YRC1000 Robot Controller

BASIC PROGRAMMING
TRAINING MANUAL

Revised 2/1/18
NOT FOR RESALE
© 2017 by MOTOMAN
All Rights Reserved
First Edition August 22, 2017

Yaskawa America, Inc.

MOTOMAN Robotics Division
100 Automation Way
Miamisburg, OH 45342
TEL: (937) 847-6200
FAX: (937) 847-6277
24-HOUR HOTLINE: (937) 847-3200
www.motoman.com
 PREFACE
PURPOSE OF THIS MANUAL
Yaskawa Academy training manuals are not intended for use as stand alone
training tools. This manual is to be used in conjunction with the YRC1000
Basic Programming course.

WHO SHOULD USE THIS MANUAL

This manual is only issued to attendees of the YRC1000 Basic Programming
course. Do not use this manual as a reference tool unless you have attended
this course and have received certification from the instructor through the
yaskawa academy.

HOW TO USE THIS MANUAL

This training manual has been written according to the daily structure of the
YRC1000 Basic Programming course. It is designed to assist students in
understanding the basic operations and functions for the YRC1000 controller
and a corresponding MOTOMAN robot. Use this manual as a step-by-step guide
through the course.

DISCLAIMER
Information in this manual is based on the assumption that the YRC1000
controller is in the EDITING Security Level and is using the STANDARD
Language. Be aware that the keystrokes described in this manual may vary
based on other settings, software versions, and options.

The information contained within this document is the proprietary property of

Yaskawa America, Inc., and may not be copied, reproduced or transmitted to
other parties without the expressed written authorization of Yaskawa America,
Inc.

Because we are constantly improving our products, we reserve the right to

change specifications without notice. YASNAC and MOTOMAN are registered
trademarks of YASKAWA Electric Manufacturing.

NOTE: This manual is not for resale and will not be sold separately.
All training manuals developed by Yaskawa Academy are copyrighted. Do
not copy any portion of these manuals.
 TABLE OF CONTENTS
1.0 YRC1000 STARTUP & SHUTDOWN............................................ 1-1
1.1 YRC1000 Controller Hardware...................................................... 1-1
1.1.1 Main Circuit Breaker Power Switch.................................................. 1-1
1.2 Powering Up The YRC1000 Controller.......................................... 1-2
1.3 Turning Off Power To The YRC1000 Controller............................. 1-3

2.0 YRC1000 PENDANT..................................................................... 2-1

2.1 Mode Selection Switch.................................................................. 2-3
2.1.1 TEACH Mode................................................................................... 2-3
2.1.2 PLAY Mode...................................................................................... 2-3
2.1.3 REMOTE Mode............................................................................... 2-3
2.2 Operation Buttons.......................................................................... 2-3
2.2.1 Emergency Stop (E-Stop) Button.................................................... 2-3
2.2.2 START Button.................................................................................. 2-4
2.2.3 HOLD Button................................................................................... 2-4
2.2.4 SERVO ON/READY Button.............................................................. 2-4
2.3 Servo Enable Switch..................................................................... 2-5
2.4 AREA Key...................................................................................... 2-5
2.5 Cursor Key..................................................................................... 2-5
2.6 SELECT Key.................................................................................. 2-6
2.7 CANCEL Key................................................................................. 2-6
2.8 Editing Keys................................................................................... 2-6
2.8.1 Number Keypad............................................................................... 2-6
2.8.2 ENTER Key...................................................................................... 2-7
2.8.3 INSERT Key..................................................................................... 2-7
2.8.4 MODIFY Key.................................................................................... 2-7
2.8.5 DELETE Key.................................................................................... 2-7
2.9 Programming Keys........................................................................ 2-7
2.9.1 MOTION TYPE Key......................................................................... 2-7
2.9.2 INFORM LIST Key........................................................................... 2-8
2.10 Shift Keys....................................................................................... 2-8
2.11 INTERLOCK Key........................................................................... 2-8
2.12 Main Menu Key.............................................................................. 2-9

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3.0 YRC1000 PENDANT SCREEN..................................................... 3-1
3.1 Main Menu Area............................................................................ 3-1
3.2 General-Purpose Display Area...................................................... 3-2
3.3 Menu Area..................................................................................... 3-3
3.4 Human Interface Display Area....................................................... 3-4
3.4.1 Edit Buffer Line................................................................................ 3-4
3.4.2 Message Line.................................................................................. 3-4
3.5 Status Display Area....................................................................... 3-5
3.6 Main Menu Selections................................................................... 3-6
3.6.1 JOB.................................................................................................. 3-7
3.6.2 GENERAL........................................................................................ 3-7
3.6.3 VARIABLE....................................................................................... 3-7
3.6.4 IN/OUT............................................................................................. 3-7
3.6.5 ROBOT............................................................................................ 3-7
3.6.6 SYSTEM INFO................................................................................ 3-7
3.6.7 EX. MEMORY.................................................................................. 3-7
3.6.8 SETUP............................................................................................. 3-7
3.6.9 SAFETY FUNC................................................................................ 3-7
3.6.10 PM................................................................................................... 3-7
3.6.11 DISPLAY SETUP............................................................................. 3-8
3.6.12 REMOTE PENDANT..................................................................... 3-16
3.7 Simple Menu Key......................................................................... 3-16
3.8 Character Screens....................................................................... 3-18

4.0 CONTROL GROUP & JOGGING COORDINATE ....................... 4-1

4.1 Control Groups.............................................................................. 4-1
4.1.1 ROBOT Key..................................................................................... 4-1
4.1.2 EX. AXIS Key................................................................................... 4-1
4.2 Coordinates................................................................................... 4-2
4.2.1 Joint Coordinates............................................................................. 4-2
4.2.2 Tool Selection for Jog Operation in XYZ type Coordinates.............. 4-3

4.2.3 Rectangular or Cylindrical, Tool, and User........................................... 4-4

4.2.4 Tool Coordinates.............................................................................. 4-6
4.2.5 User Frames.................................................................................... 4-7
4.3 Manual Speed Icons & Keys.......................................................... 4-7
4.3.1 MANUAL SPEED............................................................................. 4-7
4.3.2 HIGH SPEED Key............................................................................ 4-8
4.4 Current Position............................................................................. 4-8

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5.0 ALARMS & ERRORS................................................................... 5-1
5.1 Error Message............................................................................... 5-1
5.2 Minor Alarms................................................................................. 5-1
5.3 Major Alarms................................................................................. 5-2
5.4 Alarm Detail................................................................................... 5-3
5.5 Alarm Display................................................................................ 5-4
5.6 Displaying Alarm History............................................................... 5-4
5.7 Overrun & Shock Sensor Action.................................................... 5-6
5.8 Internal Shock Sensor / Collision Detection.................................. 5-7
5.9 Manual Brake Release................................................................ 5-10
5.9.1 Manual Brake Release.................................................................. 5-10
5.9.2 Canceling Manual Brake Release................................................. 5-11

6.0 SECOND HOME POSITION (SPECIFIED POINT)....................... 6-1

7.0 CREATING A JOB........................................................................ 7-1

7.1 Create New Job............................................................................. 7-1
7.2 Displaying the Active Job............................................................... 7-2
7.3 Selecting A Job.............................................................................. 7-3
7.4 Master Job..................................................................................... 7-4
7.4.1 Registration of the Master Job Name.............................................. 7-4
7.4.2 Calling Master Job to the Screen..................................................... 7-5
7.5 Supervisory, Concurrent Job software option................................ 7-6
7.5.1 Registration of the Master Job/Master Task..................................... 7-6
7.5.2 Calling Master Job to the Screen..................................................... 7-7

8.0 PATH CREATION.......................................................................... 8-1

8.1 Command Position........................................................................ 8-1
8.2 Motion Type................................................................................... 8-1
8.3 Play Speed.................................................................................... 8-1
8.3.1 Play Speed List Method................................................................... 8-2
8.3.2 Data Entry Method........................................................................... 8-2
8.4 Programming a Motion Step.......................................................... 8-3
8.5 Joint Motion Type (MOVJ).............................................................. 8-4
8.6 Linear Motion Type (MOVL)........................................................... 8-5

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 8.7 Circular Motion Type (MOVC)........................................................ 8-6
8.8 Spline Motion Type (MOVS)........................................................... 8-8
8.9 First and Last Step As Same Position......................................... 8-10

9.0 PATH CONFIRMATION & PLAYBACK......................................... 9-1

9.1 FWD and BWD Keys..................................................................... 9-1
9.2 INTERLOCK+TEST-START........................................................... 9-2
9.3 Cycle Selection.............................................................................. 9-3
9.4 Playing A Job................................................................................. 9-4

