the title line is
8-255
8 System Setup
8.26.8 Timer Delay

Set up the delay time of the output signal to use by the safety logic circuit.
In the TIMER DELAY, there are “ON DELAY TIME” to delay the ON output
and “OFF DELAY TIME” to delay the OFF output. It can be four timer
settings.
When setting the 500 msec to ON DELAY TIME,
Safety logic output
Output
500msec
ON DELAY time
When setting the 300 msec to OFF DELAY TIME,
Safety logic output
Output
300msec
OFF DELAY time
The initial value is 100(25 ✕ 4)[msec].

It is able to set every 4msec up to 399,996 (99,999 ✕ 25)[msec].
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8 System Setup
1. Displaying the window.

– Select {TIMER DELAY} from {SAFETY FUNC.} in the main menu.
2. Set up the delay time.

– Set the value of the delay timer to use.
After the setting, the status changes from “DONE” to “NOT DONE”.
{WRITE} is shown on the left down corner of the screen.
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8 System Setup
3. Canceling the edit

– To start over the editing, select {CANCEL EDIT} from {EDIT} in the
pull-down menu.
4. Transferring or updating the file

– After editing, select {WRITE}.
The file is transferred to the safety circuit board. When the file
transfer is done correctly, the confirmation dialog “Update the file?”
appears.
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8 System Setup
– Press {YES}, and then the file is updated.

The safety logic circuit file which has been transferred to the safety
circuit board is written in the FLASH ROM.
The status becomes “DONE” from “NOT DONE”.

transferred as the safety logic circuit file to the safety
circuit board and written in the FLASH ROM of the
NOTE
safety circuit board.
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8 System Setup
8.26.9 Timer
Set the width of the pulse output from the safety logic circuit by TIMER.
When the GP safety input signal is ON, one-second one-shot signal is
output from the GP safety output signal.
1. Select {SAFETY FUNC.}-{TIMER DELAY}.
2. Select {PAGE}-{TIMER}.
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8 System Setup
3. Input “250” at TIMER1.
4. Create the following safety logic circuit.

001 DSU #1FSBIN1 #1 FSBOUT1 TMR1
5. When the edit is done, select {WRITE}.

– The safety logic circuit file is transferred to the safety circuit board.
6. If the transfer is correctly done, the confirmation dialog “Update the
file?” shows up. Select {YES}.
– The safety logic circuit file is updated.
– The safety logic circuit file which has been transferred to the safety
circuit board is written in the FLASH ROM. The status becomes
“DONE” from “NOT DONE”.

transferred as the safety logic circuit file to the safety
circuit board and written in the FLASH ROM of the
NOTE
safety circuit board.
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8 System Setup
8.26.10 Output Signal

The following signals can either be hard-wired or be controlled by the
safety logic circuit.
Expanded signal Hard-wired signal Explanation

name name
S-EXDSW None ・This is the external enable switch signal and functions only in the
teach mode.
・When both the S-EXDSW signal and the enable switch on the
programming pendant are ON, the servo power can be turned ON.
・When the S-EXDSW signal is not used in the safety logic circuit, the
safety circuit board regards this as the short-circuit status.
S-EXESP EXESP ・This is the external emergency stop input signal.

・When the S-EXDSW signal is turned OFF, the signal performs the
same control as the EXESP signal is turned OFF.
・The hard-wired EXESP signal is always monitored. When either the
EXESP signal or the S-EXESP signal is OFF, the servo power supply
is turned OFF.
・When the S-EXESP signal is not used in the safety logic circuit, the
safety circuit board regards this as the short-circuit status.
S-FST None ・This is the full speed signal.
・When this signal is turned ON in the teach mode,
the manipulator's operation speed can be increased to 100%.
S-SAFF SAFF ・This is the safety fence signal and functions only in the play mode.
・When the S-SAFF signal is turned OFF, the signal performs the
same control as the SAFF signal. The hard-wired SAFF signal is
always monitored. When either the SAFF signal or the S-SAFF signal
is OFF, the servo power supply is turned OFF.
MS-OUT None This is the data to transfer the data created in the safety logic circuit to
the functional safety function (optional).
The signals which has been controlled by a hardware are

NOTE also always monitored. Thus, the safety function, which
turns OFF the servo power supply when the error is
detected, is maintained.
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8 System Setup
8.26.11 Display of the Message on the Programming Pendant

When the signals input by hard-wired or the request stop from the safety
logic circuit stop the manipulator's operation, the messages on the
programming pendant are changed as in the following table to recognize
which signal stops the manipulator.
Signal name Message on the programming pendant

None -
S-FST Full-speed test mode. (Safety Logical Circuit)
EXESP Robot is stopped by external emergency stop.
S-EXESP Robot is stopped by external emergency stop. (Safety Logical Circuit)
None -
S-EXDSW EXDSW signal is OFF.(Safety Logical Circuit)
SAFF Safety fence is open.
S-SAFF Safety fence is open. (Safety Logical Circuit)
(Note) The upper line: the message when the manipulator is stopped
by the input of the hard-wired signal.
The lower line: the message when the manipulator is stopped
by the signals input from the safety logic circuit.
None: The appropriate signals do not exist.
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8 System Setup
8.26.12 Specific Input Signals Allocated to SPIN[xx]

32 signals input in the SPIN[xx] are allocated to specific input signals
#40780 to #40817.
The signals input in the SPIN[xx] are available in the safety logic circuit.
40787 40786 40785 40784 40783 40782 40781 40780

Safety logic Safety logic Safety logic Safety logic Safety logic Safety logic Safety logic Safety logic
circuit circuit circuit circuit circuit circuit circuit circuit
Specific Specific Specific Specific Specific Specific Specific Specific
input 8 input 7 input 6 input 5 input 4 input 3 input 2 input 1
SPIN08 SPIN07 SPIN06 SPIN05 SPIN04 SPIN03 SPIN02 SPIN01
40797 40796 40795 40794 40793 40792 40791 40790

40807 40806 40805 40804 40803 40802 40801 40800

40817 40816 40815 40814 40813 40812 40811 40810

WARNING
• SPIN is non-safety data. If a logic (AND, OR, etc.) is performed by
using SPIN and another safety signal, the output result will be non-
safety data. If SPIN is used for an application in which safety is
required, the safety function will not be maintained. Thus, make
sure to properly perform a risk evaluation of the robot system before
using SPIN.
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8 System Setup
8.26.13 Output to the Control Status Signal

The following signals used in the safety logic circuit can be confirmed in
the control status signals.
(1) MS-OUT[64]
(2) FS-OUT[64]
(3) #n FSBIN[8]
(4) #n FSBOUT[8]
(5) #n PFLIN[32]
(6) #n PFLOUT[32]
80687 80686 80685 80684 80683 80682 80681 80680

GP safety GP safety GP safety GP safety GP safety GP safety GP safety GP safety
Input signal Input signal Input signal Input signal Input signal Input signal Input signal Input signal
FSBIN8 FSBIN7 FSBIN6 FSBIN5 FSBIN4 FSBIN3 FSBIN2 FSBIN1
ASF32#1 ASF32#1 ASF32#1 ASF32#1 ASF32#1 ASF32#1 ASF32#1 ASF32#1
80697 80696 80695 80694 80693 80692 80691 80690

GP safety GP safety GP safety GP safety GP safety GP safety GP safety GP safety
Output signal Output signal Output signal Output signal Output signal Output signal Output signal Output signal
FSBOUT8 FSBOUT7 FSBOUT6 FSBOUT5 FSBOUT4 FSBOUT3 FSBOUT2 FSBOUT1
81327 81326 81325 81324 81323 81322 81321 81320

Safety Logic Safety Logic Safety Logic Safety Logic Safety Logic Safety Logic Safety Logic Safety Logic
Circuit Circuit Circuit Circuit Circuit Circuit Circuit Circuit
MS-OUT8 MS-OUT7 MS-OUT6 MS-OUT5 MS-OUT4 MS-OUT3 MS-OUT2 MS-OUT1
81337 81336 81335 81334 81333 81332 81331 81330

81347 81346 81345 81344 81343 81342 81341 81340

81357 81356 81355 81354 81353 81352 81351 81350

8-265
8 System Setup
81367 81366 81365 81364 81363 81362 81361 81360

81377 81376 81375 81374 81373 81372 81371 81370

81387 81386 81385 81384 81383 81382 81381 81380

81397 81396 81395 81394 81393 81392 81391 81390

81407 81406 81405 81404 81403 81402 81401 81400

FS-OUT8 FS-OUT7 FS-OUT6 FS-OUT5 FS-OUT4 FS-OUT3 FS-OUT2 FS-OUT1
81417 81416 81415 81414 81413 81412 81411 81410

81427 81426 81425 81424 81423 81422 81421 81420

81437 81436 81435 81434 81433 81432 81431 81430

81447 81446 81445 81444 81443 81442 81441 81440

8-266
8 System Setup
81457 81456 81455 81454 81453 81452 81451 81450

81467 81466 81465 81464 81463 81462 81461 81460

81477 81476 81475 81474 81473 81472 81471 81470

81647 81646 81645 81644 81643 81642 81641 81640

PFL function PFL function PFL function PFL function PFL function PFL function PFL function PFL function
PFLIN8 PFLIN7 PFLIN6 PFLIN5 PFLIN4 PFLIN3 PFLIN2 PFLIN1
81657 81656 81655 81654 81653 81652 81651 81650

81667 81666 81665 81664 81663 81662 81661 81660

81677 81676 81675 81674 81673 81672 81671 81670

81687 81686 81685 81684 81683 81682 81681 81680

PFLOUT8 PFLOUT7 PFLOUT6 PFLOUT5 PFLOUT4 PFLOUT3 PFLOUT2 PFLOUT1
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81697 81696 81695 81694 81693 81692 81691 81690

81707 81706 81705 81704 81703 81702 81701 81700

81717 81716 81715 81714 81713 81712 81711 81710

81767 81766 81765 81764 81763 81762 81761 81760

81777 81776 81775 81774 81773 81772 81771 81770

81787 81786 81785 81784 81783 81782 81781 81780

81797 81796 81795 81794 81793 81792 81791 81790

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8.26.14 Saving or Loading the File
8.26.14.1 Saving the File

The safety logic circuit file can be saved into the SD card/USB memory
stick of the programming pendant or the USB memory stick of the CPU
board. Make sure the medium is inserted into the device of the save
destination. Perform the following operations.
– Select each menu in the following order.
{EX. MEMORY}, {SAVE}, {I/O DATA}.
2. The signal list relative to the I/O data is displayed, and then select
“YSF LOGIC FILE”.
3. The confirmation dialog appears, and select {YES}.
4. The safety logic circuit file (file name:YSFLOGIC.DAT) is saved in the

specified device.
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8.26.14.2 Loading the File

The safety logic circuit file can be loaded from the SD card/USB memory
stick of the programming pendant or the USB memory stick of the CPU
board. Make sure the medium is inserted into the device of the load
destination. Perform the following operations.
– Select each menu in the following order.
{EX. MEMORY}, {LOAD}, {I/O DATA}.
2. The signal list relative to the I/O data is displayed, and then select
“YSF LOGIC FILE”.
3. The confirmation dialog appears, and select {YES}.
4. The safety logic circuit file (file name:YSFLOGIC.DAT) is loaded from

the specified device.
When the safety logic circuit file is loaded, the file is not
transferred to the safety circuit board. Select {WRITE} on
NOTE the safety logic circuit window, and the file is written in the
FLASH ROM of the safety circuit board.
After the writing, the file is executed.
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8.26.15 Initializing the Safety Logic Circuit File

If the following alarm is shown when starting the YRC1000micro, the
mode is changed to the management mode. The alarm occurs when the
file does not match the file written in the FLASH ROM of the safety circuit
board.
For example, if the safety circuit board is replaced with the spared part,
the following alarm will occur.
When the alarm occurs, perform the following procedures to restore.
8.26.15.1 Initializing the Safety Logic Circuit File

1. Display the window.
– Select {SEECURITY} from {SYSTEM} in the main menu.
2. Change the security.
(1) Select {SAFETY MODE}.
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(2) Enter the password for the safety mode, and press {ENTER}.
3. When the entered password is correct, the mode is changed to

{SAFETY MODE}.
– After changing to the safety mode, the icon shown on the status
area becomes .
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4. Select the file to be initialized.

(1) Select each menu in the following order.
{FILE}, {INITIALIZE}, {I/O DATA}.
(2) The I/O data file list is shown, and then select “YSF LOGIC FILE”.
5. Perform the initialization.

(1) Select {ENTER}.
(2) Select {YES}.

– The file written in the FLASH ROM of the safety circuit board is
initialized.
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8.26.15.2 Safety Circuit Board FLASH ROM Data Erase and Reset
A safety logic circuit file written in the FLASH ROM of the safety circuit
board can be cleared. After erasing, a safety logic circuit file can be
transferred to the safety circuit board and written in the FLASH ROM.
These clear/reset operations are explained in the following.
 Safety Circuit Board FLASH ROM Data Erase

{FILE}, {INITIALIZE}, {Safety Circuit Board FLASH Erase}.
(2) The confirmation dialog appears, and select {YES}.

– The safety logic circuit file written in the FLASH ROM of the safety
circuit board is cleared.
After performing the “Safety Circuit Board FLASH Erase”,

and turning the YRC1000micro power supply ON/OFF.
Next time when turning the power supply ON, the alarm
NOTE “0300: VERIFY ERROR (SYSTEM CONFIG-DATA) [10]”
occurs.
Therefore, when performing the “Safety Circuit Board
FLASH Erase”, the “Safety FLASH Restart” needs to be
performed as well.
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 Safety FLASH Reset

1. Displaying the window.
{FILE}, {INITIALIZE}, {Safety Circuit Board FLASH Reset}
(2) The confirmation dialog appears, and select {YES}.

– The safety logic circuit file is transferred and written in the FLASH
ROM of the safety circuit board.
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8.26.16 Example of Safety Logic Circuit

The followings are the examples of the safety logic circuit.
<The safety logic circuit: example 1>

This is the example of the setting to output from the GP safety output
signal1(#1 FSBOUT1) while the GP safety input signal1(#1 FSBIN1) is
ON and also 2(#2 FSBIN2) is ON.
1. The following safety logic circuit is created.
• Signal1 : GP safety input signal1(#1 FSBIN1)
• Signal2 : GP safety input signal2(#2 FSBIN2)
• Logic : AND
• Output signal : GP safety output signal1(#1 FSBOUT1)
2. The time chart is shown.
ON
#1 FSBIN1
OFF
#1 FSBIN1：ON
ON
#1 FSBIN2
OFF
#1 FSBIN2：ON
ON
#1
FSBOUT1
OFF
#1 FSBIN1 is ON and #1 FSBIN2 is ON

So that #1 FSBOUT1 is ON
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8 System Setup
3. Verifying the safety logic circuit.

Switch ON the GP safety signal “1” and “2”.
The mark “ ” becomes “ “.

In the following example, one second after the emergency button of the
programming pendant (PPESP) is pressed and the GP safety input
signal1 is OFF, the GP safety output signal1(#1 FSBOUT1) is turned ON.
• Signal 1 : Programming pendant emergency stop (PPESP)
• Signal 2 : NOT GP safety input signal 1
(#1 FSBIN1)
• Logic : AND
• Output signal : GP safety output signal 1
(#1 FSBOUT1)
• Timer : ON delay timer1 (TM1 ON DELAY) 1 second
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ON(press)
PPESP
OFF(release)
PPESP: press
ON
#1 FSBIN1
OFF
FSBIN1：OFF
ON
NOT
#1 FSBIN1
OFF
Setting Value NOT FSBIN1：ON

TM1 ON
DELAY
0
TIMER: start TIMER: reaching the specified value

ON
#1
FSBOUT1
OFF
PPESP is ON and NOT #1 FSBIN1 is ON, and

ON DELAY TIM1 reaches the specified value
so that #1 FSBOUT1 is ON

Confirm that the mark “ ” becomes “ ” when pressing the
programming pendant and switching the GP safety signal ON. The
mark “ ” of the GP safety output signal 1 becomes “ ” after one
second passed.
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In the following example, when the GP safety input signal1 (#1 FSBIN1)is
ON under the teaching mode, the manipulator decelerates and stops its
operation.
• Signal 1 : Teach mode (TEACH)
• Signal 2 : GP safety input signal 1 (#1 FSBIN1)
• Logic : AND
• Output signal : Manipulator deceleration to a stop
(SVOFF CAT1)

TEACH
MODE
PLAY
ON
#1 FSBIN1
OFF
#1 FSBIN1：ON
ON
Decelerating
processing
OFF
Starts decelerating processing Ends decelerating processing

ON
Servo ON
OFF
#1 FSBIN1 is ON under the teach mode

so that the servo will be turned OFF
after the decelerating processing
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8 System Setup

Set up the teach mode, and turn the servo ON. After that, when the GP
safety signal 1 is turned ON, the mark “ ” becomes “ ”and the
manipulator decelerates and stops its operation. If the manipulator
stops its operation by the safety logic circuit, the message “Robot is
stopped by safety logic circuit” is shown on the message area of the
For the safety logic circuit of the YRC1000micro, even if the

manipulator deceleration to a stop (SVOFF CAT1) is turned
NOTE ON, the manipulator stops its operation instantly without
decelerating. Under the play mode, if the manipulator
deceleration to a stop (SVOFF CAT1) is turned ON,
the manipulator decelerates and stops its operation.
When the manipulator is stopped by the safety logic circuit

signal, “Robot is stopped by safety logic circuit” is shown on
NOTE the message area of the programming pendant.
The control status signal #80343(Robot stopped by safety
logic circuit) is turned ON.
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8 System Setup

The setting example by using the auxiliary relay is described below.
While either status of the programming pendant emergency stop
(PPESP), safety fence (SAFF) or external emergency stop (EXESP) is
stopped, the GP safety output signal 1 (#1 FSBOUT1) is turned ON.
1. The following safety logic circuit is created
• Signal 1 : Programming pendant emergency stop (PPESP)
• Signal 2 : Safety fence (SAFF)
• Signal 3 : External emergency stop (EXESP)
• Logic : OR
• Output signal : GP safety output signal 1 (#1 FSBOUT1)
The display of “#1 FSBOUT1” indicates
“FSBOUT1” of the first safety circuit board connected
to the first safety board.

ON(press)
PPESP
OFF(release)
ON(press)
SAFF
OFF(release)
ON(release)
EXESP
OFF(short circuit)
ON
#1
FSBOUT1
OFF
One of these status is ON,

and #1 FSBOUT1 is ON.
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8 System Setup

When either the programming pendant emergency stop, safety fence,
or the external emergency stop is input, the mark “⃝” of the GP safety
output signal 1 becomes “ ”.

The one-second one-shot output signal is created by the safety logic
circuit. In the following example, the GP safety output signal (#1
FSBOUT1) is ON for one second.
1. Select {SAFETY FUNC.} - {TIMER DELAY}.
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8 System Setup
2. Select {PAGE} - {TIMER}.
3. Input “250” at TIMER1.
4. Create the following safety logic circuit.

001 DSU #1FSBIN1 #1 FSBOUT1 TMR1
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8 System Setup
– When #1 FSBIN 1 signal is turned ON, #1 FSBOUT 1 is ON for one

second.
– When the data is updated correctly, the status on the title line is
When using the DSU/DSD instruction, the timer (TMR) must

be set to the output signal. If {WRITE} is press without set-
NOTE ting the timer (TMR) to the output signal, the error message
“ERROR 4241: Safety logic circuit is not set correctly” is
shown on the message area of the programming pendant.
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8 System Setup
NOTICE
• When using the DSU or DSD instruction, the signal status turns to
“ ”only for 4 ms while the conditions are satisfied, but it is too short
for visual check. Thus, display chapter 8.26.5 “Signal List
Window” and the SAFETY LOGIC CIRCUIT window together to
check the ON/OFF status of the input signal.