10.0 COPY, DELETE, & RENAME JOB........................................... 10-1

10.1 Copy Job..................................................................................... 10-1
10.2 Delete Job................................................................................... 10-2
10.2.1 Enable Undelete Job Function....................................................... 10-3
10.2.2 Undelete Job ................................................................................. 10-3
10.3 Rename Job................................................................................ 10-3
10.4 Job Header.................................................................................. 10-4
10.5 Name/Date Job Lists................................................................... 10-5
10.5.1 Setting JOB LIST order by NAME or by DATE.............................. 10-5
10.5.2 Detail Display................................................................................. 10-6

11.0 JOB EDITING............................................................................ 11-1

11.1 UNDO Feature............................................................................. 11-2
11.2 Inserting a Step........................................................................... 11-6
11.3 Modifying a Step Command Position........................................... 11-7
11.4 Deleting a Step............................................................................ 11-7
11.5 Changing Step Motion Type......................................................... 11-8
11.6 Copy, Cut, Paste, & Reverse Paste............................................. 11-9
11.6.1 Copy.............................................................................................. 11-9
11.6.2 Cut............................................................................................... 11-10
11.6.3 Paste............................................................................................ 11-11
11.6.4 Reverse Paste............................................................................. 11-12
11.7 Comment Out Line/Lines........................................................... 11-13
11.7.1 Canceling the Comment Out....................................................... 11-15
11.7.2 Canceling the Comment Out for Whole Job................................ 11-16

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 11.8 General Line Editing.................................................................. 11-17
11.9 Detail Edit.................................................................................. 11-18
11.10 Positioning Level Tag................................................................. 11-19
11.10.1 Selecting a Position Level During Initial Step Programming........ 11-19
11.10.2 Adding a Position Level to an Existing Step................................ 11-20
11.10.3 Deleting a Position Level from an Existing Step.......................... 11-20
11.11 Position Distance Tag for MOVL................................................ 11-22
11.11.1 Selecting a Position Distance During Initial Step Programming.. 11-22
11.11.2 Adding a Position Distance to an Existing Step........................... 11-23
11.11.3 Deleting a Position Distance from an Existing Step..................... 11-23
11.12 FINE Tag.................................................................................... 11-24
11.12.1 Selecting a FINE tag During Initial Step Programming................ 11-25
11.12.2 Adding a FINE tag to an Existing Step........................................ 11-26
11.12.3 Deleting a FINE tag from an Existing Step.................................. 11-26
11.13 FPT Tag..................................................................................... 11-27
11.13.1 Selecting a FPT tag During Initial Step Programming................. 11-28
11.13.2 Adding a FPT tag to an Existing Step.......................................... 11-29
11.13.3 Deleting a FPT tag from an Existing Step.................................... 11-29
11.14 COORD Tag............................................................................... 11-30
11.14.1 Selecting a COORD tag During Initial Step Programming........... 11-30
11.14.2 Adding a COORD tag to an Existing Step................................... 11-31
11.14.3 Deleting a COORD tag from an Existing Step............................. 11-31
11.15 Comment for Step Instruction.................................................... 11-32

12.0 SPEED EDITING....................................................................... 12-1

12.1 Play Speed List............................................................................ 12-1
12.2 Data Entry................................................................................... 12-2
12.3 Detail Edit.................................................................................... 12-2
12.4 Change Speed............................................................................. 12-3
12.5 Cycle Time Display...................................................................... 12-5

13.0 INFORM LIST............................................................................ 13-1

13.1 Using the INFORM LIST Key....................................................... 13-1
13.2 Language Level........................................................................... 13-2

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14.0 CONTROL INSTRUCTIONS..................................................... 14-1
14.1 CALL and RET............................................................................ 14-1
14.1.1 Linking Jobs with CALL................................................................. 14-1
14.1.2 Direct Open.................................................................................... 14-2
14.1.3 Use of the RET Instruction............................................................ 14-4
14.1.4 Nesting Jobs.................................................................................. 14-4
14.2 JUMP*LABEL and *LABEL.......................................................... 14-6
14.2.1 JUMP to Skip/Omit Lines............................................................... 14-6
14.2.2 JUMP to Create a Repeat Loop..................................................... 14-7
14.2.3 Use of the *LABEL Instruction....................................................... 14-8
14.3 JUMP JOB................................................................................... 14-8
14.4 COMMENT.................................................................................. 14-9
14.5 TIMER....................................................................................... 14-10
14.6 PAUSE....................................................................................... 14-10
14.7 ABORT...................................................................................... 14-11

15.0 ARITHMETIC VARIABLES & INSTRUCTIONS........................ 15-1

15.1 Arithmetic Variables..................................................................... 15-1
15.1.1 Displaying an Arithmetic Variable Type/Address............................ 15-1
15.1.2 Editing Variables............................................................................ 15-2
15.2 Arithmetic Instructions................................................................. 15-3
15.2.1 INC (Increment)............................................................................. 15-3
15.2.2 DEC (Decrement).......................................................................... 15-4
15.2.3 SET................................................................................................ 15-5
15.2.4 CLEAR........................................................................................... 15-6

16.0 MONITORING INPUTS & OUTPUTS....................................... 16-1

16.1 Monitoring GENERAL PURPOSE INPUTs................................. 16-1
16.2 I/O Simulation.............................................................................. 16-3
16.3 Monitoring GENERAL PURPOSE OUTPUTs............................. 16-5
16.4 Binary Status and I/O Groups..................................................... 16-6

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17.0 I/O INSTRUCTIONS.................................................................. 17-1
17.1 DOUT OT#( ) Digital Output....................................................... 17-1
17.2 DOUT OG#( ) Digital Output for a Group.................................. 17-2
17.3 PULSE OT#( ) or OG#( )......................................................... 17-3
17.4 WAIT............................................................................................ 17-4
17.5 DIN (Digital Input Status to BYTE or DOUBLE).......................... 17-6

18.0 CONDITIONAL“IF” CONSTRUCT............................................ 18-1

18.1 “IF” Condition Based On Input Status.......................................... 18-2
18.2 “IF” Condition Based On an INPUT GROUP............................... 18-3
18.3 “IF” Condition Based On a Variable............................................. 18-4
18.4 Editing an Existing “IF” Condition................................................ 18-5
18.5 Removing an “IF” Condition......................................................... 18-6
18.6 Conditions with IN#( ), IG#( ), or VAR....................................... 18-7
18.7 IFTHEN; ELSEIF; ELSE; and ENDIF........................................... 18-8

19.0 USER FRAME........................................................................... 19-1

19.1 Creating a User Frame................................................................ 19-2
19.2 Selecting a User Frame for Jogging............................................ 19-4
19.3 Displaying Current Position in USER........................................... 19-5

20.0 JOB EDIT PROTECTION.......................................................... 20-1

20.1 EDIT LOCK:ON/OFF Job Protection........................................... 20-1
20.2 STEP ONLY CHANGING for EDIT LOCK Jobs........................... 20-2
20.3 Line Edit Lock.............................................................................. 20-3
20.3.1 Canceling the LINE EDIT LOCK.................................................... 20-5
20.3.2 Canceling the LINE EDIT LOCK for a Whole Job.......................... 20-6

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21.0 TOOL CONTROL POINT (TCP)................................................ 21-1
21.1 Tool List & Selection.................................................................... 21-1
21.1.1 Tool No. Switch.............................................................................. 21-1
21.1.2 Active Tool No. Selection................................................................ 21-2
21.2 Manual TCP Data Entry............................................................... 21-3
21.3 Tool Calibration Utility.................................................................. 21-4
21.4 W. Grav. Pos Measure Utility........................................................ 21-7
21.4.1 Tool Load and Centers of Gravity.................................................. 21-7
21.4.2 Moment of Inertia........................................................................... 21-8

A.0 SPECIAL RUN MODES.............................................................. A-1

A.1 SETUP SPECIAL RUN in PLAY MODE........................................A-1
A.1.1 Low Speed Start..............................................................................A-1
A.1.2 Speed Limit......................................................................................A-2
A.1.3 Dry-Run Speed................................................................................A-2
A.1.4 Check-Run.......................................................................................A-2
A.1.5 Machine Lock...................................................................................A-3
A.2 SETUP SPECIAL RUN in TEACH MODE.....................................A-3
A.2.1 Machine Lock in TEACH..................................................................A-3
A.2.2 Weave Prohibit in TEACH................................................................A-3

B.0 ADDITIONAL SPEED FUNCTIONS............................................ B-1

B.1 Traverse Run Time (TRT)..............................................................B-1
B.2 Speed Override.............................................................................B-2

C.0 YRC1000 PASSWORD FEATURE.............................................. C-1

C.1 Password Protection Option..........................................................C-1

YRC1000 Basic Programming Training Manual TOC-8 © YASKAWA ACADEMY

 YRC1000 Startup & shutdown

1.0 YRC1000 STARTUP & SHUTDOWN

The controller cabinet has limited controls and programming features. The Main
Power Switch and connections for cables are on the controller.

Figure 1-1 YRC1000 Robot/System Controller

1.1 YRC1000 Controller Hardware

1.1.1 Main Circuit Breaker Power Switch
The Main Circuit Breaker Power Switch provides power to the controller. This is
usually fed from a busbar or a source breaker.

ON
O
F
F

Figure 1-2 Main Circuit Breaker

YRC1000 Basic Programming Training Manual Page 1-1 © YASKAWA ACADEMY

YRC1000 Startup & Shutdown

1.2 Powering Up The YRC1000 Controller

The YRC1000 controller door should be fully closed and latched before turning the
Main Power Switch (or the supply breaker) to the power ON position.

The controller boots the software and initializes the YRC1000 diagnostic function.
NOTE: A robot cell in which the YRC1000 interfaces with other equipment may be
left powered ON at all times at the main circuit breaker so that power may be
applied/removed via another device.
During the diagnostics, a Start-up screen and other boot-up screens will be displayed
until the controller is ready for operation.

Figure 1-3 YRC1000 Controller Start-up Screen

If a failure of any of the diagnostic tests occurs, an alarm screen is displayed.

With no failures, an Initial Window appears.

Figure 1-4 Initial Pendant Window

NOTE: If the LOG-ON software option is installed, the operator may be prompted to
Log-on with User ID Name and Password Number.

YRC1000 Basic Programming Training Manual Page 1-2 © YASKAWA ACADEMY

 YRC1000 Startup & shutdown

1.3 Turning Off Power To The YRC1000 Controller

Before turning off the YRC1000 controller power, all servo motors should be
shutdown via an E-Stop if the system will be left in the PLAY mode, or place the
system in TEACH mode before shutdown.

Figure 1-5 E-STOP servo motors before Shutdown

NOTE: The servo power should not be left ON when the system is not operating.
Press an E-Stop or switch to TEACH mode. (All preventive maintenance
grease procedures are based on accumulated Servo Power Hours.)
After the servo motors are shutdown, turning the Main Circuit Breaker OFF removes
all external power to the YRC1000 controller.

ON
O
F
F

Figure 1-6 Main Power Switch (OFF)

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YRC1000 Startup & Shutdown

NOTES

YRC1000 Basic Programming Training Manual Page 1-4 © YASKAWA ACADEMY

 YRC1000 Pendant

2.0 YRC1000 PENDANT

The pendant is a single-point control device for all robot system operations and
programming with the YRC1000 Controller.

Figure 2-1 YRC1000 Pendant

YRC1000 Basic Programming Training Manual Page 2-1 © YASKAWA ACADEMY

YRC1000 Pendant

The overall control of the system is provided on the pendant, including an E-Stop, a
keyed selector switch for TEACH, PLAY, & REMOTE Mode selection, a SERVO
ON/READY button, as well as HOLD and START control buttons.
External Memory Device Locations

Included on the pendant is a USB connector and SD memory slot.

Figure 2-2 Pendant USB and SD Connections

YRC1000 Basic Programming Training Manual Page 2-2 © YASKAWA ACADEMY
 YRC1000 Pendant

2.1 Mode Selection Switch REMOTE

PLAY
TEACH

Three mode selections determine control of the robot system. These are TEACH,
PLAY, and REMOTE.
2.1.1 TEACH Mode; Status Icon T
In TEACH mode, the user has control for jogging the robot(s) and External Axis
motors. Programming, editing, customizing, and other menu choices become
available based on the level of Security.

2.1.2 PLAY Mode; Status Icon P

In PLAY mode, the START button becomes functional and the YRC1000 has control
of job execution. Special playback UTILITY menu choices become available.
NOTE: Changing modes from PLAY to TEACH during playback will cause the
program to cease execution and servo power to be removed. To resume
switch to PLAY, SERVO ON, and START.

2.1.3 REMOTE Mode; Status Icon P

The REMOTE mode allows control from an optional external device such as a remote
operator station, programmable logic controller, or a host computer.

2.2 Operation Buttons

2.2.1 Emergency Stop (E-Stop) Button; Status Icon
Pressing the Emergency Stop (E-Stop) removes servo motor power and causes the
brakes to be applied.

is displayed, and the SERVO ON indicator

light turns off. This takes priority over any informational prompt messages.

Fully twist the E-Stop knob clockwise until it unlatches to reset it.

When all E-Stops are released, the Status Line displays the stop icon.

YRC1000 Basic Programming Training Manual Page 2-3 © YASKAWA ACADEMY

YRC1000 Pendant

2.2.2 START Button; Status icon

In PLAY mode with servo power ON, pressing the START button will begin
execution of the active job from the line the cursor is on in the JOB CONTENT.

The START button remains lit the entire time the controller is running the program.

Also, the START button’s indicator light will be ON whenever the TEACH mode
FWD/BWD or INTERLOCK+TEST START method of operation is performed.

2.2.3 HOLD Button; Status icon

Pressing the HOLD button stops execution of a job in the PLAY mode; the START
light turns off. The HOLD button light does not latch ON while the system is in this
pendant HOLD. Servo power remains ON, and the brakes are not applied.

To resume execution of the program, press the START button.

If the system was put into hold remotely [External Hold] from an Operator’s Station

button, etc., the message line will display .

It must be released before restart is possible.
A HOLD (or E-Stop) activated by the optional Shock Sensor setting must also be
released/RESET before resuming.

SERVO
ON
2.2.4 SERVO ON/READY READY Button
In TEACH mode, pressing the SERVO ON/READY button will only cause the
indicator SERVO ON to blink that it is “ready” for the servos to be engaged.
Servo power can be applied by activating the Servo Enable Switch located on the
back left side of the pendant.

In PLAY mode, pressing the SERVO ON/READY button initiates a sequence that
sends power to the servo motors and releases all brakes. The SERVO ON light will
indicate the status. Playback of any job (with or without motion steps) is not possible
unless servo power is applied.
NOTE: All Alarms, Errors, and E-Stops must be cleared prior to pressing the SERVO
ON/READY button in either PLAY mode or TEACH mode.

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 YRC1000 Pendant

2.3 Servo Enable Switch

The Servo Enable Switch provides user control of servo power in TEACH mode.
Servo power is required for jogging with the Axis keys, stepping through a job with
FWD/BWD, or continuous operation with INTERLOCK+TEST START. Also, servo
power must be engaged before pressing ENTER for INSERT, MODIFY, or DELETE
with regard to motion step programming only.
In order to turn on servo power in TEACH mode, perform the following:
1. Release all E-Stops.
2. Press the SERVO ON/READY button. The SERVO ON lamp will blink
signifying “ready” status.
3. Hold the SERVO ENABLE switch in its middle ON position.

NOTE: Fully released or fully compressed causes the servo motors to turn OFF and
all brakes to be applied.

Figure 2-3 Servo Enable Switch

2.4 AREA Key

The AREA key can be used instead of touching the screen to access the following
areas for editing and selection purposes: Main Menu area, Menu area, General
Display area, the Inform List menu if active, as well as the Human Interface area
when the Message Line is active. The background surrounding the active area is blue.
NOTE: SHIFT+AREA will toggle between languages if available.

2.5 Cursor Key

The CURSOR key moves the active cursor up/down or right/left to highlight a desired
item on any screen. When the cursor is on an item that has a black background with
blue characters, such as the job list names; the SELECT key can be used.

Holding the Cursor UP or DOWN keys will activate rapid scroll to top/bottom of a
job or list.

Use SHIFT+UP/DOWN for previous/next section of screen view within a job content
or list.
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YRC1000 Pendant

2.6 SELECT Key

The SELECT key is used to choose the item currently highlighted by the cursor or
to open the prompt window to enter data. INTERLOCK+SELECT is used to force
General Purpose Outputs ON/OFF, and SHIFT+SELECT can be used to highlight a
section of a job content for COPY, CUT, CHANGE SPEED, and TRT.

2.7 CANCEL Key

The CANCEL key is located next to the SELECT key. If an undesired selection or
entry has been made, press CANCEL.

Also, the CANCEL key can be used to clear ERROR Messages.

2.8 Editing Keys

INTER 7 8 9 TEST
SHIFT
SHIFT
LOCK START

ROBOT INFORM 4 5 6 BWD FWD

LIST

EX.AXIS
WELD 1 2 3 DELETE INSERT
ON/OFF

MOTION 0 . -
AUX MODIFY ENTER
TYPE

Figure 2-4 Editing Keys

2.8.1 Number Keypad

The Programming Pendant number keypad is used primarily for entering numeric
values. A negative [-] or decimal number [.] may be entered where applicable.

These keys are also labeled with device operating instructions specific to the
application for which the controller has been initialized.

Figure 2-5 General Keypad

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 YRC1000 Pendant

2.8.2 ENTER Key

The ENTER key in the lower right of the pendant or on the screen, if available, must
be pressed after each completed data entry from the numeric keypad or to accept
characters/symbols entered on the [Result] line for editing.