The following is the setting example of the one-second one-shot output
signal when two signals are turned ON at the same time.
001 DSU #1 FSBIN1　AND DSU #1 FSBIN2 #1 FSBOUT1 TMR1

When the data is updated correctly, the status on the title line is
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8 System Setup
• When #1 FSBIN 1 signal and #1 FSBIN 2 signal are turned ON at the

same time, #1FSBOUT1 signal is ON for one second.
• When #1 FSBIN 1 signal and #1 FSBIN 2 signal are not turned ON at

the same time, #1FSBOUT1 signal remains OFF.
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The input of the full speed test (S-FST) signal is set in the following
example. After turning ON the GP safety input signal (FSBIN1) under the
teach mode, the safety logic circuit, in which the full speed test output is
turned ON, is set.
01 TEACH AND FSBIN1 S-FST
2. When FSBIN1 signal is turned ON, S-FST signal is turned ON.

3. When S-FST signal is turned ON, “Full-speed test mode (Safety logic
circuit)” is shown on the message area of the programming pendant.
Also, the control status signal #80047 is turned ON.
NOTE S-FST signal is enabled only in the teach mode.
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The method to use MS-OUT signal is explained in the following.
01 #1 FSBIN1 MS-OUT01
2. When FSBIN1 signal is turned ON, MS-OUT01 signal is turned ON.

3. The MS-OUT01 signal created by the safety logic circuit can be used
as the input signal of AXIS RANGE LIMIT of the functional safety
(optional), etc.
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8 System Setup
8.26.17 Alarm List of the Safety Logic Circuit
Alarm Sub-code Message Remedy

Number
300 VERIFY ERROR (SYSTEM CONFIG-DATA)
10 Safety circuit board save data The safety logic circuit files in the file written in the Main
error CPU circuit board and the safety circuit board do not
match. Refer to chapter 8.26.15.2 “Safety Circuit
Board FLASH ROM Data Erase and Reset” for more
details to restore.
4776 M-SAFETY YSF LOGIC FILE SIGNAL ERR
0 Start-up, in reading information The error of the safety logic circuit is detected when
from the FlashROM of ASF01 startup. Check the safety logic circuit because an
board, ASF01 board has invalid I/O signal is used by the safety logic signal.
detected an undefined signal.
1 In the receiving information on The error is detected when updating the file. Check the
safe logic circuit information, safety logic circuit because an invalid I/O signal is used
ASF01 board has detected an by the safety logic signal.
undefined signal.
4777 TRANSMISSION ERROR (M-SAF FILE)
1 Safe logic circuit information An alarm occurred while transferring the safety logic
transmission error was circuit file to the safety circuit board. Reset the alarm,
detected. and re-send the safety logic circuit file.
2 Timer delay information An alarm occurred while transferring the safety logic
3 M-safety signal alloc information An alarm occurred while transferring the safety logic
4 Safety signal board alloc An alarm occurred while transferring the safety logic
information transmission error circuit file to the safety circuit board. Reset the alarm,
was detected. and re-send the safety logic circuit file.
253 M-safety command reception No response from the safety circuit board while
time out was detected. transferring the safety logic circuit file. Reset the
alarm, and re-send (perform the writing) the safety logic
circuit file.
If the alarm occurs again, replace the safety circuit
board.
254 Safe logic circuit write error was Failure to transfer the safety logic circuit file to the
detected. safety circuit board. Please re-send the safety logic
circuit file. If the alarm occurs again, refer to
chapter 8.26.15.2 “Safety Circuit Board FLASH ROM
Data Erase and Reset” for more details.
255 Safe logic circuit cancel error Failure to sending the cancel command while
was detected. transferring the safety logic circuit file to the safety
circuit board. Please re-send the safety logic circuit
file. If the alarm occurs again, refer to
chapter 8.26.15.2 “Safety Circuit Board FLASH ROM
Data Erase and Reset” for more details.
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8.27 Robot Stop Factor Monitor Function
8.27.1 Outline
The robot stop factor monitor function is a function to detect a robot stop,
which is caused by the servo OFF or the hold and so on. The factors,
which caused to stop the robot, are stored in chronological order and
8.27.1.1 The Robot Stop Factor

This function detects the servo OFF status caused by the safety circuit
board instructions or the main CPU instructions and the hold status
caused by programming pendant operations or signals. The detection
items are described as follows.
Table 8-1: The List of the Servo OFF Factors by Main CPU Instructions
Displayed Item Secondary Indication
EX.SERVO OFF1 (HOLD STOP) System input signal number
(#40065)
EX.SERVO OFF2 (CATEGORY0 STOP) System input signal number
(#40066)
EX.SERVO OFF3 (CATEGORY1 STOP) System input signal number
(#40064)
TEACH -> PLAY MODE CHANGE None
PLAY -> TEACH MODE CHANGE None
MAIN CPU ALARM None
PARAMETER CHANGE None
INST SVOFF None
COMMAND SVON None
HOME POSITIONING CHANGE None
DATA FALSE RESTORE None
TOOL FILE CHANGE None
TOOL CALIBLATION None
ENCODER RESET None
ROBOT DETACHMENT None
GROUND FAULT (BRAKE LINE) None
MANUAL FULL SPEED None
SERVO OFF QUE None
SERVO ON ERROR None
SERVO OFF ERROR None
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8 System Setup
Table 8-2: The List of the Servo OFF Factors by Safety Circuit Board Instructions
Displayed Item Secondary Indication Description of the Signal
PP EMERGENCY STOP Programming Pendant emergency stop
PP ENABLE SWITCH Programming Pendant enable switch
EXTERNAL EMERGENCY STOP External emergency stop
SAFETY FENCE Safety fence
PROTECTED STOP Protection stop
RDY0 OFF RDY0 OFF
Servo OFF request from the main CPU
CATEGORY1 REQUEST Category 1 stop request from the main CPU
SERVO COMMUNICATION ERROR Servo OFF by M3 communication error of
the main CPU or among the servo circuit
boards
CATEGORY0 SAFETY LOGIC CIRCUIT Category 0 stop request from the safety logic
circuit
CATEGORY0 FUNCTION SAFETY Category 0 stop request from the functional
safety
CATEGORY1 SAFETY LOGIC CIRCUIT Category 1 stop request from the safety logic
circuit
ASF30 ALARM Alarm of the machine safety
CATEGORY0 STOP The time of the machine safety category 0
stop timer is up, and switch OFF the servo of
the machine safety.
CATEGORY1 STOP The time of the machine safety category 1
stop timer is up. The machine safety servo
category 0 stop timer must be started.
OVER TRAVEL1 Servo OFF by the over travel signal 1
STO OFF1 Turn OFF the servo power to the control
groups that are connected to the STO1.
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Table 8-3: The List of the Holding Factors

Displayed Item Secondary Indication
HOLD None
EX.HOLD (SPECIFIC. IN TRMNL BLOCK) System input signal number
#40067
INDIVIDUAL HOLD System input signal number
#40270 to #40287
TASK#0 to TASK#15
HOLD (SHOCK SENSOR) None
HOLD (DATA TRANSMISSION) None
HOLD (API CTL) None
HOLD (API) None
HOLD (HIGH SPEED ES) None
SKIP WAIT INST (STOP PLAYBACK) Task number
TASK#0 to TASK#15
GUN TEACH SIG. OFF System input signal number
(STOP PLAYBACK) #41231
GUN TEACH STEPOVER None
(STOP PLAYBACK)
ALARM STOP QUE None
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8 System Setup
8.27.1.2 The Robot Stop Factor Record Number

• One screen: maximum 37 factors
• History number: 20 histories
If exceeds the number above, the old data will be deleted, and the new
data will be recorded.
8.27.2 Operation
8.27.2.1 Displaying the Robot Stop Factor Monitor

The RB STOP FACTOP MONITOR can be referred by following
procedures.
1. Select {ROB STOP FACTOR MMONITOR} under the {IN/OUT} in the
main menu.
– The RB STOP FACTOR MONITOR window appears.
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8 System Setup
– The following items are displayed on the RB STOP FACTOR

MONITOR window.
• DETECT TIME: Shows the time when the robot stop factor was
detected.
• The factor detected by the main CPU is displayed on the first

line.
• The factor(s) detected by the safety circuit board is (are) dis-

played from the second line on the screen.
– The data on the first page is the latest one, and the page 20 is the
oldest data.
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8.27.2.2 Clear the Robot Stop Factor Information

1. Select {DATA} from the pull-down menu on the RB STOP FACTOR
MONITOR window when the security mode is the management or
higher mode. {CLEAR} is displayed.
2. Select {CLEAR}, and the confirmation dialog “Initialize?” appears.

Press {YES}., and the all information of the robot stop factor is cleared.
The robot stop factor information is not saved when turning

the power supply OFF. Therefore, it will be initialized when
NOTE turning the power supply ON again. If it is necessary to
save the data, please store the data into the external mem-
ory devices before turning the power supply OFF.
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8.28 Robot Detachment Function
8.28.1 Setting Maintenance Mode

This mode is used for setting up and maintenance of the robot system.
1. Turn the power ON while pressing [MAIN MENU] on the programming

pendant.
– Maintenance mode screen starts up.
2. Select {SYSTEM} under the main menu.

– Sub menu is shown.
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8 System Setup
3. Select {SECURITY}.
– Mode selection screen is shown.
4. Press [SELECT] to select the mode.

– Mode selection list is shown.
5. Move the cursor to {SAFETY MODE} and select.

– Password input box is shown.
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8 System Setup
6. Input the password for safety mode and press [ENTER].

– When the correct password is input, security mode is changed.
8.28.2 Setting Robot Detachment Function

Operator can set or modify the setting items for robot detachment function
in detail setting screen.
The specified parameters are to be set automatically according to the
setting contents in detail setting screen.
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2. Select {SETUP}.
– “SETUP” screen is shown.
3. Move the cursor to {OPTION FUNCTION} and select.

– “OPTION FUNCTION” screen is shown.
4. Move the cursor to {ROBOT DETACHMENT} and select.

– Detail setting screen for robot detachment function is shown.
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8 System Setup
5. Change the setting contents.

– Move the cursor to the target group and select to change the setting.
– Select “ATTACHED” or “DETACHED”.
6. Change the setting item on JOB.

– Move the cursor to the JOB setting item and select.
Every pressing the [SELECT] switches the indication between “  ”
and “ - ”.
– Description for the setting items on JOB

When “ - ” is selected: The JOB including detached group cannot be
started up.
When “  ” is selected: The JOB including detached group can be started
up. However, the detached axes cannot be operated.
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8 System Setup
7. Press [ENTER].
– Confirmation message for parameter change is shown.
8. Select {YES}. to confirm the change.

– System parameters are to be set automatically, then the screen
returns to the option function screen.
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8.29 Axes Detachment Function
8.29.1 Outline
The axes detachment function is to invalid the connection of specific axes

by setting in maintenance mode. When the axes detachment function is
set, the system can be started without any alarm even if some axes are
not connected physically during setup or motor exchange.
8.29.2 Setting Maintenance Mode
Start the maintenance mode and set the security mode to the safety
mode. (Refer to chapter 8.28.1 “Setting Maintenance Mode” .)
8.29.3 Setting Axes Detachment Function
Operator can set or modify the setting items for axes detachment function
in detail setting screen.
The specified parameters are to be set automatically according to the
setting contents in detail setting screen.
2. Select {SETUP}.
– Setting selection screen is shown.
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3. Move the cursor to {OPTION FUNCTION} and select.

– “OPTION FUNCTION” screen is shown.
4. Move the cursor to {AXES DETACHMENT} and select.

– Detail setting screen for axes detachment function is shown.
5. By pressing [PAGE], the target group for setting is switched.
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8 System Setup
6. Change the setting contents.

– Move the cursor to the target axis and select to change the setting.
– Select “ATTACHED” or “DETACHED”.
7. Press [ENTER].
– Confirmation message for parameter change is shown.
8. Select {YES}. to confirm the change.

– System parameters are to be set automatically, then the screen
returns to the option function screen.
8.29.4 Specific Output and Messages
When the system is started in online mode and any axes (at least one
axis) are detached, the following specific output and message are output
all the time.
• Specific output #50913 “AXES DETACHMENT”
• Message is displayed
The following message is output in the bottom right message area on the
window of the programming pendant.
“Axes detachment has been set [sub code]”
The control group including the detached axis is shown in [sub code].
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8 System Setup
8.29.5 Restrictions
• Operation with restrictions
When the axes detachment function is set, the following operations
are restricted. If these operations are tried to be performed, an error
or an alarm occurs.
• Playback
• Test run
• Job registration (insert/modify/delete jobs in the target control
group)
• Variable registration
• Second home position registration
• Home position registration
• Work home position registration
Use the robot detachment function (chapter 8.28 “Robot

SUPPLE
Detachment Function” ) when performing the playback oper-
-MENT ation in the state that the specific manipulator, the base, or
the station is detached.
Followings are the errors/alarms which may occur by the axes

detachment.
Operation Alarm
Playback “ERROR 2762 This operation is not allowed, for axes
detachment has been set.”
“ALARM4916/4917 WRONG JOB EXEC OF
DETACHED AXIS”
Test run “ERROR 2762 This operation is not allowed, for axes
detachment has been set.”
Job registration “ERROR 2763 Cannot modify, for axes detachment
(insertion, modification, has been set.”
deletion)
Second home position “ERROR 2763 Cannot modify, for axes detachment
registration has been set.”
Home position “ERROR 2763 Cannot modify, for axes detachment
Work home position “ERROR 2763 Cannot modify, for axes detachment
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CAUTION
• While the axes detachment function is set, the manipulator may not
be able to move to the taught position or operate in the right
posture, because some axes do not move.
When performing one of the following operations while the axes
detachment function is set, pay careful attention to the movement of
the manipulator and prevent interference between the manipulator
and peripheral devices.
• Operation without restrictions

The axes detachment function doesn’t restrict the following opera-
tions, though be careful when performing.
• Jog operation (link, Cartesian, user, tool, cylindrical, and I/O jog)
• Next/Back operation
• Variable movement
• Second home position movement
• Work home position return
• Restriction in using with other function
Before using the following function, be sure to release the axes
detachment function.
• Functional safety function
If there is any detached axis, safety monitoring cannot be per-
formed.
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8.30 User Group Input and Output
8.30.1 Outline of the Function

The input and output of user group can be defined by one group of two or
more GP I/O signals. The value of the group signal can be expressed in
the numerical value.
8.30.2 User Group Input
8.30.2.1 User Group Input Setting

Set the security to the management mode.
1. Select {I/O} in the main menu.
2. Select {USER GROUP INPUT}.
– The USER GROUP INPUT window is shown.
3. Select {SETTING} of {DISPLAY} in the pull down menu.
– The USER GROUP INPUT SETTING window is shown.
1
2
3
1 START
Specify the first number of the GP input signal to be allocated.
2 LENGTH
Specify the number of the signals which is allocated to one group (1 to
32). When the parity check is specified, the parity bit is the highest bit.
When the length is 1, the parity check cannot be specified.
3 PARITY
Specify the parity check.
NONE : Parity check is not specified.
ODD : Odd parity is specified
EVEN : Even parity is specified.
4 NAME
The group signal name is set.
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8 System Setup
4. The user group input is set.
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8.30.2.2 Display of User Group Input

2. Select {USER GROUP INPUT}.
– The USER GROUP INPUT window is shown.
2
3
1 SIM
Normally, the input status of the user group cannot be changed by man-
ual operation. However, the status can be set to be changeable for the
operation check and etc. The status is changed every time an item is
selected.
• SIM : Manual operation is possible
• (Blank) : Normal status
All the GP input signals which belong to the group in the

status of “SIM” are in the status of “SIM”.
NOTE For details of this status, refer to “YRC1000micro OPTIONS
INSTRUCTIONS FOR Concurrent I/O (RE-CKI-A469)
13.2.3 Changing Signal Status from GP Input Status
Window”.
2 VALUE
The input status of the user group.
When the group in the “SIM” status is selected, the value can be
changed.
3 PARITY
The status of the parity bit
: No parity check
:0
:1
ERR : Parity error
4 NAME
The group signal name
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8 System Setup
8.30.3 User Group Output
8.30.3.1 User Group Output Setting

Set the security to the management mode.
2. Select {USER GROUP OUTPUT}.
– The USER GROUP OUTPUT window is shown.
3. Select {SETTING} of {DISPLAY} in the pull down menu.
– The USER GROUP OUTPUT SETTING window is shown.
– The USER GROUP INPUT SETTING window is shown.
1
2
3
1 START
Specify the first number of the GP output signal to be allocated.
2 LENGTH
Specify the number of the signals which is allocated to one group (1 to
32). When the parity check is specified, the parity bit is the highest bit.
When the length is 1, the parity check cannot be specified.
3 PARITY
Specify the parity check.
NONE : Parity check is not specified.
ODD : Odd parity is specified
EVEN : Even parity is specified.
4 NAME
The group signal name is set.
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8 System Setup
4. The user group output is set
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8 System Setup
8.30.3.2 Display of User Group Output

2. Select {USER GROUP OUTPUT}.
– The USER GROUP OUTPUT window is shown.
1 VALUE
The output status of the user group.
2 PARITY
The status of the parity bit
: No parity check
:0
:1
ERR : Parity error
3 NAME
The group signal name
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8 System Setup
8.31 Variable Allocation

The number of the global variable allocation can be changed by
performing the following operations. However, after performing this
change operation, the data of the JOB, the user coordinate or etc. is
initialized and the variable data or the variable name data saved before
the change cannot be loaded. Thus, the following operations are allowed
only for the administrator who can set the security mode to the
management mode or higher.
1. By pressing [MAIN MENU] on the programming pendant, turn ON the
power.
3. Select {SYSTEM} in the main menu.
4. Select {SETUP}.
5. Select {OPTION FUNCTION}.
6. Select {DETAIL} of the variable allocation.
– The DETAIL window of the variable allocation is shown.
The number can be changed by selecting “++” / “--” or inputting the

number directly. The changeable minimum and maximum value are
shown in “RANGE”. Since the global variable shares the
determined section/area, the value shown in “RANGE” is changed
along with the setting value.
• When the “++” is selected, the allocation is increased by the incre-
ment of 50.
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8 System Setup
• When the “--” is selected, the allocation is decreased by the decre-

ment of 50.
7. Press [ENTER].
– The confirmation dialog of the parameter change shows up.
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8 System Setup
8. Select {YES}.
– Select {YES} for the confirmation dialog.
When a file needs to be initialized due to the change of the variable
allocation, the confirmation dialog of initialization shows up.
Select {YES} for all the confirmation dialog of initialization.
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8 System Setup
9. After the initialization of file is completed, the option function window is

shown.
When the position variable allocation is changed, not only

the data of job variable/variable name but also the following
files are cleared. Be sure to handle the data properly.
NOTE
• User coordinate
• Robot calibration data
• Conveyor calibration data
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8 System Setup
8.32 Controller Information Display Function
The configured information in this robot system can be checked by the

following procedures.
1. Select {SYSTEM INFO} in the main menu.
2. Select {CONTROLLER INFORMATION}.
– The CONTROLLER INFORMATION window is shown.
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8 System Setup
4. Select {OPTION BOARD INFO}.