2.8.3 INSERT Key

The INSERT key is functional within a JOB CONTENT only on the Address side
while in at least EDITING mode. The INSERT key must be selected before pressing
ENTER in order to add/insert any type of additional instruction between existing lines
in a job. It is not required when the cursor is immediately before the END instruction
when performing progressive line-by-line programming.

2.8.4 MODIFY Key

The MODIFY key is functional within a JOB CONTENT only on the Address side
while in at least EDITING mode. The MODIFY key must be on before pressing
ENTER while servos are enabled in order to change/modify the servo Command
Position of a step highlighted within a job content.

Also, the MODIFY key may be used to replace an existing line’s non-motion
instruction for another.

2.8.5 DELETE Key

The DELETE key is functional within a JOB CONTENT only on the Address side
while in at least EDITING mode. The DELETE key must be selected before pressing
ENTER in order to remove/delete an existing line in a job.

2.9 Programming Keys

There are only two keys, MOTION TYPE and INFORM LIST, required for accessing
all programming instructions. The security level must be at least EDITING mode and
the cursor must be on the Address side of the JOB CONTENT.

2.9.1 MOTION TYPE Key

The MOTION TYPE key is used to program Servo Command Positions of a robot,
base, or station axes with MOVJ (Joint motion type) or to program the tool control
point motion types MOVL (Linear), MOVC (Circular), or MOVS (Spline).

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YRC1000 Pendant

2.9.2 INFORM LIST Key

The INFORM LIST key is used to program all non-motion instructions.

2.10 SHIFT Keys

There are two SHIFT keys, one on either side of the pendant keypad. These are used
in conjunction with another key; particularly those having a light blue bar across the
top labeled with the alternate function.
To view displays/functions associated with the SHIFT key, perform the following
steps:
1. From the Main Menu, choose SETUP.
2. Choose SIMULTANEOUS KEY HELP.
3. With the list displayed, use the PAGE key, if necessary, to view the
SIMULTANEOUS KEY HELP for SHIFT.

Figure 2-6 SHIFT Help Screen

2.11 INTERLOCK Key

The INTERLOCK key is used in conjunction with keys labeled in black and outlined
in purple.
To view displays/functions associated with the INTERLOCK key, perform the
following steps:
1. From the Main Menu, choose SETUP.
2. Choose SIMULTANEOUS KEY HELP.
3. With the list displayed, use the PAGE key, if necessary, to view the
SIMULTANEOUS KEY HELP for INTERLOCK.

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 YRC1000 Pendant

Figure 2-7 INTERLOCK Help Screen

2.12 MAIN MENU Key

The MAIN MENU key is used to display the top level menu choices on the left side
of the pendant screen. Pressing the MAIN MENU key toggles the display on and off.

By pressing and holding the MAIN MENU key while using the cursor UP/DOWN
keys the brightness of the programming pendant screen can be increased or decreased.

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YRC1000 Pendant

NOTES

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 YRC1000 Pendant Screen

3.0 YRC1000 PENDANT SCREEN

The initial YRC1000 pendant screen has five display areas. Four of these areas
can be made “active” either by touch or by the use of the AREA key. Once active,
(indicated by blue background) the cursor can be moved to individual items of the
area either by touch or by the cursor keys. With the cursor on the individual item, the
SELECT key can open the item for change. The Status Display area is for display
only and cannot be an active area.

Menu area Status area

Main Menu General-Purpose

area Display area

Human Interface area

Figure 3-1 Screen Areas

3.1 Main Menu Area

The Main Menu area contains the top level selections of display categories. The
number of Main Menu icons is dependant on the Security level.

Figure 3-2 Main Menu Area

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YRC1000 Pendant Screen

The Main Menu icons may be concealed or re-displayed by pressing the MAIN
MENU key, or by touching the screen’s Main Menu softkey.

Selecting an icon causes a slide-out menu to be displayed as a sub-menu.

The sub-menu selection is displayed in the General-Purpose Display area.

Figure 3-3 Sub-menu Screen

NOTE: The sub-menu choices differ based on TEACH/PLAY and security level.

3.2 General-Purpose Display Area

The General-Purpose Display area is where the content of the currently selected
Main/sub-menu choice is displayed. Every screen shows a title-bar description.

Figure 3-4 JOB LIST

To access a desired item from the General-Purpose Display area, if a list of choices
is shown, use the cursor keys, then press the SELECT key. Alternatively, touch and
drag up/down, left/right, and tap the choice.

To edit an item in the General-Purpose Display area, highlight the item and then press
SELECT or touch to highlight then tap the item.

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 YRC1000 Pendant Screen

For programming within a JOB CONTENT, the MOTION TYPE key, or the
INFORM LIST key is used.

Figure 3-5 JOB CONTENT

NOTE: The figure above has the Main Menu concealed, thereby displaying the
General-Purpose Display area of the active JOB CONTENT across the entire
screen.

3.3 Menu Area

The Menu Area at the top of the screen is a permanent display that changes according
to the active General-Purpose Display on the screen.

The items and drop-down choices are accessible by touch or by using the AREA, UP/
DOWN, LEFT/RIGHT cursor keys, and the SELECT key.

Figure 3-6 Default Menu Area

The figure above is the default Menu area for all cases of Main/sub-menu selections
in the General-Purpose Display area except for jobs.

When a JOB CONTENT is displayed, the Menu area has the selections as shown in
the figure below.

Figure 3-7 Job Content Menu Area

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YRC1000 Pendant Screen

3.4 Human Interface Display Area

3.4.1 Edit Buffer Line
The Edit Buffer Line (white background) appears when a JOB CONTENT is

displayed in EDITING MODE, MANAGEMENT MODE, or

SAFETY MODE. It is used for temporary display and editing of the selected
instruction prior to insertion into the job.

Figure 3-8 Edit Buffer Line [white background]

3.4.2 Message Line

Prompts for operating or editing are displayed on the Message Line with the
information icon; such as Turn on servo power .

An ERROR message, takes precedence over all other messages and must be
cleared by pressing the CANCEL key on the pendant or by touching CANCEL in the
Dialog box on the screen.

Multiple messages are indicated with the 2-page icon. Selecting the message area
and using the cursor UP/DOWN sequences the messages.

Figure 3-9 Message Line with 2-page Icon

Any E-Stop Cautions, “ Robot is stopped by ... emergency stop” takes priority
over information and question type messages. If a message is too long
to display on a single line, the screen automatically scrolls to the left, repeatedly
displaying the entire message.
NOTE: The message “Memory battery weak” will appear on the Message Line of the
Pendant display when the YRC1000 controller battery needs to be replaced.
The message “Encoder battery weak.” will appear on the Message Line of the
Pendant display when the robot battery needs to be replaced.

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 YRC1000 Pendant Screen

3.5 Status Display Area

The Status Display area shows the current controller condition and pendant settings.
The cursor cannot access this display; changes are made via the appropriate keys.

WARNING! The status line should always be referenced before operating the
system in TEACH. Always set the Control Group, Coordinate System,
and appropriate Manual Speed before jogging any component!
T

M. Saving Data
A. Group operation axis
L. Touch operation disable
B. Operation coordinate system
K. Weak battery
C. Manual speed
J. Multi Mode
D. Security mode
E. Operation cycle I. Page
H. Tool number
G. Mode
F. State under execution

A. Control Group B. Coordinate Systems C. Manual Speed

: Joint Coordinates : Inching

to : Robot Axes
: Cartesian Coordinates
: Low Speed
to : Base Axes
: Cylindrical Coordinates
: Medium Speed
to : Station Axes : Tool Coordinates
: High Speed
: User Coordinates

D. Security Mode E. Operation Cycle F. State Under Execution

: Operation Mode
: Step : Stop Status

: Edit Mode : Hold Status

: Cycle
: Emergency Stop Status
: Management Mode
: Alarm Status
: Continuous
: Safety Mode : Operating Status

G. Mode H. Tool Num I. Page J. Multi-Window K. Weak Battery

: Teach mode
T
From to
P : Play mode

L. Touch Panel Disable M. Saving Data N. Remote Pendant

OR OR

Figure 3-10 Status Display Icons

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3.6 Main Menu Selections

The number of available icons in the Main Menu depends on the current security
level. With the Main Menu open, SECURITY settings are available under the
SYSTEM INFO selection.

The levels of SECURITY are as follows:

• OPERATION MODE (no password ID number required)

• EDITING MODE (4 to 16-digit ID number = 0000000000000000 factory

default)

• MANAGEMENT MODE (4 to 16-digit ID number)

• SAFETY MODE (9 to 16-digit ID number)

NOTE: This training manual is based on the EDITING MODE security level.

The Main Menu selections are as follows:

• JOB
• GENERAL
• VARIABLE

• IN/OUT (Additional items in or higher mode)

• ROBOT (Additional items in or higher mode)

• SYSTEM INFO (Additional items in or higher mode)

• EX. MEMORY (SAVE all levels; LOAD restrictions except in

or higher)

• SETUP (Not Available in ; additional items in mode or

higher)
• SAFETY FUNC. (Additional items based on hardware)

• PM (Additional items in mode or higher)

• DISPLAY SETUP
• REMOTE PENDANT

NOTE: The Main Menu icons and the choices available will vary depending on the
SECURITY level, as well as the controller’s application.

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3.6.1 JOB
The JOB menu accesses selections for the active JOB, the MASTER JOB, the
SELECT JOB list, CYCLE Selection, as well as JOB CAPACITY.
In TEACH mode, the CREATE NEW JOB selection becomes available when in
EDITING MODE, MANAGEMENT MODE, or SAFETY MODE.
3.6.2 GENERAL
The second Main Menu selection is labeled with the application for which the
YRC1000 has been initialized. This menu provides access to application specific
information.
3.6.3 VARIABLE
The VARIABLE menu accesses the four kinds of Arithmetic variable files used for
number storage, the Position variable file(s) used for Robot (Station/Base) position
and shift data storage, the String variable file for text storage, the Timer variable used
as a clock, the Flag variable used as a Boolean flag, and the Timer Flag variable.
3.6.4 IN/OUT
The IN/OUT menu offers access to the simple and detail monitor screens for viewing
I/O status and forcing General Purpose Outputs ON/OFF.
3.6.5 ROBOT
The ROBOT menu allows the display of the robot’s status including CURRENT
POSITION and SECOND HOME POS. Also, the function for setting TOOL data and
USER COORDINATE data is accessed through this menu.
3.6.6 SYSTEM INFO
The SYSTEM INFO menu provides SECURITY selection, VERSION information on
hardware and software, an ALARM HISTORY, and MONITORING TIME for power
on, servo on, job play, robot travel time, and device/tool operating time.
3.6.7 EX. MEMORY
The EX. MEMORY menu provides selections for functions using the external
memory device medium.
3.6.8 SETUP
The SETUP menu allows the user to customize TEACHING CONDITION settings
and other features involving the pendant operation and editing shortcuts.
3.6.9 SAFETY FUNC.
The SAFETY FUNC. menu allow the user to create safety logic circuits on the
programming pendant, such as stopping the manipulator and turning off the servo ON
signal.
3.6.10 PM
The PM menu provides information on the duration of life for the speed reducer and
will inform when an inspection is due.

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3.6.11 DISPLAY SETUP

The DISPLAY SETUP menu allows the user to customize the General-Purpose
Display area font size and Main Menu, Menu, and INFORM LIST button sizes.
The INITIALIZE LAYOUT will set the font and button sizes back to the factory
default. Up to seven different Window Pattern selections for split screen viewing are
available. Also, customizing of navigation, on-screen keypad and error recovery are
available.

In the Main Menu area under the DISPLAY SETUP icon, the five options given are as
follows: CHANGE FONT, CHANGE BUTTON, INITIALIZE LAYOUT, CHANGE
WINDOW PATTERN, and TOUCH OPE. SETTING.

The CHANGE FONT selection allows the user to customize the font size and style
within the General-Purpose Display area. There are four different font sizes available,
from very large to very small. Any available size can be made bold.

Figure 3-11 Font Size Selections

Figure 3-12 Default Font Size Setting & Large Font Size

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The CHANGE BUTTON selection allows the user to customize the font style and
size of the buttons within three areas: the Main Menu area, the Menu area, and the
INFORM LIST area. This figure shows all three areas with the font enlarged and
boldfaced.

Figure 3-13 Button Size Selections

Figure 3-14 Pendant Buttons Displayed In Large Format

The INITIALIZE LAYOUT selection converts all font changes and button sizes back
to the initial default status. This selection changes the screen layout back to standard
(default) size.

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The CHANGE WINDOW PATTERN function divides the General-Purpose Display

area from just 1 to 2, 3, or 4 windows to be shown simultaneously.

There are seven dividing patterns to be optionally chosen as desired.

Figure 3-15 Access to the Seven Different Window Patterns

The title of the active window is displayed in deep blue and the non-active are light
blue. The active window is the subject of key operation. Also, the Menu area or the
operational buttons under the General-Purpose Display area are displayed for the
operation of only the active window.

To toggle between Single/Multi Window, press + keys.

Pressing just the MULTI key while in Single-Window allows the previously set
Multi-Windows to appear individually as full screen in the order they were setup
(1g2g3g4g1······).
NOTE: The content view of a window in multi-window mode may be different from the
same window when it is in single-window mode because of its limited size.
The content becomes normal when displayed in the single-window mode.

NOTE: Edit Buffer Line in JOB CONTENT displayed only when the window is active.

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 YRC1000 Pendant Screen

The TOUCH OPE. SETTING selection allows the user to customize how the
navigation on the pendant can be performed.

Figure 3-16 Touch Ope. Setting

Screen Scroll
When Screen Scroll is disabled the screen/cursor can be moved vertically by cursor
UP/DOWN or SHIFT+cursor UP/DOWN until the top or bottom is reached. The
cursor can be moved left or right by cursoring left or right.

When Screen Scroll is enabled the screen can be changed by the above methods or
additionally by dragging the window. While touching the General-Purpose Display
area, move up, down, or sideways, and release.
Page Change
When Page Change is disabled the screen/cursor can be moved from page to page
by the PAGE key below the screen to go forward or SHIFT+PAGE to go backward.
The PAGE key on the screen will allow direct entry of a number. The cursor can be
moved left or right by cursoring left or right.

When Page Change is enabled, the screen can be changed the above methods or
additionally by touching the General-Purpose Display area. Drag to the left side and
release it to go forward or drag to the right side and release it to go backward.
Cursor Movement, non-JOB
A cursor is displayed on some screens in the General-Purpose Display area.

When Cursor Movement is disabled the screen/cursor can be moved vertically by

cursor UP/DOWN or SHIFT+cursor UP/DOWN until the top or bottom is reached.
The cursor can be moved left or right by cursoring left or right.

When Cursor Movement is enabled the cursor can be moved by touch. Touch the
position available for cursor in the General-Purpose Display area, and release.

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Job Cursor Movement

A cursor is displayed in the JOB CONTENT in the General-Purpose Display area. To
move the cursor by touch operation in the job window, there are three methods. All
are controlled by the setting of Job Cursor Movement.

Figure 3-17 Job Cursor Movement

When the Job Cursor Movement is set to INTERLOCK, the cursor is moved in the
job content by pressing and holding INTERLOCK, then touching to move the cursor.

When the Job Cursor Movement is set to DIALOG CONF., the cursor is moved in the
JOB CONTENT by touching to move the cursor. A dialog confirmation box will ask
before moving the cursor.

Figure 3-18 DIALOG CONF.

“Yes” will move the cursor to the line touched. “No” will not move the cursor.

When the Job Cursor Movement is set to NOT MOVE the cursor is moved in the job
content by cursor UP/DOWN or SHIFT+cursor UP/DOWN until the top or bottom is
reached.
Copy and paste of a character string
Character strings in the General-Purpose Display area can be copied by touch
operation. The copied character string can be pasted on the “Result” of the character
input keypad.
To copy a character string, perform the following procedure:
1. Touch and hold a character string in the General-Purpose Display area.
2. To change the length of the character string to be copied, touch and slide the
copy cursor.
3. Select “Copy” in the selection menu.

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 YRC1000 Pendant Screen

To paste a character string, perform the following procedure:

1. Touch and hold the “Result” of the character input keypad.
2. Select “Paste” in the selection menu.
By using the character input keypad, cut or paste of the character string can be
undone by “UNDO”, and a character string within 8 characters can be registered by
“Regist”.
Zooming in/out of the window

To zoom in or out the General-Purpose Display area, perform the following.

1. Touch and hold the title of the General-Purpose Display area. The Zoom in/out
bar appears.
2. Touch and drag the cursor of the zoom in/out bar. Only the main area of the
General-Purpose Display area is zoomed in/out.
3. Touch anywhere outside the zoom in/out bar. The zoom in/out bar is closed, and
the entire General-Purpose Display area is zoomed in/out.

Note: Zooming in/out does not work when multiple screens are displayed in the
General-Purpose Display area, ie CHANGE WINDOW PATTERN.

Number Keypad
When the Number Keypad is disabled the programming pendant’s number keypad
needs to be used for entering numeric values. CANCEL will either remove the
number in the content’s box or close the content’s box. Enter will accept the value to
the content’s box.

Figure 3-19 Number Keypad DISABLE

When the Number Keypad is enabled entering numeric data has more options. The
programming pendant’s number keypad can still be used, as well as the number
keypad on the programming pendant’s screen.

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Figure 3-20 Number Keypad ENABLE

On some screens, such variables, the numbers can be entered in a decimal (Dec),
binary (Bin), or hexadecimal (Hex) format.