– The OPTION BOARD INFO window is shown.Move the cursor to
the option board to show the details.
5. Press [SELECT].
– The setting contents of the option board information is shown.
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8 System Setup
While the CONTROLLER INFORMATION window is

shown, the following display is shown by performing the
bilingual operation ({SHIFT} + {AREA} on the
programming pendant are pressed).
Select {SYSTEM INFO} - {CONTROLLER INFORMATION}
once again.
NOTE
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8 System Setup
8.33.1 Outline of Function
The manual brake release function allows forcible release of each motor
brakes of the manipulator and external axes by programming pendant
operation.
However, conditions shown below should be followed.
 Operating Conditions
1. YRC1000micro Status
The YRC1000micro has to be launched correctly1).
2. Mode: Mode switch on the programming pendant

The function can be used in all modes: Remote / Play / Teach.
3. Security Mode
The function can be used in all modes: Operation / Editing /
Management / Safety.
4. Others
• Servo power is OFF
• Emergency stop is OFF

(programming pendant, external signals)
Fig. 8-6: Alarm Window
1 Basically, the manual brake release function is available even at alarm

occurrence.
However, the manual brake release function cannot be used if the
communication failure between each board occurs due to a board failure, etc.
<Example>
The manual brake release cannot be performed at occurrence of the alarm 0010
as shown in fig. 8-6, since the communication with the servo board becomes un-
available.
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8 System Setup
 Restrictions
Due to the hardware configuration, the brake release can be performed
only by the following units:
• Group of the S-, L-, and U-axes (the first, second, and third axes)
• Group of the R-, B-, and T-axes (the fourth, fifth, and sixth axes)
• The E-axis or the first external axis, etc. (the seventh axis)
• The first or the second external axis, etc. (the eighth axis)
CAUTION
• Use great caution when manually releasing the brake because the
brakes of up to 3 axes are released.
8.33.2 Manual Brake Release Operation

1. Select [ROBOT] under the main menu, then select [MANUAL BRAKE
RELEASE] under the submenu.
– [MANUAL BRAKE RELEASE] is shown under the submenu of the
main menu [ROBOT].
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8 System Setup
2. Select "YES".
– To avoid careless operation mistake, a warning message appears
when [MANUAL BRAKE RELEASE] menu is selected.
– Select "YES" to display [MANUAL BRAKE RELEASE] window.

– Select "NO" to return to the main menu.
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8 System Setup
3. Move the cursor to the axis whose brake is to be released. Then press
[INTERLOCK] + [SELECT] while gripping the enable switch.
– Since the brakes of multiple axes will be released if the S-, L-, or U-
axis (the first, second, or third axis) or the R-, B-, or T-axis (the
fourth, fifth, or sixth axes) is selected, one of the following
confirmation dialog boxes appears.
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8 System Setup
– If the E-axis or the first external axis, or the second external axis (the
seventh or eighth axis) is selected, the brake is released and the
BRAKE STATUS is displayed.
BRAKE STATUS : Brake locked :Brake released
– The brake is locked under one of the following conditions:

• When [SELECT] is released.
Also, see the following CAUTION .
• When the emergency stop button on the programming pendant or on
the external device is pressed.
• When Enable switch is released or gripped further.
• When the window is switched from the Manual Brake Release win-
dow to another window.
CAUTION
• Brake can be released by pressing [INTERLOCK] + [SELECT] while
gripping Enable switch.
Note that the brake remains released even though only
[INTERLOCK] is released at this time.
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8 System Setup
4. Select {YES} in the selection dialog box.

– Select {NO} or press [CANCEL] to close the confirmation dialog box
without releasing the brake.
After that, press [INTERLOCK] + [SELECT] while gripping the
enable switch to display the confirmation dialog box again. Proceed
to the step 4.
– When {YES} is selected, the brake is not released immediately. Do
not move the cursor, and press [INTERLOCK] + [SELECT] while
gripping the enable switch again to release the brakes of the 3 axes
including the axis at which the cursor points.
BRAKE STATUS : Brake locked :Brake released

– When the axis whose brake is to be released is changed by moving
the cursor, proceed to the step 3.

• When the inter lock connector is pulled out.
CAUTION
Note that the brake remains released even though [INTERLOCK] is
released at this time.
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8 System Setup

CAUTION
Note that the brake remains released even though [INTERLOCK] is
released at this time.
8.33.3 Warning Message Display

If the manual brake release is performed under the following conditions,
the warning message appears in the message area bottom right of the
window.
In this case, the brake release cannot be performed.
• Servo power is turned ON.
• Emergency stop button on the programming pendant is pressed.
• External emergency stop signal is input.
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9 System Backup
9.1 System Backup with YRC1000micro
9 System Backup
For the YRC1000micro, the system data or its software can be collectively
backed up in advance so that the data can be immediately loaded and
restored in case of an unexpected trouble such as data loss.

For the YRC1000micro, two types of system data, CMOS.BIN and
CMOSBK.BIN, can be collectively backed up.
9.1.1 Function Types of Data
9.1.1.1 CMOS.BIN
For the normal backup, use this data.
Save: Perform in the normal or maintenance mode.
Load: Perform in the maintenance mode.
(the management mode or higher mode)
The loading/saving procedures in the maintenance mode,

refer to chapter 9.2 “Backup by CMOS.BIN” .
As for saving in the normal mode, refer to “YRC1000micro
OPERATOR’S MANUAL (RE-CSO-A058) 7.3.0.2 Saving
Data”.
Target Area: All areas of the internally stored data.
(Note that the monitoring time is not loaded.)
The YRC1000micro enables the backing up of CMOS.BIN files and
CMOS.BIN + system software without the programming pendant, as the
programming pendant is optional. When performing this operation,
change the rotary switch on the front panel of the YRC1000micro as
follows, and then connect the USB memory.
The YRC1000micro cannot format a USB memory by using the controller.
Rotary switch (RSW)
9-1
9 System Backup
Rotary Operation mode Remarks

switch
0 Normal operation mod
5 Upgrade mode Refer to YRC1000micro
UPGRADE PROCEDURE
MANUAL (HW1484484).
A Backup of the CMOS.BIN file chapter 9.6 “Automatic Backup
Function”
B Backup of the CMOS.BIN + system chapter 9.7 “Loading the
software Backup Data from the SD Card”
9.1.1.2 CMOSBK.BIN
For the normal backup, use this data.
Save: Perform in the normal or maintenance mode.
Load: Perform in the maintenance mode.
(the management mode or higher mode)
The loading/saving procedures in the maintenance mode, refer to

chapter 9.6.
Target Area: All areas of the internally stored data. (Note that the monitor-
ing time is not loaded.)
9.1.2 Device
For the backup of the YRC1000micro system, the SD card or the USB
memory is used. (The USB connector of the programming pendant is not
available in the automatic backup function.)
The following tables show the recommended SD card and USB memory.
<Recommended SD card>
No. Manufacturer Model Capacity
1 Hagiwara Solutions NSD6-512MS(P01SEI-YE 512MB
2 Hagiwara Solutions NSD6-001GH(A01SDI 1GB
3 Hagiwara Solutions NSD6-002GH(A01SDI 2GB
4 Hagiwara Solutions NSD6-004GH(B20SEI 4GB
7 Hagiwara Solutions NSD4-032GH(B00MG) 32GB
9-2
9 System Backup
< Recommended USB Memory>

No. Manufacturer Model Remarks
1 Hagiwara Solutions UBA2-xxxGSRB 1GB, 2GB, and 4GB are
(TBAIA) available.
“xxx” indicates “001” for
“1GB”, “002” for “2GB” and
“004” for “4GB”.
In order to save the batch data, the following free space per file is needed
in the media.
Approx. 30M Byte
Note that the free space to store the two files is needed when using the
automatic backup function.
Also, it is recommended to store the backup data in two or more media
cards to minimize problems if the media is damaged.
The water-proof function of the Pendant is not effective

while the USB memory is connected.
NOTE If USB memory is connected constantly, there is a risk it

drops off.
Use SD card if there is no measures to maintain water-proof
function or to prevent USB memory from dropping off.
The USB memory can be connected to the USB connected on the CPU
board (JANCD-ACP31-1E).
Forcible insertion may result in the damage of the USB memory and the
USB connector
NOTICE
• In case the USB memory is not recognized or an error message
appears, pull out it and try inserting it again.
9-3
9 System Backup
9.2 Backup by CMOS.BIN

Perform the backup by CMOS.BIN in the normal or maintenance mode.
The chart below shows the availability of CMOS save/CMOS load in each
security mode in the maintenance mode.
Security CMOS Save CMOS Load
Operation Mode ⃝ X
Editing Mode ⃝ X
Management Mode ⃝ ⃝
Safety Mode ⃝ ⃝
9.2.1 CMOS.BIN Save

Follow the procedures below to save CMOS.BIN in the maintenance
mode.
1. Turn ON the YRC1000micro power supply while pressing [MAIN
MENU].
2. Insert a SD card into the SD card slot on the programming pendant.
– when USB memory is used instead of SD card, mount USB memory
and select “USB: PENDANT” or “USB1: CONTROLLER” in the
{DEVICE}.
3. Select {EX. MEMORY} under the main menu.
9-4
9 System Backup
4. Select {SAVE}.
– The save display appears.
– The items marked with “” cannot be selected.

5. Select {CMOS}.
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9 System Backup
6. Select {YES}.
– Select {YES} to save the CMOS data into the SD card.
– When saving the file, if the CMOS.BIN file exists in the SD card, the
following confirmation dialog box appears.
7. Select {YES}.
– The CMOS.BIN file is overwritten in the SD card.
When not using the data stored in the portable memory

NOTE device, make sure to keep the device under an appropriate
management.
9-6
9 System Backup
9.2.2 CMOS.BIN Load

Follow the procedures below to load CMOS.BIN.
MENU].
2. Change the security mode to the maintenance mode or higher mode.
3. Insert a SD card into the SD card on the programming pendant.
– When USB memory is used instead of SD card, mount USB memory
and select “USB: Pendant” or “USB1: Controller” in the {DEVICE}.
5. Select {LOAD}.
– The load display appears.
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9 System Backup
6. Select {CMOS}.
7. Select {YES}.
– The loaded CMOS.BIN file contents are reflected in the data inside
the robot.
NOTICE
When the “CMOS load” is performed, the current CMOS data is
replaced with the CMOS data (the contents of “CMOS.BIN”) in the
selected device. Therefore, before performing the load, make sure to
perform the “CMOS Save” of the CMOS data to be loaded.
– When the message "Loading system data. Don't turn the power off."
on the human interface display area disappears, the loading process
is complete.
When the loading process for the CMOS.BIN file is complete, the
message "Select 'Safety Board FLASH Reset'" on the human
interface display area appears. Perform "Safety Board FLASH
Reset" by referring to the following procedure.
8. Change the security to the safety mode.
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9 System Backup
9. Select {FILE} - {INITIALIZE} under the main menu.

10. Select {YES}.

– When the message "Select 'Safety Board FLASH Reset'" on the
human interface display area disappears, the safety board FLASH
data reset is complete.
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9 System Backup
9.3 Saving a CMOS.BIN File When the Programming Pendant is not
Used
9.3 Saving a CMOS.BIN File When the Programming Pendant
is not Used
1. Change the rotary switch (RSW) on the front panel of the

YRC1000micro "0" to "A". When changing the rotary switch, use a
precision screwdriver (flathead, 2 mm). Then connect the USB
memory to the YRC1000micro.
Rotary switch (RSW)
2. Turn on the YRC1000micro power supply.

– The saving process of a CMOS.BIN file to the root directory of the
USB memory starts.
– -While saving the data, the 7SegLed rotates every second and
displays as shown below.
– When the process is complete, the 7SegLed repeats the full-ON

state and the full-OFF state every second.
• The CMOS.BIN file is written in the root directory of the

USB memory. In case CMOS.BIN file is already in the
root directory of the USB memory, the file is forcibly
overwritten.
NOTE • While saving the data to the USB memory, do not
disconnect the USB memory. It may result in the
corruption of the file contents or damage to the USB
memory.
• Two or more USB memories cannot be used
simultaneously for one USB connector.
3. When the saving process of the CMOS.BIN file is complete, turn OFF
the YRC1000micro power supply.
However, if there is an access lamp on the USB memory, make sure to
confirm that the access lamp is off before turning OFF the
YRC1000micro power supply.
– Return the rotary switch (RSW) on the front panel of the
YRC1000micro from "A" to "0".
– Disconnect the USB memory.
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9 System Backup
9.4 Saving a CMOS.BIN + System Software When the Programming
Pendant is not Used
9.4 Saving a CMOS.BIN + System Software When the
Programming Pendant is not Used
1. Change the rotary switch (RSW) on the front panel of the
YRC1000micro from "0" to "B". When changing the rotary switch, use
a precision screwdriver (flathead, 2 mm). Then connect the USB
memory to the YRC1000micro.YRC1000micro
Rotary switch (RSW)
2. Turn on the YRC1000micro power supply.

– The saving process of a CMOS.BIN + System software file to the
USB memory starts.
– -While saving the data, the 7SegLed rotates every second and
displays as shown below.
– When the process is complete, the 7SegLed repeats the full-on state
and the full-off state every second.
• The CMOS.BIN file is written in the root directory of the

USB memory. When there is a CMOS.BIN file in the root
directory of the USB memory, the file is forcibly
overwritten.
• When saving the data to the USB memory, do not
disconnect the USB memory. It may result in the
corruption of the file contents or damage to the USB
memory.
• Two or more USB memories cannot be used
simultaneously for one USB connector.
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9 System Backup
9.4 Saving a CMOS.BIN + System Software When the Programming
Pendant is not Used
3. When the process is complete, turn OFF the YRC1000micro power
supply.
However, if there is an access lamp on the USB memory, make sure to
confirm that the access lamp is off before turning OFF the
YRC1000micro power supply.
– Return the rotary switch (RSW) on the front panel of the
YRC1000micro "B" to "0".
– Disconnect the USB memory.
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9 System Backup
9.5 7SegLED Error Display

When the following error number appears on the 7SegLED, confirm the
details of the error, and resolve the problem. The error number appears
repeatedly.
7SegLED display Errors and countermeasures

E0001 No USB is inserted in the YRC1000micro.
Insert a USB, and then perform the operation again.
E0010 RC_SETUP.INI file does not exist in the SD card in the JANCD-ACP31-1E board.
Turn the YRC1000micro power OFF and ON again.
If this error occurs again, replace the SD card.
E0011 A file registered in the RC_SETUP.INI file in the SD card in the JANCD-ACP31-1E board
does not exist.
E0020 File open error occurred in the USB in the YRC1000micro.
If this error occurs again, turn OFF the YRC1000micro power and replace the USB.
E0021 File read error occurred in the USB in the YRC1000micro.
E0022 File close error occurred in the USB in the YRC1000micro.
E0023 File access error occurred in the USB in the YRC1000micro.
E0030 The SD card in the JANCD-ACP31-1E board is set to LOCK (write prohibited).
E0031 Failed to write a file into the SD card in the JANCD-ACP31-1E board.
E0032 Failed to delete a file in the SD card in the JANCD-ACP31-1E board.
E0033 File open error occurred in the SD card in the JANCD-ACP31-1E board.
E0034 File write error occurred in the SD card in the JANCD-ACP31-1E board.
E0035 File close error occurred in the SD card in the JANCD-ACP31-1E board.
E0036 File access error occurred in the SD card in the JANCD-ACP31-1E board.
E0040 Failed to delete a directory in the SD card in the JANCD-ACP31-1E board.
E0041 Attempted to create directories more than the specified number of layers of the hierarchy
in the SD card in the JANCD-ACP31-1E board.
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9 System Backup
7SegLED display Errors and countermeasures

E0042 Failed to acquire the directory information from the SD card in the JANCD-ACP31-1E
board.
E0043 Failed to access a file/directory in the SD card in the JANCD-ACP31-1E board because
the number of characters in the path of the file/directory exceeded the specified number.
E0044 Failed to create a directory in the SD card in the JANCD-ACP31-1E board.
E0050 Failed to change the name of a file in the SD card in the JANCD-ACP31-1E board.
E0051 Failed to write a file in the SD card in the JANCD-ACP31-1E board into contiguous
clusters in the FAT.
E0700 Error code for YASKAWA.
If this error occurs again, replace the SD card in the JANCD-ACP31-1E board.
E9xxx Error code for YASKAWA.
x: Indicates the number from 0 to 9.
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9 System Backup
9.6 Automatic Backup Function
9.6.1 Automatic Backup Function
9.6.1.1 Objective
With the automatic backup function, the data saved in the YRC1000micro
such as system setting or operational condition are collectively backed up
in the SD card, which is stored in the programming pendant, or the
selected device at the automatic backup window.
Able to back up to the following devices.
• The SD card of the programming pendant
• The SD card of the ACP31 board
• The RAM AREA of the ACP31 board (It will display, when the high
speed Ethernet server function is effective.)
The automatic backup function is enabled only while the

NOTE YRC1000micro power supply is ON whereas it isn’t while in
the maintenance mode or the power supply is OFF.
9.6.1.2 Outline
The automatic backup function saves the internally stored data in a single
file in advance for the smooth restoration from unexpected troubles of the
YRC1000micro.
The teaching operation is one of the factors that changes the internally
stored data. Thus, a mode which backs up the latest data after the
teaching operation is prepared. To confirm the termination of the teaching
operation, check the mode key whether it is changed from teach mode to
play mode.
Other than the teaching operation, the present position of the robot or the
value of a variable can be pointed out as the factors to change the
internally stored data. These data, however, are changed after each
operation and have very little need to be retained permanently.
Accordingly, backing up these data at regular interval should be well
enough to operate and the mode to back up the data at regular interval is
also prepared.
Furthermore, the mode to back up the data when starting up the

YRC1000micro and when inputting signals are also available for some
specific versions.
With the automatic backup function, all the part where the internal data is
stored in the physical memory area is collectively saved. If there is any
data which is in the middle of changing while executing the automatic
backup function, the data might not be usable for restoration because of
its inconsistency. Therefore, the function is terminated with an error
during the play back operation or while the manipulator is in motion so that
the automatic backup cannot be operated. Set the automatic backup
function to be executed while the manipulator is not in the playback status
and while the manipulator is stopped.
9-15
9 System Backup
The automatic backup function has the following functions and features.
No Function/Feature Explanation
1 Cyclic backup This function backs up as much of
In the teach mode, the data in the latest data as possible during
memory is backed up in a specified editing. The backup data saved in
cycle from a specified starting time. the SD card can be loaded to the
YRC1000micro in case of data loss
so that the damage can be
minimized.
2 Backup when switching modes The editing data is backed up when
When switching the mode from the editing is completed. The latest
teach mode to the play mode, the data is automatically backed up with
data in memory is backed up. this mode.
3 Backup when start-up When the YRC1000micro starts up,
When the YRC1000micro is start-up, the data in memory is backed up.
the data in memory is backed up. Since the editing/playback
operation is usually completed
when the YRC1000micro power is
turned OFF, the latest data is
automatically backed up with this
mode.
4 Backup when inputting specified The data in memory is backed up by
signals the signal from the host at the
The data in memory is backed up intended timing. Although the
when a specified signal (#40560) is above mentioned items 1 to 3 are
input. designed to back up the data
automatically, this function backs up
the data in accordance with the
instruction from the host.
5 Backup while robot program is Backs up the variables for essential
stopped data.
The backup during playback is
disabled. However, in the play mode,
the backup is enabled if the robot is
stopped. (“Cyclic backup” and
“Backup when inputting specified
signals”)
6 Backup and retry at low priority The backup operation hardly affects
The data in memory is backed up at the other operations so that the
low priority so that this operation programming pendant can be used
does not affect the other operations. even during the backup operation.
When other operations affect the
backup operation, the backup is
suspended and retried later.
7 Backup in binary Backup in binary allows the system
The data is saved as binary data. to be easily and speedily restored.
8 Setting of items Unnecessary settings can be
Parameters can limit the settings of avoided with this setting.
the backup condition.
9-16
9 System Backup
9.6.2 Settings for Automatic Backup