Figure 3-21 Hex, Dec, and Bin formats

Clear will remove the number in the content’s box. Back space will remove the
number immediately to the left of the cursor. Cancel will either remove the number
in the content’s box or close the content’s box. Enter will accept the value to the
content’s box.

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Error Dialog
When Error Dialog is disabled, if an error occurs, the error will be displayed on the
Message line in the Human Interface area.

Figure 3-22 Error Dialog DISABLED

When Error Dialog is enabled, if an error occurs, the error will be displayed as a
dialog box in the center of the pendant screen.

Figure 3-23 Error Dialog ENABLE

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3.6.12 REMOTE PENDANT

The REMOTE PENDANT allows the display of the programming pendant to be
viewed and controlled via a web browser. Thus, the display of the programming
pendant can be shown and the status of the YRC1000 can be checked from a remote
location.

3.7 Simple Menu Key

The SIMPLE MENU key is used as an alternate to Main Menu/sub-menu selections.
Shortcuts are created to simplify screen selections. Up to 8 pre-registered sub-menu
choices may be registered. The Simple Menu may be concealed or re-displayed by
toggling the SIMPLE MENU key, or by touching the screen’s Simple Menu softkey.

Figure 3-24 Simple Menu Screen

To register the currently displayed screen, perform the following:

1. Press and hold either SHIFT key. Press the SIMPLE MENU below the screen.
2. Choose “YES” to “Do you register a current layout?”.
or
1. Press the Simple Menu key on the screen.
2. Choose REGISTER.
3. Choose “YES” to “Do you register a current layout?”.

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Figure 3-25 Register Current Layout Screen

To display a screen from the Simple Menu, perform the following:

1. Press the Simple Menu key on the screen.
or
Press the SIMPLE MENU key below the screen.
2. Choose the desired icon.

Figure 3-26 Simple Menu with registered screen

To delete a registered screen, perform the following:

1. Press the Simple Menu key on the screen.
2. Choose EDIT.
3. Move the cursor to desired screen number to be deleted.
4. Press and hold a SHIFT key and press SELECT. A circle with appear to the left
of the selected screen number.

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Figure 3-27 Marked to Delete

5. Choose DATA in the Menu area.

6. Choose DELETE MENU in the drop-down.
7. Choose “YES” in the dialog box.

3.8 Character Screens

The character screens available for entering job names, comments, labels, I/O names,
etc., include a dual keyboard (CapsLock ON/OFF), SYMBOL, Space, Back Space for
deleting characters, and Cancel for clearing the entire [Result] line.

The [Result] line can be accessed by touch to put the cursor between characters for
individual removal to the left using Back Space. In addition, by dragging consecutive
characters may be highlighted and then removed simultaneously with one press of the
Back Space.

Figure 3-28 Character Screens (KEYBOARD)

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Figure 3-29 Character Screens (SYMBOL)

NOTE: SHIFT+cursor will also move the cursor within the [Result] line.

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NOTES

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 Control Group & Jogging Coordinate

4.0 CONTROL GROUP & JOGGING COORDINATE

Before jogging any component of the system, set or verify the active Control Group
and a desired jogging coordinate with appropriate manual speed.

4.1 Control Groups

The YRC1000 system can be configured with multiple robots, base axes, and station
axes; therefore, for jog operations, the appropriate group of axes to be controlled must
be selected by the operator. The active selection is displayed in the Status Display
area.

4.1.1 ROBOT Key

The ROBOT selection is active by default at power ON. Pressing the ROBOT key
chooses the desired robot, R1 to R8. The jogging axis keys on the pendant are labeled
for both single motor/link operation of the robot with (+/-) [SLURBT], and also for
manipulating a robot’s tool control point, TCP, in (+/-) X, Y, Z and rotating the tool’s
posture with the (+/-) Rx, Ry, & Rz keys.

4.1.2 EX. AXIS Key

Pressing the EX. AXIS key configures the axis keys to move the servo motors for
BASE track axes B1 to B8 or STATION axes S1 to S24. The setup uses the first pair
of keys, [-X/S] & [+X/S], for the first Base or Station motor, the second pair for the
second Base or Station motor, etc.
NOTE: Pressing SHIFT+ROBOT or SHIFT+EX. AXIS is required when the desired
control group for jogging is not identified in the selected job.

Robot

Station

Base

Figure 4-1 Robot, Base, and Station Axes

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Control Group & Jogging Coordinate

4.2 Coordinates
The active Coordinate system, identified in the Status Display area, determines how
each of the eight sets of multifunctional axis keys with “+” and “-” will operate. Four
of the five types are actively available on the COORD key. (Either RECT or CYL is
available in SETUP on the TEACHING CONDITION list.) The X, Y, Z, Rx, Ry, &
Rz labels are active for all jogging Coordinates except when set for Joint [SLURBT].

: Joint Coordinates [SLURBT/E]

: Robot Frame Rectangular Coordinates [RECT]

: Cylindrical Coordinates [CYL]

: Tool Frame Coordinates [Tool No.00-63]

24
: User Frame Coordinates [UF#1-63]
U

Figure 4-2 Pendant COORD Key & Status Display Icons

4.2.1 Joint Coordinates

6-Axis Robot [SLURBT]

When in Joint coordinates, the letters S, L, U, R, B, T on the six pair of axis keys are
applicable, allowing the operator to move each motor/link in a positive or negative
direction.
U-axis
Z+
U+
R-axis
X+
R+ B-axis
Y+
B+

T-axis
Z- Z+
U- X- T+
L-axis R- Y-
B-

Y-
L- Z-
T-

Y+
L+
S-axis
X- X+
S-
S+

Figure 4-3 Axis Keys and JOINT (S,L,U,R,B,T) Operation

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NOTE: When two or more axis keys are pressed simultaneously, the robot will
perform a compound movement, but if two opposites are pressed at the same
time, such as [X-/S-] and [X+/S+], then neither operates.

4.2.2 Tool Selection for Jog Operation in XYZ type Coordinates

The robot’s currently selected TOOL No. is referred to as its Tool_Control_Point
[TCP]. The TCP is not only for recording or modifying points in a job, but also for
jogging in Rectangular or Cylindrical , Tool and User .

To set the active Tool No. 00-63 in TEACH mode, perform the following steps:

1. Choose any COORD except User Coordinates with the COORD key.

2. Hold either of the keys, then press the TOOL SEL key.

3. Move the cursor to highlight the desired Tool number.

4. Repeat SHIFT + COORD/TOOL SEL to close the list.

Figure 4-4 TOOL COORDINATE Select List

NOTE: This may not be available. Tool Number Switching is based on a setting/
parameter.

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4.2.3 Rectangular or Cylindrical , Tool and User

In all of the XYZ type coordinate systems, the axis keys labeled X, Y, Z control the
robot’s active Tool No.00-63 referred to as the Tool Control Point (TCP). The keys
labeled Rx, Ry, Rz change the tool’s posture or orientation while maintaining its
current position point.

RECT controls the active TCP in a straight line vector using

ROBOT FRAME(RF) with the XYZ axis keys operating as a
Right-Hand Rule front/back, left/right, up/down.
CYL controls the active TCP with Cylindrical/Radial jogging
when using the XY axis keys; the Z keys operates the same as
with RECT coordinate; up/down in the ROBOT FRAME(RF).
TOOL controls the active TCP (Tool No. 00-63) based on current
TOOL FRAME (TF). It is not a stationary coordinate system; the
XYZ origin “floats” with tool’s movement. The [Z+]/[Z-] setup for
operation is typically the direction of approach/departure, but is
application related.

USER moves TCP based on current selected USER FRAME

(UF#01-63) where the origin/plane in space are user defined.

Operation of the X, Y, and Z-axis keys with moves the active TCP as illustrated
in the figure below.
Y-axis Z-axis

X- X+ Z+
S- S+ U+

Y+
L+

Z-axis

X-axis Z-
U-

Y-axis Y-
L-

X-axis

X- X+ Moves parallel to X-axis.

S- S+

Y- Y+ Moves parallel to Y-axis.

L- L+

Z- Z+ Moves parallel to Z-axis.

U- U+

Figure 4-5 Operation of X, Y, & Z Axis Keys in RECT Coordinate.

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 Control Group & Jogging Coordinate

When using Rectangular , Cylindrical , Tool or User Coordinates,

pressing a “rotate-about” Rx, Ry, Rz axis key will change the tool’s angle of
orientation, but maintain the TCP’s present position.