To set the automatic backup function, set each item at the automatic
backup display.
Four ways to perform the automatic backup are available:

“Cyclic”, “Backup when switching modes”, “Backup when
start-up”, and “Backup inputting specified signals”.
NOTE The automatic backup can be performed only when the
robot is not during playback, and the robot is stopped.
Automatic backup function can be set from the command
of the optional high speed Ethernet server function.
9.6.2.1 The SD Card of the Programming Pendant

To use the automatic backup function, insert the SD card into the SD card
slot on the programming pendant. Only while the YRC1000micro power
supply is OFF, the SD card can be inserted or removed.
When the data could not be saved in the SD card during an automatic
backup due to the absence or insufficient capacity of the SD card, an error
message “Confirm the status of SD card” appears. At the same time, the
signal “occurrence of error” can be output to an external device, but the
robot program will not be stopped. Check if the SD card is inserted and if
it has enough capacity, and take the necessary actions. If no actions are
taken while the error occurs, the data cannot be saved.
YASKAWA recommends that the data be saved in the two or more SD
cards to minimize problems if the SD card should be damaged.
Regarding the SD card for auto backup, refer to “Recommended SD card”
in chapter 9.1.2 “Device” .
Storage capacities needed for SD card are as follows:
(The number of stored files + 1) X approx. 30MByte
The number of storable files is automatically calculated and the MAX
value is shown when AUTO BACKUP SET display appears.
9-17
9 System Backup
9.6.2.2 The SD Card of the ACP31 Board

Set the following procedures in advance to back up to the SD card of the
ACP31 board. If the following procedures are not done, “SD: Controller”
would not be shown on the device list of the auto backup set display.
1. Turn ON the Power supply while pressing the [MAIN MENU] on the
2. After starting maintenance mode, change the security mode to the
management or higher mode.
3. Select {SYSTEM} in the main menu.
– When the sub menu will appear, select {SETTING}-{OPTION
FUNCTION}. The list of the optional function will appear.
4. Select {Automatic backup (ACP31)}, and change the “UNUSE” to
“USE”.
– Select {YES}, when the confirmation dialog appears.
– Select {YES}, when the confirmation dialog appears, and ask
“initialized related files?” or “CMOSBK. BIN?”
– It will allocate automatic backup to the SD card of the ACP31.
During allocating, the massage of do not turn the power off appears.
– The message of the maintenance mode will appear, when finished
allocating.
5. Turn ON the power supply again.
6. The online window appears on the programming pendant.
8. Select {CONTROLLER SET}-{SET AUTO BACKUP}.
9. It would be error without inserting the SD card in the programming
pendant, when the device is set on the SD card in the programming
pendant. Push down the [cancel], when the error occurs.
10. Select the device, and change to “SD: Controller”.
Backup setting to the SD card of the ACP31 board should

be done while the robot is not operating.
When access to SD card of the ACP31 by using other than
the auto backup function, the auto backup function and the
NOTE exclusive process would be run. Therefore, the save time
of the auto backup will extend.
(Normally, it takes about three minutes to finish backing-up.
However, duplication access to the SD card of the ACP31
board takes three to ten minutes.)
9.6.2.3 RAMDISK on the ACP31 Board

RAMDISK will be shown when the high speed Ethernet server function is
effective. Refer to “YRC1000micro OPTIONS INSTRUCTIONS FOR
ETHERNET FUNCTION (HW1484452)” for more details.
9-18
9 System Backup
9.6.2.4 YRC1000micro Status and Automatic Backup
Backup Timing YRC1000micro Status Automatic Backup

SD card Absence or
ready to insufficient
save the capacity of the
data SD card
From a Teach mode Editing Retry Retry
specified (Accessing to
starting time the memory)
When editing is Backup Error
interrupted
Play mode Executing jobs Disabled Disabled
Remote mode When stopped Backup Error
When a Teach mode Editing Error Error
specified signal (Accessing to
(#40560) is the memory)
input When editing is Backup Error
interrupted
Play mode Executing jobs Disabled Disabled
Remote mode When stopped Backup Error
When switching - Backup Error
the mode from
the teach mode
to the play
mode
When the - Backup Error
YRC1000micro
starts up
* Retry is not performed when an error occurs.

* An error can be indicated by a message depending on setting.
9-19
9 System Backup
 Reserve Time Backup

While the data in the YRC1000micro memory is being edited or
overwritten, the automatic backup is not performed at the specified
backup starting time and is suspended and retried later. To start the
backup at the reserved time, set to the time when the robot program is
stopped and no job or file is edited.
 Backup when Switching from Teach Mode to Play Mode

When the mode is repeatedly switched from the teach mode to the play
mode or vice versa within 1 to 2 seconds, backup starts after the last time
the mode is switched.
Execute the job after three second since starting the back-up.
 Backup when the YRC1000micro starts up

Since the automatic backup process is added to the YRC1000micro start-
up process, a few extra seconds are needed to start up the
YRC1000micro.
 Backup when Specific Signal is Input

While the YRC1000micro memory is edited such as overwriting, the
backup operation becomes an error even if there is an input to a specific
signal (#40560). To start the specific input backup, perform it while the
robot program is stopped and a job or file is not being modified.
Also, since the signal input is executed at rising detection, turn the signal
to “0” if it is already “1”, return to “1” again.
Execute the job after three second since starting the back-up.
 Overwriting Limit in SD card

The number of times that the SD card can be overwritten is limited.
Because frequent backup operations may shorten the life of SD card, the
number of backup times should be minimized as much as possible.
9-20
9 System Backup
9.6.2.5 Setting Examples
 Setting Example 1
The following diagram shows a setting example with the following
conditions:
BASE TIME: 12:30
BACKUP CYCLE: 60 (minutes)
RETRY CYCLE: 10 (minutes)
Power ON BASE TIME
BACKUP CYCLE
RETRY CYCLE
11:00 11:30 11:40 11:50 12:30 13:30

1st day 1st day 1st day 1st day
Backup Backup Backup
 Setting Example 2
The following diagram shows a setting example with the following
conditions:
BASE TIME: 20:00
BACKUP CYCLE: 1440 (minutes) (24 hours)
RETRY CYCLE: 60 (minutes)
Power ON BASE TIME
BACKUP CYCLE
RETRY CYCLE
8:00 20:00 21:00 22:00 20:00 20:00

1st day 1st day 2nd day 3rd day
Backup Backup Backup
While a job is being executed, the automatic backup or retry

NOTE is not performed. Also, after an error occurs in writing into
the SD card, the retry is not performed until the next backup
starting time.
9-21
9 System Backup
9.6.2.6 AUTO BACKUP FUNCTION SET Window
 Settings
Automatic backup setting is performed by setting the following items on
the AUTO BACKUP SET window:
• RESERVE TIME BACKUP
(Setting for performing the backup on what day of the week, every
day, or in a specific cycle)
• BASE TIME
• BACKUP CYCLE
• RETRY CYCLE
• MODE CHANGE BACKUP
(VALID/INVALID of the backup when switching the mode from the
teach mode to the play mode)
• STARTUP AUTO BACKUP
(VALID/INVALID of the backup when the YRC1000micro is started
up)
• SPECIFIC INPUT BACKUP
(VALID/INVALID of the backup when inputting specified signals)
• UNIV.OUT NO. ON ERROR
• DISPLAY AT EMERGENCY
• DURING ALARM OCCURENCE
• DEVICE
(Setting of the device to store the automatic backup file)
• STORED FILE SETTING
(It is possible to set when “SD: Pendant” is set in DEVICE.)
When the “SD: Pendant” or “SD: Controller” is selected on

the auto backup display, the capacity of the SD card in the
specified device will be checked. Therefore, a few seconds
may be needed to open the setting window. For the “SD:
Pendant”, an error may occur without setting in the SD card.
When changing the settings of “STORED FILE SETTING”
NOTE or executing “ARRANGE”, the files “CMOSBK.BIN” and
“CMOSBK??.BIN” (?? denotes figures) in the SD card are
changed in name or deleted. If a certain file of this type is
needed to be saved before changed in name or deleted,
evacuate it into a PC, etc. beforehand.
While an error occurring, the setting of the each item on the
auto backup set display cannot be changed.
9-22
9 System Backup
1. Turn ON the YRC1000micro.

– Insert the SD card to the programming pendant, when the backup is
set on the SD card of the programming pendant.
4. Select {AUTO BACKUP SET}.
– The AUTO BACKUP SET display appears.
A
B
C
D
E
F
G
H
I
J
K
L
M
N
A. RESERVE TIME BACKUP

Pressing [SELECT] displays the following list. Select the item from
“SET CYCLE”, “EVERY DAY”, or the day of the week (“MONDAY” to
“SUNDAY”).
Please note that after setting the base time, the backup cycle, and the
retry cycle, select the item from “SET CYCLE”, “EVERY DAY”, or the
day of the week (“MONDAY” to “SUNDAY”).
If “SET CYCLE”, “EVERY DAY”, or the day of the week (“MONDAY” to
“SUNDAY”) is set before setting one of the base time, the backup cycle,
and the retry cycle, “INVALID” is selected for RESERVE TIME BACKUP.
9-23
9 System Backup
“INVALID”: RESERVE TIME BACKUP is not performed.

“SET CYCLE”: The automatic backup is performed every BACKUP
CYCLE based on the specified BASE TIME.
“EVERY DAY”: The automatic backup is performed at the specified
BASE TIME every day.
“MONDAY” to “SUNDAY”: The automatic backup is performed at the
specified BASE TIME every week.
– Setting example for the automatic backup at 11:29 every day
– Setting example for the automatic backup at 11:29 on every

Thursday
B. BASE TIME
Specify the reference time to start the automatic backup.
The reference time ranges from 0:00 to 23:59.
C. BACKUP CYCLE
Specify the backup cycle to perform the cyclic back up.
Set the backup cycle in units of minutes. The cycle setting ranges from
10 to 9999 minutes. After the first backup, the following backups are
performed automatically in every BACKUP CYCLE.
When “EVERY DAY” or the day of the week (“MONDAY” to “SUNDAY”)
for RESERVE TIME BACKUP is selected, BACKUP CYCLE cannot be
input.
9-24
9 System Backup
D. RETRY CYCLE
Every time the automatic backup is implemented, the memory data in
the controller is obtained, and the data is compared with the original
memory data. If they are not the same, the retry of the automatic
backup is implemented. However, please note that when the device is
not inserted and the automatic backup is failed, for example, the retry is
not executed.
Set the retry cycle in units of minutes. The cycle setting ranges from 0
to 255, and should be shorter than the BACKUP CYCLE. If the value is
the same as or longer than the BACKUP CYCLE, RESERVE TIME
BACKUP cannot set to “VALID”.
When it is set to 0, retry will not be performed.
E. MODE CHANGE BACKUP

Set the automatic backup function to be valid or invalid when the mode
is switched from teach mode to play mode.
Each time [SELECT] is pressed, “INVALID” and “VALID” are displayed
alternately.
F. STARTUP AUTO BACKUP

Set the backup function to be valid or invalid when the power of the
YRC1000micro is turned ON.
alternately.
G. SPECIFIC INPUT BACKUP

Set the backup function to be valid or invalid when specific input signal
(# 40560) is input (rising edge from 0 to 1).
alternately.
H. UNIV.OUT NO. ON ERROR

Set “1” to the specified user output signal which was specified in this
chapter when the automatic backup error occurs.
The term “automatic backup error” here means that the backup is not
performed successfully before the next backup (including retry opera-
tion) starts.
I. DISPLAY AT EMERGENCY
Set the method of notification of the automatic backup error to
“ERROR” or “MESSAGE”.
Each time [SELECT] is pressed, “ERROR” and “MESSAGE” are dis-
played alternately.
J. DURING ALARM OCCURENCE

Set the backup function to be valid or invalid when an alarm occurs.
alternately.
9-25
9 System Backup
K.DEVICE
Press {SELECT} to display the device list.
The Device Name in Display Explanation

SD: Pendant Set the backup to the SD card of the
SD: Controller Set the backup to the SD card of the
ACP31 board. When the “SD:
Controller” of the device name is not
shown, refer to chapter 9.6.2.2 “The
SD Card of the ACP31 Board” .
RAMDISK It will be shown when the optional
function of High Speed Ethernet
Server function is effective. It can
back up by the YRC1000micro high
speed Ethernet server function
command. Refer to “YRC1000micro
OPTIONS INSTRUCTIONS FOR
ETHERNET FUNCTION
(HW14834452)”.
USB1: Controller Set the backup to the USB memory of
the ACP31 board.
L. STORED FILE SETTING

Set the number of files to be stored by the automatic backup function.
The number mentioned on the right side of this item with “(Max)” indica-
tion is the maximum number of files that can be stored in the SD card
inserted when this window is displayed.
The settings range from 1 to (Max). When this setting value is changed,
the backup file arrangement starts. (Max is 100.)
M. BACKUP FILES
Indicates the existence of the files or the number of backup files stored
in the SD card inserted when this window is displayed.
N. LATEST BACKUP FILE
Indicates the date of the latest file in the SD card inserted when this win-
dow is displayed.
O. ARRANGE
When the setting of maximum number of stored files is changed, the file
arrangement of the backup files in the SD card is executed.
With this operation, the file arrangement can be performed without
changing the maximum number of stored files.
ARRANGE will not be displayed when the device of the SD: controller is
set on.
5. Set the desired item, and press [ENTER].
9-26
9 System Backup
 Window Settings
RS parameter can restrict the settings of some items in the automatic
backup window.
When setting the bit of RS096 parameter shown below to “1”, the
corresponding items are restricted. The restricted items are indicated with
“INVALID” in the display and inputting/modification to the item becomes
impossible. Also, the automatic backup does not function with the
restricted items.
D7 D6 D5 D4 D3 D2 D1 D0
RESERVE TIME BACKUP

MODE CHANGE BACKUP
STARTUP BACKUP
RETRY CYCLE
DURING ALARM BACKUP
SPECIFIC INPUT BACKUP
 Output the Backup Processing Status

Able to confirm the backup processing status by the system output signal.
<#50766> It is creating the auto backup data.
When this signal is turned ON, it is creating the backup data.
Some operations are limited. For example, the start signal is not accepted.
<#50767> It is transferring the backup data.
When this signal is turned ON, writes the data to the SD card after
creating the backup data. Do not remove the SD card from the
programming pendant during this period.
9-27
9 System Backup
9.6.3 Limiting the Automatic Backup File Creation
9.6.3.1 Setting to Limit the Automatic Backup File Creation

It is applicable to limit the backup file creation executed by the automatic
backup function to once a day.
To limit the backup file creation to once a day, set the following parameter.
Parameter number Contents Setting value

S2C682 Limits the backup file creation 0 (Invalid)
executed by the automatic backup 1 (Valid)
function to once a day.
When the automatic backup function is requested to start in

the state of limiting the automatic backup file to once a day,
an error occurs to notify that the backup has not been pro-
cessed.
NOTE To avoid the above error, set DISPLAY AT EMERGENCY to
“message”.
For the setting of DISPLAY AT EMERGENCY, refer to
chapter 9.6.2.6 “AUTO BACKUP FUNCTION SET Win-
dow” .
9-28
9 System Backup
9.7 Loading the Backup Data from the SD Card

To restore the backup memory in the auto backup function is done in the
maintenance mode. Otherwise, restore from the SD card of the
programming pendant or USB memory when backup is done at the
optional high speed Ethernet function command. Prepare either of the SD
card or the USB memory to make copies.
9.7.1 Loading Procedure

To restore from the SD card of the programming pendant, perform the
following procedures No.1 to 8. To restore from the SD card on the ACP31
board, perform the following procedures from No.9.
For the USB memory, select “USB: Pendant” or “USB1: Controller” in the
{EX. MEMORY} -{DEVICE} to restore.
1. Insert the SD card with the backup data in the SD card slot on the
(When selecting “USB1: controller”, insert it in the ACP31 board.)
– The backup data is stored under the file name “CMOSBK.BIN” or
“CMOSBK??.BIN” (?? denotes figures.)
MENU].
3. Change the security mode to the management or higher mode.
9-29
9 System Backup
– When set the {SYSTEM}- {SETUP}- {OPTIONAL FUNCTION}-

{AUTO BACKUP (ACP31)} as “USE”, the following sub menu
appears.
5. Select {SYSTEM RESTORE}.

– The BACKUP FILE LIST display appears.
9-30
9 System Backup
6. Select the file to be loaded.

– The dialog box appears for the AIF/ACP31 board replacement
confirmation.
– Selecting {YES} initializes the system monitoring time.

– Selecting {NO} to complete the loading process.
7. Select clear the system monitoring time or not. .
– Select {YES} in the loading confirmation dialog box to start loading

the contents of “CMOSBK.BIN” or “CMOSBK??.BIN” (?? denotes
figures) from the SD card to the YRC1000micro CMOS.
8. Select {YES}.
9. Turn the power on, while pressing the [MAIN MENU].
10. Change the security mode to the management or higher mode.
9-31
9 System Backup
11. Select {EX. MEMORY} in the main menu.

– The sub menu will appear.
12. Select {SYSTEM RESTORE (ACP31)}.

– The backup-file list display will appear.
9-32
9 System Backup
13. Select desired date file.

– The AIF/ACP31 board dialog will appear.
– Select {YES} when exchanged the AIF/ACP31 board. If not, select

{NO}.
– When select {YES}, cumulative time display will be initialized. For
selecting {NO}, cumulative time display will continue.
14. Select from the confirmation dialog box.
– The dialog box appears for the loading confirmation.
– Select {YES} to initialize the system monitoring time and loading

process is executed.
– Select {NO} to continue counting the system monitoring time and
loading process is executed.
When loading process is executed, the memory device or SD card
mounted on the ACP31 board is updated to the content of the file
selected “CMOSBK.BIN” or “CMOSBK??.BIN” (?? denotes figures).
9-33
9 System Backup
CAUTION
Note that by executing “SYSTEM RESTORE” or “SYSTEM RESTORE
(ACP31)”, the current CMOS data in the YRC1000micro is replaced
with the data of the file “CMOSBK.BIN” or “CMOSBK??.BIN” (??
denotes figures) in the external memory device.
After “CMOSBK.BIN” has been loaded, confirm that the new data is the
same as the previously saved data in the CMOS. In addition, call the
master job to confirm that the current manipulator position is correct
and safe. After that, start operating the manipulator.
9.7.2 Safety Board FLASH ROM Data Reset

When the procedures described in chapter 9.7 “Loading the Backup Data
from the SD Card” are completed, the message "Select 'Safety Board
FLASH Reset" appears. Then, change the security to the safety mode
and execute the operation described in chapter 8.26.15.2 “Safety Circuit
Board FLASH ROM Data Erase and Reset” .
9-34
9 System Backup
9.8 Error List
9.8 Error List
9.8.1 Error Contents
Error Data Message Cause

No.
0770 * During robot or station operation The automatic backup would
not work when a manipulator or
a station is in motion.
3390 File not found The file to be loaded no longer
exists.
3460 * Cannot backup the media
1 Insufficient capacity of the SD
card
2 Cannot access the SD card
3463 * Cannot store the backup data. Confirm that the value specified
The value specified for for STORED FILE SETTING
STORED FILE SETTING does not exceed the maximum
exceeds the maximum number number.
3501 * Check the media insertion Cannot access the SD card
3550 * Under automatic backup The automatic backup window
operation. Operate after the cannot be called to display while
backup is completed. the automatic backup is being
processed.
3551 * Under automatic backup The file arrangement cannot be
operation. Operate \“SORT operated during the automatic
FILE\” after the backup is backup operation.
completed.
3560 * Failed in sorting backup file. Failed to re-arrange the backup
file for another reason than the
access to SD card.
3580 * Under backup file access. To display another window and
Operate after the access is then display the automatic
completed. backup window again after
“ARRANGE” operation,
“ARRANGE” process should be
completely finished.
3581 * Under backup file access. The previous “ARRANGE”
Operate \“SORT FILE\” after the process should be completely
access is completed. finished to perform the next
“ARRANGE” operation.
9-35
10 Upgrade Function
10.1 Functional Overview
10 Upgrade Function
10.1 Functional Overview

YRC1000micro applies two software for the CPU configuration: a software
for ACP31 (for the main CPU board) and a software for the programming
pendant. The system works only with the combination of certain versions
due to a compatibility problem of each software.
Therefore, YRC1000micro can upgrade the software for the programming
pendant if the combination of the software for ACP31 and the
programming pendant is invalid.
10.2 Upgrade Procedure
10.2.1 Confirmation of Software Version

The compatibility of the versions of ACP31 and the programming pendant
are automatically checked in 20 seconds after the YRC1000micro power
supply is turned on.
• In case the versions of ACP31 and the programming pendant

matches.
1. Automatic upgrade process completes and the communication
process between ACP31 and the programming pendant is restarted.
10-1
10 Upgrade Function
2. Initial window appears approx. 60 seconds later.
The time until the initial window appears on the program-

SUPPLE
ming pendant may be longer if the system configuration
-MENT includes an optional circuit board or if the Ethernet port for
general purpose is enabled, etc.
10-2
10 Upgrade Function
10.2.2 Automatic Upgrade of the Programming Pendant

In case that the pendant application version of the programming pendant
is older than the one of SD card in ACP31 or the pendant application
version of the programming pendant is not compatible to the one of
ACP31, the programming pendant is automatically upgraded.
Not only the application software but the OS of the Programming Pendant
is also upgraded automatically.
(OS: Operating System)
1. After the automatic upgrade process is completed, the communication

process between ACP31 and the programming pendant is restarted.
– The programming pendant is restarted depending on the upgraded
software.
In this case, the communication process between the programming
pendant and ACP31 starts again after restart of the programming
pendant is done.
2. Initial window appears approx. 60 seconds later.
Every time the OS is upgraded automatically, restart is

NOTE done. There is no need of calibrating because the calibra-
tion data is taken over.
If start the YRC1000micro without the auto upgrade pro-

NOTE cess, press all of the [Interlock]+[5]+[Select] keys on the
programming pendant at the same time to start.
10-3
10 Upgrade Function
DO NOT turn off the main power supply during automatic

upgrade process.
In case the main power supply is turned off, exercise the fol-
lowing process.
• Turn on the main power supply of YRC1000micro.
– Automatic upgrade might be exercised again.
• In case error occurs during automatic upgrade process.
(1) Prepare SD card for upgrading or USB memory.
NOTE
(2) Press [2]+[8]+[HIGH SPEED] of the
programming pendant at the same time.
- Upgrade of the OS of Programming Pendant
(3) Press [INTERLOCK]+[8]+[SELECT] of the
programming pendant at the same time and
upgrade.
- Refer to “YRC1000micro UPGRADE PROCE-
DURE MANUAL (HW1484484)” for detail.
• If no recovery is made with all the operation above,
replace the programming pendant.
10-4
10 Upgrade Function
10.3 Error Message
10.3 Error Message

If Error occurs while automatic upgrading, exercise the following
procedure.
• Turn on the main power supply of YRC1000micro.

– Automatic upgrade might be exercised again.
• In case error occurs during automatic upgrade process.
(1) Prepare SD card or USB memory for upgrading.
(2) Press [2]+[8]+[HIGH SPEED] of the programming pendant at the
same time.
- Upgrade of the OS of Programming Pendant
(3) Press [INTERLOCK]+[8]+[SELECT] of the programming
pendant at the same time and upgrade.
- Refer to “YRC1000micro UPGRADE PROCEDURE MANUAL
(HW1484484)” for detail.
10-5
11 Programming Pendant
11.1 Disconnection Function

Disconnection function enables to cut off the communication between the
programming pendant and the controller. Disconnection function enables
only in remote mode.
1. Change the mode key to management mode.
2. Long press [Simple Menu] key to show the pop-up menu.
3. Select “Disconnect” button, and the confirmation dialog appears.
11-1
– An error dialog appears if {Disconnect the Communication} is

selected in other than remote mode.
4. Select {YES} to disconnect the communication between the controller

and the programming pendant. After disconnecting the
communication, the message is displayed.
11-2
5. Press “OK” on the message dialog, otherwise the window is closed

automatically after 10 seconds since the window appears on the
screen, and then the programming pendant startup window is
displayed.
When connecting the controller and the programming pendant again,
press “Connect” button.
CAUTION
• While the programming pendant startup window is displayed (while
communication between the YRC1000micro and the programming
pendant is disconnected), the manipulator in operation cannot be
stopped by using [HOLD]. To stop the manipulator's operation,
press the emergency stop button.
• While the programming pendant startup window is displayed, the
mode of the YRC1000micro cannot be changed by using the Mode
Switch. To change the mode of the YRC1000micro, press
“Connect” button in the startup window to connect the
YRC1000micro and the programming pendant, and then turn the
Mode Switch to the desired mode.
11-3
11.2 Reset Function
11.2 Reset Function

Reset function enables to restart only the programming pendant while the
main power supply of the controller is ON.
If unable to operate the robot by the programming pendant causing from

the communications error of the programming pendant, recover the
programming pendant by following procedures.
1. Confirmation of the 7SEG-LED display on the JANCD-ACP31-1E
– Check the 7SEG-LED display on the JANCD-ACP31-1E.
• Check that an alphabet letter or a number is displayed on

the 7SEG-LED display.
SUPPLE
• Check that a dot is displayed at the lower right of the
-MENT 7SEG-LED. If it is, check that the dot is blinking or lighted.
• If the displayed alphabet or the number is continuously
changing, write down them in order.
2. Reset the programming pendant
– Open the SD card slot cover on the programming pendant.
– There is a small hole to the right of SD card insertion slot. Insert a

spit into the hole to press the reset button.
Reset button
– The programming pendant is rebooted and it starts connecting to the

controller again.
11-4
11.3 Touch Panel Invalidate Function

The touch panel invalidate function enables to invalidate the touch panel
operation of the programming pendant (key operation is still valid).
Even if the touch panel is failure, it is able to prevent the mis-operation by
using this function.
Operate the following procedures to valid/invalid the touch panel.
 Invalidate the Touch Panel

1. Push down the [INTER LOCK]+[AUX] keys at the same time.
The confirmation dialog to invalidate the touch panel appears.
2. Move the focus area over the {YES} on the confirmation dialog by
using [←] key.
3. Press [Select] key. The touch panel becomes invalid.
When the touch panel is invalid, an icon, which shows the invalidating
the touch panel, is displayed on the status area, and the message
“Touch operation is invalid” is displayed on the message area.
11-5
 Validate the Touch Panel

1. Push down the [INTER LOCK]+[AUX] keys at the same time.
The confirmation dialog to validate the touch panel appears.
2. Move the focus area over the {YES} on the confirmation dialog by
using [←] key.
3. Press [Select].
The touch panel become valid.
• In the case of invalidating the touch panel, the touch

panel invalidating status continues even though the
power supply is turned ON/OFF.
NOTE
• To validate the touch panel again, push down the
[INTER LOCK]+[AUX] keys at the same time, and then
validate the touch panel on the confirmation dialog.
11-6
11.4 Reboot Robot System

After change a parameter, repair or maintenance, following procedure to
reboot the robot system.
The robot system cannot be rebooted when the servo power is ON.
Confirm that the servo power is OFF before rebooting.
1. Select {SYSTEM INFO} - {CPU RESET} in the main menu.
2. Confirm the servo power is OFF and select {RESET}.
11-7
3. The confirmation dialog appears. Select {YES} to reboot the robot

system.
4. If the operation to reboot the robot system is performed when the

servo power is ON, the following error message appears.
– Select “CANCEL” to cancel the error message.
11-8
12 Modification of System Configuration
12.1 Addition of I/O Modules
To add I/O modules, turn OFF the power supply.
Addition operation must be performed in the management

SUPPLE
mode.
-MENT In the operation mode or editing mode, only reference of sta-
tus setting is possible.
1. Turn ON the power supply again while pressing [MAIN MENU]

simultaneously.
2. Change the “SECURITY MODE” to the management mode.
– The system window appears.
4. Select {SETUP}.
– The SETUP window appears.
12-1
5. Select {IO MODULE}.

– The current status of the mounted I/O module is shown.
6. Confirm the status of mounted I/O module.

ST# Station address of I/O module
DI Number of contact input points1)
DO Number of contact output points1)
AI Number of analog input points1)
AO Number of analog output points1)
BOARD Circuit board type2)
– 1) A hyphen, -, indicates that the corresponding I/O section is not

mounted.
– 2) If the system cannot recognize the circuit board type, a row of
stars (*****) are shown. No problem will occur as long as the values
displayed in DI, DO, AI, and AO are correct.
7. Press [ENTER] twice.

– Confirm the statuses of the mounted I/O modules for the other
stations.
12-2
8. Press [ENTER].
– The confirmation dialog box is shown.
9. Select {YES}.
– The system parameters are then set automatically according to the
current mounted hardware status, and the window will be changed
to the external I/O setup window.
A message “Select ‘Safety Board FLASH Reset’” in the human

interface area. However, do not select/perform Safety Board
FLASH Reset at this point.
If there is a difference between the displayed contents and

NOTE the actual mounted status, confirm the status again. If the
status is correct, the I/O module may be defective: in such a
case, contact your YASKAWA representative.
12-3
12.2 Allocating External I/O Signal

1. The EXTERNAL IO SETUP window appears.
2. Select “AUTO” or “MANUAL” under the ALLOCATION MODE.

– The selected menu appears.
When the allocation mode is changed from “MANUAL” to

“AUTO”, the set allocation data is discarded, and re-alloca-
NOTE tion in the Auto mode takes place.
If it is necessary to save the set allocation data, save it
using the external memory menu in advance.
12-4
3. Select the allocation mode to set.

– To operate the I/O signal allocation automatically, select the
allocation mode “AUTO”.
– To operate the I/O signal allocation manually, select the allocation
mode “MANUAL”.
– Selected allocation mode appears.
4. Select “DETAIL” under the “EXTERNAL IO ALLOCATION”.

– The External Input Signals Allocation window appears.
– When select the “AUTO”, skip the following procedures from No. 5
to No. 7. Operate from the procedure No. 8.
– S for the allocation mode “MANUAL”, operate the following
procedures.
12-5
5. Select the external input signal number (at the change source) to be
changed. (In the setting example, select “#20010”.)
– The select menu appears.
6. Select “MODIFY”, and input the external input signal number (at the
change destination) to be changed. (In the setting example, enter
‘20190’.)
– The external I/O signal is changed.
7. Likewise, select/modify the number of the external input signal.

– Repeat select/modify until it becomes the desired allocation.
12-6
8. Press [ENTER].
– The External Output Signals Allocation window appears.
9. Like the case of the external input signal, select/modify the external
output signal.
– Repeat select/modify until it becomes the desired allocation.
10. Press [ENTER].
11. Select {YES}.

– The settings are confirmed, and the SETUP window reappears.
12-7
12. Change the security mode to safety mode

– The initialize window appears.
14. Select “Safety Board FLASH Reset”.

15. Select {YES}.

– When a message “Select ‘Safety Board FLASH Reset’” in the
human interface area disappeared resetting of Safety Board FLASH
Reset is complete.
12-8
 Explanation about the External I/O Signal Allocation Window

The details of the window are explained using the window example. The
range over which the cursor can move is the hatched area of the figure.
EXTERNAL IO ALLOCATION (INPUT)

ST# CH MAC ID ADDRBYTE NAME
#20010 0 0 0 0 5 ASF31
#20060 16 0 254 0 1 DN4-PCIE
#20070 16 0 1 0 5 DN4-PCIE
#20120 16 0 2 0 4 DN4-PCIE
#20160 16 0 3 0 3 DN4-PCIE
#20190 17 0 254 0 1 CCS-PCIE
#20200 17 0 0 0 6 CCS-PCIE
#----- 16 0 252 0 0 DN4-PCIE
① ② ③ ④ ⑤ ⑥ ⑦
 External I/O signal numbers

Indicates the beginning number of the external I/O signals allocated to
each I/O area. On the allocation window, the set values of these items
are used and displayed in ascending order. The following contents are
displayed.
#20010 to #25120 : The number of the signal allocated to the
beginning of each I/O area, in the input signals
#30010 to #35120 : The number of the signal allocated to the
beginning of each I/O area, in the output signals
#----- : Unallocated I/O area
 ST#
Indicates the YRC1000micro station number allocated to each I/O
board. The displayed contents include the following:
0 : Safety IO I/F board (JANCD-ASF3□-1E)
16 : The first field bus board
(Normally, optional board inserted into the optional slot
at the left side.)
17 : The second field bus board
(Normally, optional board inserted into the optional slot
at the right side.)
 CH
Indicates the channel number (network communication system) on the
board. The following contents are displayed.
0: I/O area for channel 1
1: I/O area for channel 2
12-9
 MAC ID
Indicates the network communication station number set in the channel
concerned on the board concerned. Regarding station numbers that
cannot be displayed, or station numbers that do not need to be dis-
played, ‘0’ is displayed. The following contents are displayed.
0 : No station number, or network communication station
number ‘0’
Scanner station of EtherNet/IP (CPU board)
1 to 251 : Network communication station number ‘1’ to ‘251’
Adapter station of EtherNet/IP (CPU board)
(Scanner allocation number sequence)
252 : Unallocated I/O area of channel 1
253 : Unallocated I/O area of channel 2
254 : Communication status area of channel 1
255 : Communication status area of channel 2
 ADDR
Indicates the offset address from the beginning of each I/O area when
the inside of each I/O area is further divided into multiple parts.
 BYTE
Indicates the size (number of bytes) inside each I/O area.
 NAME
Indicates the name of each I/O board.
12-10
12.3 Addition of Base and Station Axes

To add the base and station axes, mount all hardware correctly and then
execute maintenance mode.
Addition operation must be performed in the management

SUPPLE
mode.
-MENT In the operation mode or editing mode, only reference of sta-
tus setting is possible.
When adding a base and a station axis, set the following items:
• TYPE
Select one in the type list.
• In case of base axis (B1,B2)
Select one of RECT-X, -Y, -Z, -XY, -XZ, -YZ or -XYZ.
• In case of station axis (S1,S2, S3)
Select UNIV-* (“*” represents the number of axes) when using a
mechanism other than the registered type as a station axis.
• CONNECTION
In the CONNECTION window, specify the SERVOPACK which is
connected with each axis group, the contactor which is used for the
SERVOPACK, and the overrun signal (OT).
• AXIS TYPE
Select from the axis type list.
• In case of TURN-* type
No need to select (The axis type is set as TURN type.)
• In case of RECT-* type
Select BALL-SCREW type or RACK & PINION type.
• In case of UNIV-* type
Select BALL-SCREW type, RACK & PINION type or TURN type.
• MECHANICAL SPECIFICATION
• If axis type is ball-screw type, set the following items:
• MOTION RANGE (+) [mm]
• MOTION RANGE (-) [mm]
• REDUCTION RATIO (numerator)
• REDUCTION RATIO (denominator)
• BALL-SCREW PITCH [mm/r]
12-11
• If axis type is rack & pinion type, set the following items.
• MOTION RANGE (+) [mm]
• MOTION RANGE (-) [mm]
• PINION DIAMETER [mm]
• If axis type is turn type, set the following items.

• MOTION RANGE (+) [deg]
• MOTION RANGE (-) [deg]
• OFFSET (1st and 2nd axis) [mm]
• MOTOR SPECIFICATION
Set the following items.
• MOTOR
• SERVO AMP
• CONVERTER
• ROTATION DIRECTION [normal/reverse]
• MAX. RPM [rpm]
• ACCELERATION SPEED [sec]
• INERTIA RATIO
* Select MOTOR, AMPLIFIER and CONVERTER from each type list on the
display.
12-12
12.3.1 Base Axis Setting
12.3.1.1 Selection of Base Axis Type

Select the type of base axis to be added/modified.
1. Turn ON the power supply again while pressing [MAIN MENU]
simultaneously.
2. Change the “SECURITY” to the “MANAGEMENT MODE”.
– The system window appears.
4. Select {SETUP}.
– The SETUP window appears.
– Note that the items marked with “” cannot be set.
12-13
5. Select {CONTROL GROUP}.

– The current control group type is displayed.
6. Move the cursor to the type of control group to be modified, and press
[SELECT].
– The MACHINE LIST window is displayed.
RECT-X: traverse X-axis base

RECT-Y: traverse Y-axis base
RECT-Z: traverse Z-axis base
RECT-XZ: traverse XZ-axis base
RECT-XY: traverse XY-axis base
RECT-XYZ: traverse XYZ-axis base
(See the figures on the next page)
12-14
7. Select one in the type list.

– After the type selection, the window returns to the CONNECT
window.
RECT-X RECT-Y RECT-Z

Z Z Z
Y Y Y
X X
X
CARTESIAN CARTESIAN
Y-AXIS CARTESIAN
X-AXIS
Z-AXIS
Base axis direction of travel coincides Base axis direction of travel coincides Base axis direction of travel coincides
with robot coordinate X-Axis. with robot coordinate Y-Axis. with robot coordinate Z-Axis.
RECT-XY RECT-YZ RECT-XZ

Z Z
Z
Y
Y Y
X X
CARTESIAN X
Y-AXIS
CARTESIAN CARTESIAN
CARTESIAN CARTESIAN
Z-AXIS CARTESIAN X-AXIS
Y-AXIS X-AXIS Z-AXIS
Base 1st and 2nd axes directions of Base 1st and 2nd axes directions of Base 1st and 2nd axes directions of
travel coincide with robot coordinate travel coincide with robot coordinate travel coincide with robot coordinate
X-Axis and Y-Axis, respecitively. Y-Axis and Z-Axis, respectively. X-Axis and Z-Axis,respectively.
RECT-XYZ CARTESIAN
Z-AXIS
Z
Y
X
CARTESIAN CARTESIAN
Y-AXIS X-AXIS
Base 1st, 2nd, and 3rd axes directions

of travel coincide with robot coordinate
X-Axis, Y-Axis, and Z-Axis, respectively.
12-15
12.3.1.2 Connection Setting

In the CONNECT window, it is specified that each axis of each control
group is connected to which connector of the SERVO board, which brake
of the contactor unit, which converter, and which overrun signal.
1. Confirm the type of each control group in the CONNECT window.
2. Select the connection item of a desired control group.