After jogging to an intended position with X, Y, and Z keys, use the Rx, Ry, and Rz
keys to adjust the TCP to the desired posture before entering the motion step into the
job.
Wrist Axes Wrist axes move with the TCP
X- X+ fixed. These movements differ
R- R+ depending on cartesian,
cylindrical, tool and user
coordinates.
Y- Y+
B- B+

Z- Z+
T- T+

Figure 4-6 Rx, Ry, & Rz Axis Keys to Change Tool’s Angle of Orientation
The Cylindrical coordinates are, set as CYL, takes the place of RECT.
Operation of the X, Y, and Z-axis keys with moves the active TCP as illustrated
in the figure below.
Moves TCP in Radius Path of Cylinder

Y-
L-

Y-
L-

Y+
L+

S- S+

X- X+ Y+
L+

Y+, Radial Axis

Moves TCP in Circumference Path of Cylinder

Y+, Radial Axis

Z-axis
Z+
U+

Moves TCP parallel to Robot Frame Z-axis

Z-
U-

Figure 4-7 Operation of X, Y, & Z Keys in CYL Coordinates

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Control Group & Jogging Coordinate

To set either the RECT or CYL coordinate system, perform the

following keystrokes in TEACH mode in at least EDITING security level:
1. From the Main Menu, choose SETUP.
2. Choose TEACHING COND. from the sub-menu.
3. Move the cursor to or touch to highlight the RECT/CYL indicator box.
4. Press the SELECT key or tap to toggle to CYL or RECT.
To close, choose another icon selection from the Main Menu.

Figure 4-8 Teach Condition RECTANGULAR or CYLINDRICAL Selection

4.2.4 Tool Coordinates

The TOOL coordinate system allows the jogging of the robot’s TCP based on the
current Tool No. Selection. The Cartesian X, Y, Z directions in Tool Frame [TF] are
oriented to the active TCP, and move with the tool.

Z-
U-

Z+
U+

X+
S+

X-
S-

Figure 4-9 Tool Coordinate XYZ Directional Jogging

The origin of the TF is always at the TCP. Therefore, the CURRENT POSITION can
never be expressed in the Tool Frame data type.

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 Control Group & Jogging Coordinate

4.2.5 User Frames

A User Frame coordinate is based on a user-defined origin for an XYZ frame aligned
parallel with a fixture’s plane of work. Up to 63 User Frames can be defined.
Z-axis
+
−
Y-axis
− −
+ X-axis

+
User coordinates Fixture

Z-axis
Y-axis Fixture Fixture

X-axis
User coordinates

Figure 4-10 Example User Frame Coordinates

4.3 Manual Speed Icons & Keys

The Manual Speed determines the velocity at which the Axis keys, or the FWD &
BWD keys, will move the ROBOT, BASE, or EX. AXIS.
4.3.1 MANUAL SPEED
The four speed settings, INCHING, LOW, MEDIUM, and HIGH, are selected by
using the MANUAL SPEED keys FAST and SLOW. The status line symbol indicates
the currently active speed setting.

: High Speed

: Medium Speed

: Low Speed

: Inching

Figure 4-11 Manual Speed Icons and Keys

When Inching has been selected, each press of +/- S, L, U, R, B, T will move the
Robot/Base/Station motor one pulse count in JOINT coordinate system.

In all other coordinate systems the default setting for INCHING will move the
Robot’s TCP in the +/- X, Y, Z direction or rotate the tool’s posture with the +/- Rx,
Ry, Rz keys by an amount specified in the controller parameters.

NOTE: The Pendant defaults to LOW manual speed upon power-up.

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Control Group & Jogging Coordinate

4.3.2 HIGH SPEED Key

While jogging or using the FWD key, pressing and holding the HIGH SPEED key
will momentarily override the L, M, or H manual speed setting with a preset faster
speed. Releasing the key defaults back to the selected manual speed.
NOTE: The HIGH SPEED key will not override Inching manual speed, and it is not
functional with the BWD key.

4.4 Current Position

The CURRENT POSITION can be displayed in several formats. The robot position
in PULSE format is the default display in [SLURBT] for a 6-axis robot and PULSE
for each motor of an External Axis. Joint angles can also be displayed if available.

Any robot’s active TCP location can be displayed in BASE [BF], ROBOT [RF], or
USER for UF#( ) as XYZ data type in millimeters from the origin and the Rx, Ry,
Rz in degrees of rotation.

To display the CURRENT POSITION, perform the following keystrokes:

1. From the Main Menu, choose ROBOT.
2. Choose CURRENT POSITION from the sub-menu.
3. Press the SELECT key and move the cursor to PULSE, BASE, ROBOT, or
USER.
4. Press the SELECT key.
5. If USER is selected, enter the frame number (User_coord_no.=); press ENTER.

Figure 4-12 CURRENT POSITION

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 Control Group & Jogging Coordinate

To display the CURRENT POSITION in degrees, perform the following

keystrokes:
1. From the Main Menu, choose ROBOT.
2. Choose CURRENT POSITION from the sub-menu.
3. Choose DISPLAY in the Menu area.

Figure 4-13 ABSOLUTE ANGLE

4. Choose ABSOLUTE ANGLE from the drop-down.

The display will change to the axes’ current position in degrees from the mechanical
home position.

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Control Group & Jogging Coordinate

NOTES

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 Alarms & Errors

5.0 ALARMS & ERRORS

ERROR messages appear in the Message Line at the bottom of the pendant screen
or as a dialog box in the General-Purpose Display area, depending on the SETUP,
TOUCH OPE. SETTING, ERROR DIALOG, ENABLE/DISABLE selection.

All ALARM information appears in the General-Purpose Display area, and the icon
indicating alarm status appears in the Status Display area. No further operation or
editing is possible until all ERROR/ALARM situations are cleared.

5.1 Error Message

An ERROR message occurs when a keystroke mistake has been made. An example
of a keystroke error is when pressing the START button while not being in PLAY
mode. This would cause the following ERROR message:

Figure 5-1 Example Error Message, Error Dialog DISABLE vs. ENABLE

The ERROR message is cleared by pressing the key or touching CANCEL

on the pendant screen, if enabled.

5.2 Minor Alarms

Minor Alarms usually indicate a jogging problem or programming mistake that
requests the controller to perform tasks it is not capable of. The four-digit alarm code
and description appear in the General-Purpose Display area. Minor Alarm codes
begin with “4xxx through 8xxx” and also “9xxx” for Application/User type.

Job execution is stopped, but Servo Power remains ON. Minor Alarms are cleared by
touching the RESET key on the pendant screen. The cause of any minor alarm should
be fixed immediately to avoid reoccurrence.
NOTE: An additional procedure, “Check Position,” is required after a RESET for
“ALARM 4107: ABSO DATA OUT OF RANGE.”

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Alarms & Errors

Figure 5-2 Minor Alarm Example

5.3 Major Alarms

A Major Alarm may occur because of equipment failure or what the controller
considers a potential failure during operation. Any hardware failures will require
repair or replacement of the affected components.

The alarm code and text description appear in the General-Purpose Display area. The
four-digit alarm codes for all Major Alarms begin with “1xxx, 2xxx, or 3xxx.”

Job execution is stopped and Servo power turns OFF. A Major Alarm can only be
cleared by cycling the YRC1000 controller power OFF/ON. Controller power can
be cycled at the Main Disconnect or from the Main Menu, SYSTEM INFO, CPU
RESET.

CAUTION: Do not cycle power from the programming pendant on a HC-10

controller.

An Off-line Alarm occurs during initial diagnostics upon detection of a failure that
requires a maintenance procedure. These four-digit alarm codes that begin with a
“0xxx” cannot be cleared by simply cycling the YRC1000 controller power.

Figure 5-3 Major Alarm Example

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 Alarms & Errors

NOTE: It is also possible for several alarms to appear simultaneously. Multiple

alarms are displayed in order of occurrence. If any of the multiple alarms are
Major Alarms, the controller must be powered down to resolve these.

5.4 Alarm Detail

The YRC1000 Pendant is capable of displaying the alarm details. The alarm details
include the alarm content, the cause of the alarm and the measure needed to remedy
the alarm.
To display the alarm details, perform the following:
1. With the cursor on the alarm number press the SELECT key or tap.
2. Cursor or scroll to the desired section.
3. Touch RETURN to return back to the alarm.

Figure 5-4 Alarm Detail Example

On occasion there could be more information than displayed on the screen, pressing
the arrow(s) may display more information.

Forward/Backward
arrows

Figure 5-5 Additional Information Arrows

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Alarms & Errors

5.5 Alarm Display

It is possible for a current ALARM not to be displayed on the screen if the display has
been changed before RESET has been selected. The controller is still “locked” from
the alarm occurrence with the indicator icon in the Status Display area.

An attempt to restore Servo Power ON may re-display the minor alarm, or it may also
be accessed in the menu as described below.
To re-display the Minor Alarm for access to RESET, perform the following:
1. Choose SYSTEM INFO from the Main Menu.
2. Choose ALARM from the sub-menu.

Figure 5-6 Alarm Display

5.6 Displaying Alarm History

The pendant keeps a log of the last 100 alarms of each type: MAJOR ALARMS,
MINOR ALARMS, USER ALARMS (SYSTEM), USER ALARMS (USER), and
OFF-LINE ALARMS. The ALARM HISTORY can be organized by chronological or
numeric order, and by occurrence count. The alarm details can also be obtained from
the ALARM HISTORY.