– The settable items are displayed.
– Select an item to change the setting. Select {Cancel} to return to the
CONNECT window.
– Specify which connector (CN) of the SERVO board each axis of

each control group is connected to.
The numbers in [ ] represent axis numbers, and indicate which axis
is connected to which connector.
– Specify which brake (BRK) of the contactor unit each axis of each
control group is connected to.
The numbers in [ ] represent the axis numbers, and indicate which
axis is connected to which brake.
12-16
– Specify which converter (CV) each axis of each control group is

connected to.
The numbers in [ ] represent the converter numbers, and indicate
which axis is connected to which converter.
– Specify which overrun signal (OT) each control group is connected
to.
– In this example described in the step 2 in the previous page, B1
(Base) is connected in the following manner:
1st axis → SERVO Board (SV #1), Connector (8CN),
Brake Connector (BRK8), Converter (CV #1)
2nd axis → SERVO Board (SV #1), Connector (9CN)
Overrun → (OT1)
3. Therefore, when an overrun alarm occurs, the subcode is indicated by

the control group.
However, select “NOT CONNECT” if an overrun switch is not installed
to the control group or the allocation of the external axis overrun signal
is not needed.
4. Select a desired item.
5. Press [ENTER] in the CONNECT window.
– The setting in the CONNECT window is completed and the window
moves to the AXES CONFIG window.
12-17
12.3.1.3 Axis Configuration Setting

The axis type is specified in the AXES CONFIG window.
1. Confirm axis type of each axis in the AXES CONFIG window.
– The axis type of each axis is displayed.
2. Select the axis type to be modified.

(1) The settable axis type is displayed.
(2) Select “BALL-SCREW” when the servo track is ball-screw type,

and “RACK&PINION” when the servo track is rack & pinion type.
After the selection, the window returns to the AXES CONFIG win-
dow.
(3) Select the axis type.
3. Press [ENTER] in the AXES CONFIG window.
4. The setting in the AXES CONFIG window is completed and the
window moves to the MECHANICAL SPEC window.
12-18
12.3.1.4 Mechanical Specification Setting

The mechanical data is specified in the MECHANICAL SPEC window.
1. Confirm specification of each axis in the MECHANICAL SPEC window.
– The mechanical specification of axis is shown.
The MECHANICAL SPEC window (in case of the BALL-SCREW type)
Selected group,
type, axis no.,
and axis type
are shown.
– MOTION RANGE : Input maximum moving position (positive

(+) direction and negative (-) direction) from
home position when setting the home
position to 0. (Unit: mm)
– REDUCTION RATIO : Input the numerator and the denominator.
<e.g.> If the reduction ratio is 1/2, the
numerator should be set as 1.0 and the
denominator should be set as 2.0.
– BALL-SCREW PITCH : Input the traveling length when the
ball-screw rotates once. (Unit: mm/r)
The MECHANICAL SPEC window (in case of the RACK&PINION type)
Selected group,
type, axis no.,
and axis type
are shown.

<e.g.>If the reduction ratio is 1/120, the
– PINION DIAMETER : Input the diameter of a pinion. (Unit: mm)
12-19
2. Select the item to be modified.

– Point the cursor to the item subject for setting value modification,
and press [SELECT].
3. Modify the settings.
– The selected item is in the input status.
Input the setting value, and press [ENTER].
4. Press [ENTER] in the MECHANICAL SPEC window.
– After the setting, the current window moves to the window for the
next axis setting. Complete the settings for all axes in the same
manner.
– When [ENTER] is pressed in the MECHANICAL SPEC window for
the last axis, the setting in the MECHANICAL SPEC window is
completed and the window moves to the MOTOR SPEC window.
12-20
12.3.1.5 Motor Specification Setting
The motor data is specified in the MOTOR SPEC window.

1. Confirm specification of each axis in the MOTOR SPEC window.
– The motor specification of each axis is displayed.
2. Select the desired item.

– When a numerical value is selected, the number input buffer line
appears.
– When MOTOR (or SERVO AMP or CONVERTER) is selected, the
list window of MOTOR (SERVO AMP, or CONVERTER) appears.
– ROTATION DIRECTION : Set the rotation direction to which the
current position is increased. (The
counterclockwise view from the loaded
side is the normal rotation.)
Fig. 12-1: AC Servo Motor
Normal direction
– MAX. RPM : Input maximum rotation speed of a

motor. (Unit: rpm)
– ACCELARATION TIME : Input time between 0.01 and 1.00 to
reach maximum speed from stopping
status at 100% JOINT speed. (Unit: sec)
– INERTIA RATIO : The initial value is set at 300 in case of
servo track; 0 in case of rotation axis.
However, if the following phenomenon
occurs in motion, deal with the following
procedure.
– <Phenomenon1>
During motion, the axis moves unsteady on advance direction.
 Confirm the motion with increasing this ratio in each 100.
12-21
– <Phenomenon2>
During pause, the motor makes a lot of noise.
 Confirm the motion with decreasing this ratio in each 100.
4. Press [ENTER] in the MOTOR SPEC window.
manner.
– When [ENTER] is pressed in the MOTOR SPEC window for the last
axis, the setting in the MOTOR SPEC window is completed and the
confirmation dialog box appears.
– If {YES} is selected, the system parameter is set automatically.

5. Initialize the related files.
– To add and modify the base axis in completed.
6. Change the security mode to safety mode.
12-22

– The initialize window appears.
8. Select “Safety Board FLASH Reset”.

9. Select {YES}.
– When a message “Select ‘Safety Board FLASH Reset’” in the
Reset is complete.
12-23
12.3.2 Station Axis Setting
12.3.2.1 Selection of Station Axis Type

Select the type of station axis to be added/modified.
1. Confirm the type of control group in CONTROL GROUP window.
– The CONTROL GROUP window appears.
2. Select the type of control group to be modified.

– The MACHINE LIST window appears.
TURN-1: TURN 1 AXIS STATION

TURN-2: TURN 2 AXIS STATION
UNIV-1: UNIVERSAL 1 AXIS STATION
UNIV-2: UNIVERSAL 2 AXIS STATION
...
12-24
3. Select desired type in the type list.

– After the type selection, the window returns to CONNECT window.
– Select “UNIV” (universal) when using a mechanism other than the
registered type (such as a servo track) as a station axis. When
“UNIV” is selected, interpolation motion (linear, circular, etc.) is not
supported.
TURN-1
STATION 1ST AXIS
12-25
12.3.2.2 Connection Setting
In the CONNECT window, it is specified that each axis of each control

group is connected to which connector of the SERVO board, which brake
of the contactor unit, which converter, and which overrun signal.
1. Confirm the type of each control group in the CONNECT window.
2. Connection status of each control group is displayed.Select the

connection item of desired control group.
– The settable items are displayed.
– Select an item to change the setting. Select {Cancel} to return to the

CONNECT window.
– Specify which connector (CN) of the SERVO board each axis of

each control group is connected to.
The numbers in [ ] represent axis numbers, and indicate which axis
is connected to which connector.
– Specify which brake (BRK) of the contactor unit each axis of each
control group is connected to.
The numbers in [ ] represent the axis numbers, and indicate which
axis is connected to which brake.
– Specify which converter (CV) each axis of each control group is

connected to.
The numbers in [ ] represent the converter numbers, and indicate
which axis is connected to which converter.
– Specify which overrun signal (OT) each control group is connected

to.
– In this example, S1 (Station) is connected in the following manner:

1st axis  SERVO Board (SV #1), Connector (7CN),
2nd axis  SERVO Board (SV #1), Connector (8CN),
Overrun  (OT1)
12-26
3. An overrun signal is allocated to a control group. Therefore, when an

overrun alarm occurs, the subcode is indicated by the control group.
However, select “NOT CONNECT” if an overrun switch is not installed
to the control group or the allocation of the external axis overrun signal
is not needed.
5. Press [ENTER] in the CONNECT window.
– The setting in the CONNECT window is completed and the window
moves to the AXES CONFIG window.
12-27
12.3.2.3 Axis Configuration Setting

The axis type and motor type are specified in the AXES CONFIG window.
1. Confirm axis type of each axis in the AXES CONFIG window.
– The axis type of each axis is displayed.
• The AXES CONFIG window (in case of the TURN type)
when axis type is

"ROTATION",
the axis type cannot
be changed.
• The AXES CONFIG window (in case of the UNIVERSAL type)
BALL- SCREW: Traverse axis

(ball-screw)
RACK&PINION: Traverse axis
(rack&pinion)
ROTATION: Rotation axis
12-28
2. Select the axis type to be modified.

– The settable axis type is displayed.
3. Select the desired axis type.

4. Press [ENTER] in the AXES CONFIG window
– The setting in the AXES CONFIG window is completed and the
window moves to the MECHANICAL SPEC window.
12-29
12.3.2.4 Mechanical Specification Setting

The mechanical data is specified in the MECHANICAL SPEC window.
1. Confirm specification of each axis in the MECHANICAL SPEC window.
– The mechanical specification of axis is shown.
Selected group, type, axis no.

and axis type are shown.
OFFSET is displayed on
the screen of the 1st axis
only when the TURN-2 type
is selected.

position to 0. (Unit: deg)
– OFFSET : Offset should be specified at “TURN-2” type
only. Input length between the center of
bending axis (1st axis) and the turning table
(2nd axis). (Unit: mm)
TURN-2
STATION 2ND AXIS

(ROTATION TABLE)
OFFSET
STATION 1ST AXIS

(INCLINATION AXIS)
12-30
• The MECHANICAL SPEC window (In case of the BALL-SCREW type)



– BALL-SCREW PITCH : Input the traveling length when the

ball-screw rotates once. (Unit: mm/r)
• The MECHANICAL SPEC window (In case of the RACK&PINION type)



<e.g.>If the reduction ratio is 1/120, the
– PINION DIAMETER : Input the diameter of a pinion. (Unit: mm)
12-31
• The MECHANICAL SPEC window (In case of the ROTATION type)


position to 0. (Unit: deg)
3. Press [ENTER] in the MECHANICAL SPEC window.
manner. When [ENTER] is pressed in the MECHANICAL SPEC
window for the last axis, the setting in the MECHANICAL SPEC
window is completed and the window moves to the MOTOR SPEC
window.
12-32
12.3.2.5 Motor Specification Setting

The motor data is specified in the MOTOR SPEC window.
1. Confirm specification of each axis in the MOTOR SPEC window.
– The motor specification of each axis is displayed.


– When a numerical value is selected, the number input buffer line
appears.
When MOTOR (or SERVO AMP or CONVERTER) is selected, the
list window of MOTOR (SERVO AMP or CONVERTER) appears.
– When the type is selected, the window returns to the MOTOR SPEC
window.
– ROTATION DIRECTION : Set the rotation direction to which the
current position is increased.
(The counterclockwise view from the
loaded side is the normal rotation.)
Fig. 12-2: AC Servo Motor
Normal direction
– MAX. RPM : Input maximum rotation speed of a

motor. (Unit: rpm)
– ACCELARATION SPEED : Input time between 0.01 and 1.00 to
reach maximum speed from stopping
status at 100% JOINT speed. (Unit: sec)
12-33
– INERTIA RATIO : The initial value is set at 300 in case of

servo track; 0 in case of rotation axis.
However, if the following phenomenon
occurs in motion, deal with the followed
procedure.
– <Phenomenon1> During motion, the axis moves unsteady on
advance direction.
 Confirm the motion with increasing this ratio in each 100.
– <Phenomenon2> During pause, the motor makes a lot of noise.
 Confirm the motion with decreasing this ratio in each 100.
A message “Select ‘Safety Board FLASH reset’” is shown on the
human inter face area after adding/changing of the station axis
operation, perform “Safety Board FLASH reset” by following the
procedures below.
4. Change the security mode to the safety mode.
5. Select {FILE} - {INITIALIZE}under the main menu.
6. Select “Safety board FLASH Reset”.
12-34
– A confirmation dialog box
7. Select {YES}.
– When the message “Select ‘Safety Board FLASH Reset’” in the
Reset is complete.
NOTICE
• If the control axis configuration is changed by addition of a base
axis or station axis, the internal data of the job file are also changed
so that the job file data should be initialized.
Initialize the job file data with procedure “File Initialize” in this
manual after changing the construction.
• When the data, motion range for example, should be changed after
the addition of a base axis or station axis, the change can be done
in the same procedure as shown above.
In this case, the control axis configuration is not changed so the job
file data should not be initialized.
12-35
13 YRC1000micro Specification
DANGER
• Always set the teach lock before starting teaching.
• Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the
manipulator:
– Press the emergency stop buttons on the front door of the
YRC1000micro, on the programming pendant, on the external
control device, etc.
– Disconnect the safety plug of the safety fence. (when in the play
mode and the remote mode)
DANGER
13-1
WARNING
damage.
13-2
13.1 Specification List
13.1 Specification List
Controller Dust/Splash-proof IP20

construction
Dimensions 425(W) ×125 (H) ×280 (D) mm

(without protrusion part)
Cooling system Direct cooling
Power supply -Single-phase 200/230V AC (+10 to -15%)
50/60Hz (±2%)
-Three-phase 200/220V AC (+10 to -15%)
50/60Hz (±2%)
The specification of power supply differs
depending on the type of YRC1000micro.
Grounding Grounding resistance: 100 Ω or less,
exclusive grounding
Noise level Less than 60 dB
Digital I/O Specific signal (hardware)
7 inputs and 1 outputs
General signals (standard, max.)
8 inputs and 8 outputs
(Transistor: 8 outputs, Relay: 0 outputs)
Positioning By serial communication
system (absolute encoder)
Drive unit SERVOPACK for AC servomotors
Acceleration/ Software servo control
deceleration
Memory capacity 200,000 steps, 10,000 instructions
Ambient Ambient 0°C to + 40°C (during operation)
conditions temperature -10°C to + 60°C (during transit and storage)
Temperature change: 0.3°C/min or less
Relative humidity 10% to 90%RH (non-condensing)
Allowable altitude 2000 m or less
(To use the YRC1000micro at the altitude
over 1000 m, calculate the maximum ambient
temperature by decreasing it by 1% per 100
m. The maximum allowable altitude is 2000
m. When the altitude is 2000 m, the
maximum ambient temperature during
operation is 36°C.)
Vibration 0.5G or less
acceleration
Others Free from corrosive gas or liquid, or explosive
gas
Free from dirt, dust, cutting oil (including
coolant), organic solvent, oil fume, water, salt,
chemicals or anti-rust oil
Free from excessive electrical noise (plasma)
Free from strong microwave, UV light, X-ray
or radiation
13-3
13.2 Function List
13.2 Function List
Programming Coordinate Joint, Rectangular/Cylindrical, Tool, User

System Coordinates
Pendant
Modification of Adding, Deleting, Correcting (Robot axes
Operation
Teaching Points and external axes respectively can be
corrected.)
Inching Operation Possible
Path Forward/Reverse step, Continuous
feeding
Confirmation
Speed Adjustment Fine adjustment possible during operating
or pausing
Timer Setting Possible every 0.01 s
Short-cut Function Direct-open function, Multi-window
Interface SD card slot, USB connector (USB2.0)
(At Programming Pendant)
Application Arc welding, spot welding, material
handling, press tending, cutting, and
others
Safety Essential JIS (Japanese Industrial Standard)
Measures
Feature
Running Speed User definable
Limit
Enable Switch 3 position type. Servo power can be
turned on at the middle position only.
(Located on programming pendant)
Collision proof S-axis frame (doughnut-sector), Cubic
Frames frame
Self-Diagnosis Classifies error and two types of alarms
(major and minor) and displays the data
User Alarm Possible to display alarm messages for
Display peripheral device
Machine Lock Test-run of peripheral devices without
robot motion
Maintenance Operation Time Control power-on time, Servo power-on
Display time, Playback time, Operation time, Work
Function
time
Alarm Display Alarm message, troubleshooting, previous
alarm records
I/O Diagnosis Simulated enabled/disabled output
possible
T.C.P. Calibration Automatically calibrates parameters for
end effectors using a master positioner
13-4
13.3 Programming Pendant
Programming Programming Interactive programming

Functions Language Robot language: INFORM
Robot Motion Joint coordinates, Linear/Circular
Control interpolations, Tool coordinates
Speed Setting Percentage for joint coordinates, 0.1mm/s
units for interpolations, Angular velocity
for T.C.P. fixed motion
Program Control Jumps, Calls, Timer, Robot stop,
Execution of some instructions during
Instructions
manipulator motion
Operation Preparing the operation instructions for
Instructions each application Arc (ON), Arc (OFF), etc.
Variable Global variable, Local variable
Variable Type Byte type, Integer-type, Double precision-
type, Real type, Position type, String type
I/O Instructions Discrete I/O, Pattern I/O processing
13.3 Programming Pendant
Material Reinforced thermoplastic enclosure with a detachable

suspending strap
Dimensions 152(W) × 299(H) × 53(D) mm (excluding protrusions)
Protection Class IP54
Displayed Units TFT Color liquid crystal display, VGA (640 × 480)
Touch panel
Operated Units Three-position enable switch, start switch, hold switch, and
mode select switch (with key, three mode)
Type of the key for the mode select switch: AS6-SK-132
(manufactured by IDEC Corp.)
* Two keys are shipped with the programming pendant.
Cable Length Standard: 8 m, maximum (optional): 20 m
(Optional: can be extended by 4, 8 or 12 m to the standard :8
m cable)
Others Provided with SD card slot (SD/SDHC/SDXC type)
USB connector (USB2.0) X 1
Refer to chapter 13.1 “Specification List” for the ambient conditions.
13-5
13.4 Equipment Configuration
13.4 Equipment Configuration

This section explains the configuration of the YRC1000micro equipment.
13.4.1 Arrangement of Units and Circuit Boards
 Configuration
Fig. 13-1: Configuration
Front View Inside View Back View
Model YRC1000micro
For Japan/North America/Asia

MotoMINI ERBR-100-06VX05-A00
GP7 ERBR-100-06VX8-A00
GP8
GP12 ERBR-100-06VX12-A00
13-6
14 Description of Units and Circuit Boards
DANGER
• Always set the teach lock before starting teaching.
• Observe the following precautions when performing teaching
operations within the P-point maximum envelope of the
manipulator:
– Press the emergency stop buttons on the programming pendant,
or on the external control device, etc.
– Disconnect the safety plug of the safety fence. (when in the play
mode and the remote mode)
DANGER
14-1
WARNING
damage.
14-2
 Cautions for connection of dual input signals
NOTICE
• To the dualized specific signal, connect the switch (contact) that
turns the signal ON and OFF simultaneously.
• If the timing of turning ON and OFF between the dualized signals, a
disagreement alarm occurs. .
YRC1000micro
Front Panel
SI0 Board
Safety Switch
4
SAFF_1+
14
SAFF_1-
Turn ON/OFF
5 at the same time
SAFF_2+
15
SAFF_2-
• Do not connect two signals to the same contact point.

(Prepare two independent contact points)
• Since the power supply for each signal is reversed, it will short-
circuit and may cause breakdown of YRC1000micro Unit if the
signals are connected to the same contact point.
YRC1000micro
Front panel
SIO Board
Safety Switch
4
SAFF_1+
14 The same contact
SAFF_1-
5
SAFF_2+
15
SAFF_2-
Short-circuit current
14-3
14.1 Connection for Connector on Front Panel

Connectors are arranged on the front panel of the YRC1000micro for the
various signal connections.
Fig. 14-1: Front Panel View of the YRC1000micro
Connector for power supply

to the external axis
(Covered when not using)
Switch for main
Connector for GP IO USB Connector power supply
Optional slot
PCle Slot
Connector for
Optional slot robot axis power supply
Connector for Connector for
PCle Slot
programming pendant AC power input
14.1.1 Connection of Robot Specific Input Signal

A connector to input the robot specific signal is arranged on the front panel
of the YRC1000micro.
For the connections, refer to figure below.
Fig. 14-2: Location of the Input Connector for the Robot System Signal
(SAFETY)
Input connector for
specified signal for robot
14-4
 Pin Assignment of the pin for the Robot Specific Signal Input Connector
(SAFETY)
Connector types used when preparing the cable for connecting to the
robot specific signal are listed below.
Table 14-1: Pin Assignment of the Pin for the Robot Specific Signal Input Connector (SAFETY)
Item Type Remarks
The YRC1000micro- 10220-52A2PL Mnufactured by Sumitomo 3M
side connector Limited
Cable-side connector 110120-3000PE (Connector body)
10320-52A0-008 (Shell jackscrew type)
10320-52F0-008 (Shell single action lock type)
Upon shipment of the YRC1000micro, a dummy connector which short-

circuits each specific signal is attached.
To input a specific signal, prepare the appropriate connector for the signal.
For unused signals, connect a jumper cable as when the YRC1000micro
is shipped.
Pin No. Signal Name Dual Input Details Setting when

shipped
1 Not used
2 SAFF_1+ ○ Safety plug This signal is
12 SAFF_1- ○ This is the signal to turn OFF the servo power connected by a
3 SAFF_2+ ○ when the gate of the safety fence opens. jumper cable in
Connect the interlock signal such as the safety the dummy
13 SAFF_2- ○
plug, etc. which is mounted on the gate of the connector.
safety fence.
When the interlock signal is OPEN, the servo
power turns OFF and the servo power cannot
be turned ON.
This signal is disabled in the teach mode.
4 EXESP_1+ ○ External emergency stop This signal is
14 EXESP_1- ○ This signal is used to connect the emergency connected by a
5 EXESP_2+ ○ stop switch for the external devices, etc. jumper cable in
When the contact is OPEN, the servo power is the dummy
15 EXESP_2- ○
turned OFF and execution of the job is stopped. connector.
While the signal is being input, the servo power
cannot be turned ON
6 ONEN1_1+ ○ Protection Stop Signal This signal is
16 ONEN1_1- ○ For safety, connect this signal line when using connected by a
7 ONEN2_1+ ○ the function to immediately turn OFF the servo jumper cable in
power to all of the control groups that are the dummy
17 ONEN2_2- ○
connected to the robot controller when the connector.
servo power is turned ON.
If the contact is OPEN, the servo power will turn
OFF.
8 Not used
9 ESPOUT_1+ Emergency stop button contact output Open
19 ESPOUT_1- While using the programming pendant, this
10 ESPOUT_2+ signal is used to output the contact of the
emergency stop button.
20 ESPOUT_2-
11 Not used
18 Not used
14-5
14.1.1.1 Connection of Safety Plug Signal (SAFF)

This is the signal to turn OFF the servo power when the gate of the safety
fence opens.
Connect the interlock signal such as the safety plug, etc. which is
mounted on the gate of the safety fence.
When the interlock signal is OPEN, the servo power turns OFF and the
servo power cannot be turned ON.
As this is disabled in the teach mode, make sure that nobody enters inside
the safety fence.
Upon shipment of the YRC1000micro, this signal is connected by a
jumper cable in the dummy connector.
When operating a manipulator, prepare a new connector and wire the
safety fence signal.
For the unused robot specific input signal, connect a jumper cable as
when the YRC1000micro is shipped.
DANGER
Fig. 14-3: Connection of Safety Plug (Safety Fence) (SAFETY)
YRC1000micro
Front Panel
(SAFETY) Safety Plug (Safety fence)

2
SAFF_1+
12
SAFF_1-
Turn ON/OFF
3 simultaneously
SAFF_2+
13
SAFF_2-
14-6
 Installation example of safety plug

Install a safety fence and a door with the interlock function around the
manipulator so that an operator cannot enter inside the fence unless the
door is opened. And at the same time make sure that the interlock
function stops the manipulator operation when the door is opened.
The safety plug input signal is the signal to connect this interlock signal.
Fig. 14-4: Installation Example of Safety Plug
Manipulator's
Safety fence
range of motion
Servo ON lamp
(optional)
YRC1000micro
Safety door
Safety plug
Emergency
stop button
Portable plug
While the servo power is ON and the interlock signal is input, the servo
power is turned OFF.
(The servo power cannot be turned ON while the interlock signal is being
input.)
Note that the servo power does not turn OFF only in the teach mode.
(The servo power can be turned ON even while the interlock signal is
input.)
14-7
14.1.1.2 Connection of External Emergency Stop Signal (EXESP)

This signal is used to connect the emergency stop switch for the external
devices, etc.
When the contact is OPEN, the servo power is turned OFF and execution
of the job is stopped.
While the signal is being input, the servo power cannot be turned ON
Upon shipment of the YRC1000micro, this signal is connected by a
jumper cable in the dummy connector.
When operating the manipulator, prepare a new connector and wire the
safety fence signal.
For unused robot specific input signals, connect a jumper cable as when
the YRC1000micro is shipped.
DANGER
Fig. 14-5: Connection for External Emergency Stop Signal (EXESP)
YRC1000micro
Front panel
(SAFETY) External emergency stop signal
4
EXESP_1+
14
EXESP_1-
Turn ON/OFF
simultaneously
5
EXESP_2+
15
EXESP_2-
14-8
14.1.1.3 Protection Stop (ONEN) Signal Connection

For safety, connect this signal line when using the function to immediately
turn OFF the servo power to all of the control groups that are connected to
the robot controller when the servo power is turned ON.
• If the contact is OPEN, the servo power will turn OFF.
• When the YRC1000micro is shipped, pin terminals will already be
connected to the Safety1 connector of the manipulator cable.
• Since the input for the Protection Stop signal is a dual configuration
for safety, connect the contacts so that the signals of the two sys-
tems are turned ON and OFF simultaneously.
• If one of the signals for the two systems is turned ON, an alarm
occurs.
DANGER
• Upon shipment of the YRC1000micro, this signal line is connected
to pin terminals. To use the signal, make sure to remove the pin
terminals, and then input it.
If the signal is input with the pin terminals connected, it does not
Fig. 14-6: Protection Stop (ONEN) Signal Connection
YRC1000micro
Front panel
(SAFETY1) Protection Stop signal

6
ON_EN1+
16
ON_EN1-
Turn ON/OFF
simultaneously
7
ON_EN2+
17
ON_EN2-
14-9
14.1.1.4 Connection of Emergency Stop Button Contact Output Signal (ESPOUT)

This signal is used to output the emergency button contact when the
programming pendant is used.
This emergency stop output is always enabled regardless of whether the
YRC1000micro power supply is ON/OFF
(State output signal: Normal Close contact)
NOTICE
• Do not use the emergency stop button with 24 VAC, 250 mA or
more.
• When connect the inductive load, such as the relay, with the output
circuit, use of the built-in protective circuit for the surge suppressor
or connect the flyback diode in parallel to the inductive load to
suppress the surge voltage.
Failure to observe this instruction may result in damage to equipment.
Fig. 14-7: Connection for Emergency Stop Button Contact Signal

(ESPOUT)
Programming pendant
(Optional)
Emergency Stop
Button YRC1000micro
Front panel
(SAFETY)
External Emergency stop
9 output signal
ESPOUT_1+
19
ESPOUT_1-
10
ESPOUT_2+
20
ESPOUT_2-
14-10
14.1.2 Connection of GP I/O

The Direct-in signal is equipped on the front panel of the YRC1000micro
as its standard specification. And this signal is used when inputting a
highly responsive signal for digital I/O (robot GP I/O) for search function,
etc.
• GP I/O point: 8 inputs and 8 outputs
• Direct-in point: 4 inputs
Fig. 14-8: Position of GP I/O Connector
(GPIO)
GP IO connector
The GP I/O signal is used mainly in the motion job of the manipulator and
used as a timing signal between the manipulator and peripheral devices.
Connector types used when preparing a cable for connecting to the
GP I/O and Direct-in signal are listed below.
Item Type Remarks

The YRC1000micro- 10250-52A2PL Mnufactured by Sumitomo 3M
side connector Limited
Cable-side connector 10150-3000PE (Connector body)
10350-52A0-008 (Shell jackscrew type)
10350-52F0-008 (Shell single-action lock type)
For the details of the pin assignment, refer to fig. 14-8 “Position of GP I/O
Connector”
14-11
When connecting an inductive load to the output circuit,

connect a flyback (snubber) diode in parallel to the inductive
load to suppress the surge voltage. Not using the flyback
(snubber) diode may damage the output circuit.
When connecting the load with a large inrush current such
as the lamp, connect the current limiting resistor in series to
the load, so that the output current does not exceed its max-
imum value. Exceeding the maximum output current value
may damage the output circuit.
Safety Board
(JANCD-ASF30-1E)
+24VU
NOTE
Inductive load
Flyback Diode
Current limiting Lamp

resistor
024VU
Refer to chapter 14.2 “Specific I/O Signal List” about the

maximum current of the transistor and the relay output cir-
cuits.
14-12
 Example of Servo ON Sequence Circuit from External Device

Only the rising edge of the servo ON signal is valid. This signal turns ON
the manipulator servo power supply. The set and reset timings are shown
in the figure below.
Fig. 14-9: Example of Servo ON Sequence Circuit from External Device
Servo ON PB Servo ON External

Confirmation Servo ON YRC1000micro
X2
X1 SIO Board
GPIO
X1 External
Servo ON
X1 External
Servo ON Servo ON 9 Servo ON input
Confirmation Confirmation (20014)
X3 (30011) 31
X2
PL Servo ON +24VU
15
X3
37
Output while
Note: Number in ( ) means output signal number assigned to ASF30. Servo ON
(30011)
PL: Pilot Lamp
Note: Above mentioned circuit is

ASF30 circuit as an example
 Example of Start (Start-up) Sequence Circuit from External Device

Only the rising edge of the external start signal is valid. This signal can
start the manipulator operation. Reset this signal with the interlock
configuration that determines if operation can start and with the playback
(RUNNING) signal confirming that the manipulator has actually started
moving.
Fig. 14-10: Example of Start Sequence Circuit from External Device
Run PB While Play Mode Alarm/Error Running Start

Servo ON Select Occuring Confirmation (Command) YRC1000micro
(30011) (30016) (30013) X5
X4 Ex. Start SIO board
Command GPIO
X3 X4
B1 External Start
Input (20010)
Running B7
Running
X6 (30010) Confirmation
X5 024VU
Running, etc. +24VU
B18
PL X6
B8 Running Output
(30010), etc.
Note: Number in ( ) means output signal number assigned to ASF30.

PL: Pilot Lamp
Note: Above mentioned circuit is

ASF30 circuit as an example
14-13
Fig. 14-11: Connection Diagram of GPIO Connector
YRC1000 micro
Safety Board (JANCD-ASF31-1E)
Each point
DC24V GPIO
7mA MAX
Logical Connector Name Signal
Number Pin No.
1 Direct in common
2 Direct in 1
27 Direct in 2
GND 3 Direct in 3
Each point 28 Direct in 4
DC24V 4
6.9 mA MAX
5
6 Input common 3_24V
20010 7 EXTERNAL START IN
20011 32 EXTERNAL HOLD IN
GND
20012 8 CALL MASTER JOB IN
20013 33 ALARM/ERROR RESET IN
20014 9 EXTERNAL SERVO ON IN
20015 34 SELECT PLAY MODE IN
20016 10 SELECT TEACH MODE IN
20017 35 IN08 IN
+24VU 14
GND
18
11 +24VU
36 +24VU
15 +24VU
Each point 22 +24VU
DC24V
25 +24VU
100 mA MAX
40 +24VU
47 +24VU
Buffer 30010 12 RUNNING OUT
30011 37 SERVO IS ON OUT
30012 13 TOP OF MASTER JOB OUT
30013 38 ALARM/ERROR OCCURRED OUT
30014 16 BATTERY ALARM OUT
30015 41 REMOTE MODE SELECTED OUT
30016 17 PLAY/TEACH MODE LSELECTED OUT
30017 42 OT08 OUT
19
20
26 024VU
31 024VU
024V 024V 21
23
24
29
30
39
43
44
45
46
48
CN11 49
50
Interface board (JANCD-APW30-E)

CN5A
+24V
024V
Internal power supply
* Cannot be connected to an external power supply.
14-14
14.2 Specific I/O Signal List

Inputing/Outputing of the specific signal is available only when the
PSEUDO INPUT SIGNAL: 87013 is turned OFF.
And if above mentioned 87013 is turned ON, each signal can be used as
GPIO.
For the details, refer to “YRC1000micro OPTIONS INSTRUCTIONS FOR
Concurrent I/O (RE-CKI-A469) 7 Pseudo Input Signals”.
Table 14-2: Specific Input (Press Tending, Cutting, and Other Applications)
Logical Input Name / Function
Number
20010 EXTERNAL START
Functions the same as the [START] button in the programming pendant. Only the
rising edge of the signal is valid. It starts robot operation (playback). This signal is
invalid if external start is prohibited from the playback condition display.
20011 EXTERNAL HOLD
The hold lamp turns on and the signal “HOLDING (50071)” turns ON while this signal
is ON. Depending on the setting, the status of manipulator can be “HOLDING” while
this signal is OFF.
20012 CALL MASTER JOB
Only the rising edge of the signal is valid. It calls up the top of the robot program, that
is the top of the master job1). This signal is invalid during playback, during teach-lock
and when play master or call is prohibited (set from the playback operation condition
display).
20013 ALARM/ERROR RESET
After an alarm or error has occurred and the cause been corrected, this signal resets
the alarm or error.
20014 EXTERNAL SERVO ON
Only the rising edge of this signal is valid. This signal turns ON the servo power.
Use this signal to turn ON the servo power from an external device.
20015 SELECT PLAY MODE
The play mode is selected when the mode key on the programming pendant is set at
“REMOTE”. Only the rising edge of the signal is valid. When this selection signal
assigned concurrently with other mode selection signal, the teach mode is selected on
a priority basis. The signal is invalid while EXTERNAL MODE SWITCH is prohibited.
20016 SELECT TEACH MODE
The teach mode is selected when the mode key of the programming pendant is set at
“REMOTE”. The other mode selection is unavailable when this signal is ON; the
signal is selected by priority even when the other selection signal is ON, enabling the
teach mode selection.
1 A master job is a job (program) which can be called by CALL MASTER JOB.
Other functions are the same as for normal jobs. Normally, the parent job, which manages the child jobs called
up immediately after the power is turned ON, is set as the master job.
14-15
Table 14-3: Specific Output (Press Tending, Cutting, and Other Applications)
Logical Output Name / Function
Number
30010 RUNNING
This signal signifies that the job is running. (Signifies that the job is running, system
status is waiting reserved start, or test run is running.) This signal status is the same
status as [START] in the programming pendant.
30011 SERVO IS ON
This signal signifies that the servo power is turned ON, internal processing such as
current position creation is complete, and the system is able to receive the START
command. This signal turns OFF when the servo power supply turns OFF. It can be
used for YRC1000micro status diagnosis for an external start.
30012 TOP OF MASTER JOB
This signal signifies that the execution position is the top of the master job. This signal
can be used to confirm that the master job has been called.1)*1
30013 ALARM/ERROR OCCURRED
This signal signifies that an alarm or an error occurred. If a major error occurs, this
signal remains ON until the main power is turned OFF.
30014 BATTERY ALARM
This signal turns ON to notify that the battery requires replacing when the voltage
drops from the battery for backup memory of the encoder. Major problems may result
if memory data is lost because of an expired battery. It is recommended to avoid these
problems by using this signal as a warning signal.
30015 REMOTE MODE SELECTED
This signal notifies the current mode setting. These signals are synchronized with the
mode select switch in the programming pendant. The signal corresponding to the
selected mode turns ON.
30016 PLAY/TEACH MODE SELECTED
This signal notifies the current mode setting. These signals are synchronized with the
mode select switch in the programming pendant. The signal corresponding to the
selected mode turns ON.
1 This signal is not output during operation.
14-16
Index
absolute data ........................................................................................ 8-4

absolute data allowable range error alarm .............................................. 8-15
absolute encoder ................................................................................... 8-4
ACCELARATION SPEED................................................................... 12-33
ACCELARATION TIME ...................................................................... 12-21
Acceleration/Deceleration ..................................................................... 13-3
Addition of Base and Station Axes ........................................................ 12-4
Addition of I/O Modules ................................................................ 11-4, 12-1
Alarm Display ...................................................................................... 13-4
ALARM HISTORY ................................................................................. 7-3
Alarm list of the safety logic circuit ....................................................... 8-289
All Limit Release Function .................................................................. 8-119
Allocating an Operation ...................................................................... 8-131
Allocation of I/O Control Instructions .................................................... 8-142
Allocation Window ............................................................................. 8-131
Alternate Output Allocation ....................................................... 8-130, 8-136
Ambient Temperature .......................................................................... 13-3
Analog Incremental Output Allocation ........................................ 8-130, 8-141
analog incremental output allocation.................................................... 8-130
ANALOG MONITOR .............................................................................. 7-3
analog output allocation ........................................................... 8-130, 8-140
Application .......................................................................................... 13-4
ARM CONTROL .................................................................................... 7-3
ARM control ........................................................................................ 8-45
AUTO BACK SET .................................................................................. 7-4
Auto backup function ........................................................................... 9-15
Automatic Measurement of the Tool Load and the Center of Gravity ........ 8-37
AXES CONFIG window ...................................................................... 12-18
Axis Interference Area .......................................................................... 8-78
Axis keys .............................................................................................. 6-3
BALL-SCREW PITCH .............................................................. 12-19, 12-31

Base axis setting ............................................................................... 12-13
base coordinate ................................................................................... 8-64
B-Axis................................................................................................... 6-3
Brake Line Ground Judgment Function ................................................ 8-225
BYTE ................................................................................................... 7-2
Cable Junctions ..................................................................................... 4-2

Cautions for Connection of Dual Input Signals ........................................ 14-3
Changing a User ID ............................................................................... 7-9
Changing the Absolute Data ................................................................... 8-9
Changing the Output Status................................................................ 8-145
Changing the Parameter Setting ......................................................... 8-147
Changing the security mode ................................................................... 7-6
Checking the TCP ............................................................................... 8-35
Clearing Absolute Data ........................................................................ 8-10
Clearing Calibration Data ..................................................................... 8-34
Clearing the Interference Area Data ...................................................... 8-88
Clearing the User Coordinates ............................................................ 8-115
CMOS.BIN ............................................................................................ 9-1
Index-1
Index
Collision proof Frames.......................................................................... 13-4

COMMAND POSITION .......................................................................... 7-3
COMMAND TO ALL APPLICATIONS ...................................................... 7-5
Condition Number ....................................................... 8-77, 8-87, 8-92, 8-96
Connecting the Primary Power Supply ..................................................... 4-8
Connection ............................................................................................ 4-1
Connection methods .............................................................................. 4-8
Construction ........................................................................................ 13-3
Contents Confirmation ............................................................................ 2-1
control group ..................................................................................... 12-14
Cooling System ................................................................................... 13-3
Coordinate System .............................................................................. 13-4
CREATE NEW JOB ............................................................................... 7-2
cube ................................................................................................... 8-66
Cube Interference .............................................................................. 8-119
cube number ....................................................................................... 8-68
Cubic Interference Area ........................................................................ 8-64
CURRENT POSITION ............................................................................ 7-3
CYCLE ................................................................................................. 7-2
DATE/TIME ........................................................................................... 7-4

Definition of the User Coordinates ....................................................... 8-105
DELETE................................................................................................ 7-3
Detection level ............................................................................. 8-92, 8-96
DEVICE ................................................................................................ 7-3
Digital I/O ............................................................................................ 13-3
Dimensions ......................................................................................... 13-3
Disconnection function ......................................................................... 11-1
display allocation ..................................................................... 8-129, 8-134
DISPLAY COLOR COND. ...................................................................... 7-4
Display setting function ....................................................................... 8-162
DISPLAY SETUP ................................................................................... 7-5
DOUBLE ............................................................................................... 7-2
Drive Unit ............................................................................................ 13-3
DROP AMOUNT .................................................................................... 7-3
DX200 specification ............................................................................. 13-1
E-Axis ................................................................................................... 6-3

Editing Mode ......................................................................................... 7-1
emergency stop ..................................................................................... 5-6
Enable Switch............................................................................... 5-5, 13-4
Encoder back-up error recovery function .............................................. 8-174
ENCODER MAINTENANCE ................................................................... 7-4
ENERGY SAVING FUNCTION ............................................................... 7-4
Error list .............................................................................................. 9-35
Essential Measures .............................................................................. 13-4
EX.MEMORY ........................................................................................ 7-3
Executing the Display Allocation .......................................................... 8-144
Executing the I/O Control Allocation ..................................................... 8-144
Executing the Instruction/Output Control Allocation ............................... 8-144
Executing the Job Call Allocation ......................................................... 8-144
Execution of Allocation ....................................................................... 8-144
Expanded Instruction Set .................................................................... 8-121
Index-2
Index
File Initialization ................................................................................. 8-150

FOLDER ............................................................................................... 7-3
FUNCTION COND................................................................................. 7-4
FUNCTION ENABLE ............................................................................. 7-4
Function List ....................................................................................... 13-4
Function Select ........................................................................... 8-92, 8-96
GENERAL ............................................................................................ 7-5

Graph display .................................................................................... 8-192
Grounding ........................................................................................... 13-3
Group (4-bit/8-bit) Output Allocation .................................................... 8-139
group output allocation (4-bit/8-bit) ...................................................... 8-130
GRP COMBINATION ............................................................................. 7-4
Handling Procedure ............................................................................... 3-1

HOME POSITION.................................................................................. 7-3
Home Position ....................................................................................... 8-4
Home Position Calibration ...................................................................... 8-2
Home position calibration ....................................................................... 8-4
How to Calculate Tool Load Information ................................................ 8-51
I/O Diagnosis ...................................................................................... 13-4

I/O Instructions .................................................................................... 13-5
I/O modules ........................................................................................ 12-1
I/O MSG HISTORY ................................................................................ 7-3
IN/OUT ................................................................................................. 7-2
Inching Operation ................................................................................ 13-4
INERTIA RATIO ...................................................................... 12-21, 12-34
Initial Diagnosis ..................................................................................... 5-2
INITIALIZE ............................................................................................ 7-3
Initializing Data File ............................................................................ 8-151
Initializing I/O Data............................................................................. 8-154
Initializing Job File ............................................................................. 8-150
Initializing Parameter File ................................................................... 8-153
Initializing System Data ...................................................................... 8-156
Inspection notice function ................................................................... 8-197
Installation ............................................................................................ 3-1
Installation and Wiring Safety .................................................................. 1-6
Instruction Allocation ................................................................ 8-129, 8-132
Instruction of Shock Detection Function ................................................. 8-97
Instruction Set ................................................................................... 8-121
INTEGER ............................................................................................. 7-2
Interface ............................................................................................. 13-4
INTERFERENCE................................................................................... 7-3
Interference area ................................................................................. 8-64
Index-3
Index
JOB ...................................................................................................... 7-2

Job Call Allocation ................................................................... 8-129, 8-134
JOB CAPACITY ..................................................................................... 7-2
JOB EDIT (PLAY) .................................................................................. 7-2
JOG COND. .......................................................................................... 7-4
JOG KEY ALLOC................................................................................... 7-4
KEY ALLOCATION ................................................................................ 7-4

Key Allocation (EACH) ....................................................................... 8-129
Key Allocation (SIM) ........................................................................... 8-129
Language ............................................................................................ 13-5

L-axis.................................................................................................... 6-3
Leakage Breaker Installation ................................................................... 4-5
Learning Function .............................................................................. 8-122
Lifetime calculation ............................................................................ 8-178
LIMIT RELEASE .................................................................................... 7-3
limit switch ........................................................................................ 8-118
LOAD ................................................................................................... 7-3
LOCAL VARIABLE ................................................................................. 7-2
L-U Interference ................................................................................. 8-119
Machine Lock ...................................................................................... 13-4

Machine safety FLASH reset ............................................................... 8-275
Main CPU SD Card ID .......................................................................... 7-11
Main power supply ................................................................................. 5-1
Management Mode ................................................................................ 7-1
MANIPULATOR TYPE ........................................................................... 7-3
Manufacturer allocation ...................................................................... 8-129
Mask of replacement time display ........................................................ 8-210
MASTER JOB ....................................................................................... 7-2
Max. Disturbance Force........................................................................ 8-92
MAX. RPM .............................................................................. 12-21, 12-33
Measurement of the Tool Load and the Center of Gravity ........................ 8-37
Mechanical Limit ................................................................................ 8-119
MECHANICAL SPEC window ......................................... 12-19, 12-31, 12-32
Memory Capacity ................................................................................. 13-3
Modification of System Configuration ..................................................... 12-1
Modification of Teaching Points ............................................................. 13-4
momentary output allocation ..................................................... 8-130, 8-137
MONITORING TIME .............................................................................. 7-3
MOTION RANGE ................................................. 12-19, 12-30, 12-31, 12-32
Motor revolution and reverse revolution................................................ 8-212
MOTOR SPEC window ...................................................................... 12-21
Mounting the controller ........................................................................... 3-5
Movement of the Axes ............................................................................ 6-3
Index-4
Index
Moving the MOTOMAN ........................................................................ 1-15

M-SAFETY SIGNAL ALLOC ................................................................... 7-4
Noise Filter ........................................................................................... 4-4

Noise level .......................................................................................... 13-3
Number of Tool Files............................................................................ 8-22
Numeric Key Customize Function ....................................................... 8-129
One time manage mode ......................................................................... 7-1

One time management mode.................................................................. 7-8
OPERATE COND. ................................................................................. 7-4
OPERATE ENABLE............................................................................... 7-4
Operation Instructions .......................................................................... 13-5
Operation Mode..................................................................................... 7-1
Operation Time Display ........................................................................ 13-4
Order Number ....................................................................................... 2-2
ORG................................................................................................. 8-105
Output of the Work Home Position Signal .............................................. 8-63
Overrun ............................................................................................ 8-116
OVERRUN&S-SENSOR ........................................................................ 7-3
PALY EDIT JOB LIST ............................................................................ 7-2

PARAMETER ........................................................................................ 7-4
Path Confirmation ................................................................................ 13-4
PINION DIAMETER ................................................................. 12-19, 12-31
PLAYBACK COND. ............................................................................... 7-4
PM ....................................................................................................... 7-4
POSITION (BASE)................................................................................. 7-2
POSITION (ROBOT).............................................................................. 7-2
POSITION (ST) ..................................................................................... 7-2
Positioning System .............................................................................. 13-3
Power ON Unit .................................................................................... 14-4
POWER ON/OFF POS........................................................................... 7-3
Power Supply ................................................................................ 4-3, 13-3
Preventive maintenance for the hard ware ........................................... 8-205
Preventive maintenance function ........................................................ 8-177
Primary Power Supply Breaker Installation ............................................... 4-6
Procedure after the alarm ..................................................................... 8-18
Program Control Instructions ................................................................ 13-5
Programming ...................................................................................... 13-5
Programming Pendant ......................................................................... 13-5
pulse output allocation ............................................................. 8-130, 8-138
R-Axis .................................................................................................. 6-3
Index-5
Index
REAL .................................................................................................... 7-2

REDUCTION RATIO ............................................ 12-19, 12-30, 12-31, 12-32
Registering/Changing the Work Home Position ....................................... 8-62
Relative Humidity ................................................................................. 13-3
RES. START (CNCT) ............................................................................. 7-4
RES. START (JOB)................................................................................ 7-2
RES. STATUS ....................................................................................... 7-2
RESERVE JOB NAME ........................................................................... 7-4
Reset function ..................................................................................... 11-4
Reset Function of the Programming Pendant.......................................... 11-1
Resetting the Shock Detected ............................................................. 8-104
Returning to the Work Home Position .................................................... 8-63
ROBOT ................................................................................................. 7-3
robot coordinate ................................................................................... 8-64
Robot installation angle ........................................................................ 8-46
Robot Motion Control ........................................................................... 13-5
robot programming language (INFORM III) ........................................... 8-121
Robot Select................................................................................ 8-92, 8-96
Robot Setup Condition ......................................................................... 8-46
Running Speed Limit ............................................................................ 13-4
Safety ................................................................................................... 1-3

safety fence ........................................................................................... 5-4
SAFETY FUNC. ..................................................................................... 7-4
SAFETY LOGIC CIRCUIT ...................................................................... 7-4
Safety logic circuit .................................................................... 8-230, 8-240
Safety mode .......................................................................................... 7-1
safety plug .......................................................................................... 14-7
SAVE.................................................................................................... 7-3
S-Axis ................................................................................................... 6-3
SECOND HOME POS ............................................................................ 7-3
Second home position .......................................................................... 8-13
SECURITY ............................................................................................ 7-3
Security mode ....................................................................................... 7-1
SELECT JOB ........................................................................................ 7-2
Selecting the User Coordinate File ...................................................... 8-107
Self-Diagnosis ..................................................................................... 13-4
SERVO MONITOR ................................................................................ 7-3
SERVO ON ........................................................................................... 5-4
SERVO ON READY ............................................................................... 5-4
SERVOPACK ...................................................................................... 13-6
SET SPEED .......................................................................................... 7-4
SET WORD ........................................................................................... 7-4
Setting Contents ................................................................................ 8-121
Setting the Controller Clock ................................................................ 8-126
Setting the learning function ................................................................ 8-125
Setting the Play Speed ....................................................................... 8-127
Setting the Tool Load Information .......................................................... 8-26
Setting Work Home Position ................................................................. 8-60
SETUP ................................................................................................. 7-4
SHCKRST instruction ........................................................................... 8-98
SHCKSET ........................................................................................... 8-91
SHCKSET instruction ........................................................................... 8-97
S-head payload ................................................................................... 8-47
SHIFT VALUE ....................................................................................... 7-3
Shock Detection Function ..................................................................... 8-90
Shock Detection Function Setting .......................................................... 8-90
SHOCK SEN LV.(CURRENT) ................................................................. 7-3
SHOCK SENS LEVEL ............................................................................ 7-3
Index-6
Index
Short-cut Function ............................................................................... 13-4

Small capacity ..................................................................................... 13-6
Soft Limit on Each Axis ...................................................................... 8-119
Soft Limit Release Function ................................................................ 8-118
SOFTLIMIT SETTING ............................................................................ 7-3
software limit ..................................................................................... 8-118
Special Training..................................................................................... 1-2
Specification List ................................................................................. 13-3
Speed Adjustment ............................................................................... 13-4
Speed Setting ..................................................................................... 13-5
Standard Instruction Set ..................................................................... 8-121
Station Axis Setting............................................................................ 12-24
STRING................................................................................................ 7-2
Subset Instruction Set ........................................................................ 8-121
Switch of the tool file ............................................................................ 8-59
System backup...................................................................................... 9-1
SYSTEM INFO ...................................................................................... 7-3
T.C.P. Calibration ................................................................................ 13-4

T-Axis ................................................................................................... 6-3
TEACHING COND................................................................................. 7-4
Teaching the User Coordinates ........................................................... 8-107
Test of program operation ...................................................................... 6-1
three-phase noise filter ........................................................................... 4-4
Three-Phase Power Supply .................................................................... 4-3
Timer delay ....................................................................................... 8-256
TIMER DELAY SET ............................................................................... 7-4
Timer Setting....................................................................................... 13-4
TOOL ................................................................................................... 7-3
Tool Calibration ................................................................................... 8-27
Tool Data Setting ................................................................................. 8-22
Tool File ............................................................................................. 8-22
Tool Load Information .......................................................................... 8-51
Tool Load Information Registering ......................................................... 8-57
Tool Load Information Setting ....................................................... 8-50, 8-96
Tool Shock Sensor Releasing ............................................................. 8-116
Torque average value ........................................................................ 8-184
Touch panel invalidate function ..................................................... 11-5, 11-7
Transferring the MOTOMAN ................................................................. 1-15
TRASH JOB LIST .................................................................................. 7-2
Tuning OFF the power supply ................................................................. 5-6
Turning OFF the Main Power .................................................................. 5-6
Turning OFF the Servo Power ................................................................ 5-6
Turning ON and OFF the Power Supply ................................................... 5-1
Turning ON the Main Power Supply......................................................... 5-1
Turning ON the Servo Power .................................................................. 5-4
U-arm payload..................................................................................... 8-48

U-Axis .................................................................................................. 6-3
Upgrade function ................................................................................. 10-1
User Alarm Display .............................................................................. 13-4
USER COORDINATE ............................................................................ 7-3
User Coordinate ........................................................................ 8-64, 8-105
User Coordinate Files ........................................................................ 8-106
Index-7
Index
User Coordinate Setting ........................................................... 8-105, 8-107

USER DIFFINITION MENU .................................................................... 7-3
USER ID ............................................................................................... 7-4
User ID ................................................................................................. 7-9
VARIABLE ............................................................................................ 7-2

Variable .............................................................................................. 13-5
Variable Type ...................................................................................... 13-5
VERIFY ................................................................................................ 7-3
VERSION.............................................................................................. 7-3
WORK HOME POS................................................................................ 7-3

Work Home Position ............................................................................ 8-60
work home position cube length of its sides ............................................ 8-62
WRONG DATA LOG .............................................................................. 7-4
XX .................................................................................................... 8-105
XY .................................................................................................... 8-105
Index-8
YRC1000micro
INSTRUCTIONS
YASKAWA ELECTRIC CORPORATION

2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu, 806-0004, Japan
Phone: +81-93-645-7703 Fax: +81-93-645-7802
http://www.yaskawa.co.jp
YASKAWA AMERICA, INC. (MOTOMAN ROBOTICS DIVISION)
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone: +1-937-847-6200 Fax: +1-937-847-6277
http://www.motoman.com
YASKAWA EUROPE GmbH (ROBOTICS DIVISION)
Yaskawastrasse 1, 85391, Allershausen, Germany
Phone: +49-8166-90-100 Fax: +49-8166-90-103
http://www.yaskawa.eu.com
YASKAWA NORDIC AB
Verkstadsgatan 2, Box 504, SE-385 25 Torsas, Sweden
Phone: +46-480-417-800 Fax: +46-486-414-10
http://www.yaskawa.se
YASKAWA ELECTRIC (CHINA) CO., LTD.
22F, One Corporate Avenue, No.222 Hubin Road, Huangpu District, Shanghai 200021, China
Phone: +86-21-5385-2200 Fax: +86-21-5385-3299
http://www.yaskawa.com.cn
YASKAWA SHOUGANG ROBOT CO., LTD.
No.7 Yongchang North Road, Beijing E&T Development Area, Beijing 100076, China
Phone: +86-10-6788-2858 Fax: +86-10-6788-2878
http://www.ysr-motoman.cn
YASKAWA ELECTRIC KOREA CORPORATION
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, 07326, Korea
Phone: +82-2-784-7844 Fax: +82-2-784-8495
http://www.yaskawa.co.kr
YASKAWA ELECTRIC TAIWAN CORPORATION
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone: +886-2-8913-1333 Fax: +886-2-8913-1513
http://www.yaskawa.com.tw
YASKAWA ASIA PACIFIC PTE. LTD.
30A Kallang Place, #06-01, 339213, Singapore
Phone: +65-6282-3003 Fax: +65-6289-3003
http://www.yaskawa.com.sg
YASKAWA ELECTRIC (THAILAND) CO., LTD.
59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang,
Bangkok 10310, Thailand
Phone: +66-2-017-0099 Fax: +66-2-017-0199
http://www.yaskawa.co.th
PT. YASKAWA ELECTRIC INDONESIA
Secure Building-Gedung B Lantai Dasar & Lantai 1 Jl. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone: +62-21-2982-6470 Fax: +62-21-2982-6471
http://www.yaskawa.co.id
YASKAWA INDIA PRIVATE LIMITED (ROBOTICS DIVISION)
#426, Udyog Vihar Phase-IV, Gurgaon, Haryana 122016, India
Phone: +91-124-475-8500 Fax: +91-124-475-8542
http://www.yaskawaindia.in
C 2017 YASKAWA ELECTRIC CORPORATION

Published by YASKAWA
MANUAL NO. RE-CTO-A222 7

May 2019 17-07

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YRC1000micro

MANUAL NO. RE-CTO-A222 7

Indicates an imminently hazardous

Indicates a potentially hazardous

Indicates a hazardous situation,

NOTICE is the preferred signal word

Even items described as “CAUTION” may result in a serious accident in

To ensure safe and efficient operation at all times, be sure

• Before releasing the emergency stop, make sure to remove the

• Observe the following precautions when performing a teaching

Start button* Hold button*

• The following warning labels are attached to YRC1000micro.

Electric Shock Warning NP

1 Safety .............................................................................................................................................. 1-1

1.1 For Your Safety.................................................................................................................. 1-1

1.2 Special Training ................................................................................................................. 1-2

1.3 MOTOMAN Manual List..................................................................................................... 1-2

1.4 Personnel Safety................................................................................................................ 1-3

1.5 MOTOMAN Safety ............................................................................................................. 1-5

1.5.1 Installation and Wiring Safety ............................................................................... 1-6

1.5.2 Work Area Safety................................................................................................ 1-11

1.5.3 Operation Safety................................................................................................. 1-12

1.6 Notes for Moving and Transferring the MOTOMAN......................................................... 1-15

1.7 Notes on MOTOMAN Disposal ........................................................................................ 1-16

2 Product Confirmation ...................................................................................................................... 2-1

2.1 Contents Confirmation ....................................................................................................... 2-1

2.2 Order Number Confirmation............................................................................................... 2-2

3 Installation ....................................................................................................................................... 3-1

3.1 Handling Procedure ........................................................................................................... 3-1

3.2 Place of Installation............................................................................................................ 3-2

3.3 Location ............................................................................................................................. 3-3

3.4 Installation Method............................................................................................................. 3-5

4 Connection ...................................................................................................................................... 4-1

4.1 Notes on Cable Junctions .................................................................................................. 4-2

4.2 Power Supply..................................................................................................................... 4-3

4.2.1 Power Supply........................................................................................................ 4-3

4.2.2 Noise Filter Installation ......................................................................................... 4-4

4.2.3 Leakage Breaker Installation ................................................................................ 4-5

4.2.4 Primary Power Supply Breaker Installation .......................................................... 4-6

4.3 Connection Methods .......................................................................................................... 4-8

4.3.1 Connecting the Primary Power Supply ................................................................. 4-8

4.3.2 Connecting the Manipulator Cable ..................................................................... 4-11

4.3.3 Connecting Programming Pendant (Optional).................................................... 4-13

5 Turning ON and OFF the Power Supply ......................................................................................... 5-1

5.1 Turning ON the Main Power Supply .................................................................................. 5-1

5.1.1 Initial Diagnosis .................................................................................................... 5-2

5.1.2 When Initial Diagnosis Are Complete ................................................................... 5-2

5.2 Turning ON the Servo Power............................................................................................. 5-4

5.2.1 During Play Mode ................................................................................................. 5-4

5.2.2 During Teach Mode .............................................................................................. 5-4

5.3 Turning OFF the Power Supply ......................................................................................... 5-6

5.3.1 Turning OFF the Servo Power (Emergency Stop)................................................ 5-6

5.3.2 Turning OFF the Main Power ............................................................................... 5-6

5.3.3 The Method of Stopping Manipulator Operation................................................... 5-7

6 Test of Program Operation ............................................................................................................. 6-1

6.1 Movement of the Axes ....................................................................................................... 6-3

6.2 Manual Brake Release Function........................................................................................ 6-4

7 Security System .............................................................................................................................. 7-1

7.1 Protection Through Security Mode Settings ...................................................................... 7-1