It also displays the login name of the user logged-on when the alarm occurred if
individualized security levels are used.
To display the history of ALARMS, perform the following keystrokes:
1. Choose SYSTEM INFO from the Main Menu.
2. Choose ALARM HISTORY from the sub-menu.
3. Use the PAGE key for the next Alarm type, or SHIFT+PAGE for the previous
page. The soft PAGE key is available to navigate as well as touching and
dragging left or right.

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 Alarms & Errors

4. Move the cursor to choose a specific alarm; information for this alarm will
appear at the bottom of the screen display.

Figure 5-7 ALARM HISTORY

NOTE: Errors are not registered in the pendant’s ALARM HISTORY display.

To change the order of the ALARM HISTORY, perform the following

keystrokes:
1. From the Main Menu, choose SYSTEM INFO.
2. Choose ALARM HISTORY in the sub-menu.
3. Choose EDIT from the Menu area.
4. Choose REGISTRATION ORDER or NUMERIC ORDER. (Only one setting
can be selected at a time.)

Figure 5-8 ALARM HISTORY ORDER

NOTE: The active organization is indicated with an “ * ” (Asterisk) next to the

REGISTRATION ORDER/NUMERIC ORDER.

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Alarms & Errors

The order will default to REGISTRATION ORDER when the controller is turned on.
NOTE: Alarm Details can be displayed by selecting or tapping on the alarm number.

To display the number of times a particular ALARM occurred, perform the

following keystrokes:
1. From the Main Menu, choose SYSTEM INFO.
2. Choose ALARM HISTORY in the sub-menu.
3. Choose DISPLAY from the Menu area.
4. Choose OCCUR COUNT.

Figure 5-9 ALARM HISTORY (OCCUR COUNT)

5. Touch RETURN to return back to the ALARM HISTORY.

5.7 Overrun & Shock Sensor Action

An OVERRUN switch maybe located on the robot’s S-axis. Jogging the robot past
this switch could cause damage to the internal harnesses. Opening this switch causes
“ALARM: 4100 OVERRUN IN ROBOT AXIS.”

In some robot installations, there is a device called a “shock sensor” mounted

between the robot flange and the tool. This device helps protect the robot/tool from
damage in the event of a crash. Crashing the tool causes loss of signal from this
device to the YRC1000. The “ALARM: 4110 SHOCK SENSOR ACTION” will be
displayed on the programming pendant screen.
Note: E-STOP is the default setting for overrun & shock sensor activation. A HOLD
setting is also available.

To perform Overrun or Shock Sensor recovery, perform the following:

1. From the Main Menu, choose ROBOT in the Main Menu.
2. Choose OVERRUN&S-SENSOR in the sub-menu.

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 Alarms & Errors

Figure 5-10 OVERRUN & S-SENSOR

NOTE: This selection is only available in the Editing and Management modes.
3. Choose RELEASE.
4. Choose RESET.
Servo power may now be turned on in the TEACH mode only. The robot may be
jogged in any coordinate system.
NOTE: The “RELEASE” is only in effect when this screen is displayed. If the screen
is changed to any other prior to the Shock Sensor being reset, the controller
will return to an Alarm condition and E-Stop the robot.

5.8 Internal Shock Sensor/Collision Detection

The YRC1000 controlled robot has a torque monitoring system to protect both the
tool and the robot arm. If the torque exceeds a specified value, the “ALARM:4315
COLLISION DETECT” will be generated. The Alarm screen will show one or more
highlighted axes in which the collision took place.

Figure 5-11 ALARM:4315 COLLISION DETECT

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Alarms & Errors

This Internal Shock Sensor function is based on the DETECTION LEVEL setting in
the Shock Sensor Condition File that is currently being used.
To recover from Internal Shock Sensor action after RESET of the “Alarm:4315
COLLISION DETECT”, perform the following procedure:
1. With the controller in TEACH, from the Main Menu, choose ROBOT.
2. Choose SHOCK SENS LEVEL from the sub-menu.
3. Press PAGE in the General-Purpose Display area, enter “9” and press the
ENTER key.
(The COND. NO.:9 file is for TEACH only).

Figure 5-12 SHOCK DETECT LEVEL

4. Move the cursor to VALID and press the SELECT key or tap, changing the
function to INVALID.

Figure 5-13 SHOCK DETECT LEVEL-INVALID

Servo power can now be applied when set to INVALID.

5. Choose the desired COORD and jog the robot in LOW manual speed until clear
of all interfering objects.

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 Alarms & Errors

6. Restore the INVALID setting to VALID by the SELECT key or tapping on

INVALID.

NOTE: Shock Sensor Detection may be set in both PLAY and TEACH. Setting any
one of the 9 Condition Files to INVALID will make all of the files INVALID.

NOTE: The Detection setting can only be changed in the MANAGEMENT mode
security level. The range of setting Disturbance Level is 1- 500.

To view the current active internal shock sensor level file, perform the following
procedure:
1. From the Main Menu, choose ROBOT.
2. Choose SHOCK SENS LV.(Current) from the sub-menu.

Figure 5-14 SHOCK SENS LV. (CURRENT)

The current detection file values will be shown for each axis.

Figure 5-15 SHOCK SENS LV. (CURRENT)

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Alarms & Errors

NOTE: The default COND NO.:8 (STANDARD) for PLAY may not be appropriate
for all jobs or sections in a job such as handling. The SHKSET SSL#( )
instruction under OTHER on the Inform List allows use of Files 1-7, which
may be setup with different Detection Level settings or individual tags may
also be placed on the SHKSET instruction line.

The SHKRST instruction will reactivate the PLAY default COND NO.:8
(STANDARD).

5.9 Manual Brake Release

Brakes may be manually released in the YRC1000 controller using the programming
pendant. Brakes may be released one at a time while in TEACH or PLAY Modes
using the following keystrokes and procedures.

WARNING! Ensure all personnel are clear of the robot. When the brake release
operation is performed the axis may fall or move in an unexpected
direction. Only trained personnel should perform this operation.

5.9.1 Manual Brake Release

To display the MANUAL BRAKE RELEASE screen, complete the following:

1. From the Main Menu, choose ROBOT.
2. Choose MANUAL BRAKE RELEASE from the sub-menu.
3. Select “YES” in the dialog box.
4. Move the cursor up or down to the desired axis.
5. Depress the ENABLE SWITCH to the middle position, while holding the
INTERLOCK and SELECT KEY.
The selected brake will be released as long as the ENABLE SWITCH, INTERLOCK,
and SELECT keys are depressed.

Figure 5-16 MANUAL BRAKE RELEASE Display

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 Alarms & Errors

5.9.2 Canceling Manual Brake Release

To Cancel the Manual Brake Release screen, complete the following:

1. From the Main Menu, choose any other menu to exit MANUAL BRAKE
RELEASE Screen, and restore normal servos on operation.

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Alarms & Errors

NOTES

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 Second Home Position (Specified Point)

6.0 SECOND HOME POSITION

(SPECIFIED POINT)
If the controller determines there is a significant difference in encoder data (pulse)
between power off and power on, it will generate the minor alarm “ALARM:4107
OUT OF RANGE (ABSO DATA).”

Figure 6-1 ALARM:4107 OUT OF RANGE ABSO DATA

After touching the alarm RESET, attempting to turn the servo power ON will prompt
with the message “Check Position.”

Checking position involves forwarding the robot to SECOND HOME, ensuring the
robot is at the proper position, and performing a DATA, CONFIRM POSITION.

Attempting to play a job without confirming the position check will result in the
ERROR message shown below.

Figure 6-2 Position Not Checked

CAUTION! An error in the pulse generator (PG) system can cause an alarm. If a PG
failure is suspected, then do not FWD until checking each suspected
axis separately by jogging + and - in JOINT coordinates to confirm valid
operation.

Alarms brought about by a crash may have caused damage to the

drive(s). Verify smooth drive operation prior to continuing.

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 Second Home Position (Specified Point)

To “Check Position” at SECOND HOME (Specified Point), perform the

following steps:
1. Touch RESET to clear the alarm screen.
2. In TEACH mode, press the SERVO ON/READY button.
3. From the Main Menu, choose ROBOT.
4. Choose SECOND HOME POS. in the sub-menu.
This displays a data screen with columns as shown in the figure.

Figure 6-3 SECOND HOME POSITION (Specified Point)

CAUTION! The operation below may cause a crash when the FWD key is pressed if
there are obstacles between the robot’s current position and the Second
Home position. Jog the robot, as necessary, to avoid any obstacles.

NOTE: The default SECOND HOME (Specified Point) location for the robot is where
the alignment arrows and keyways for each axis are aligned and the Pulse
data for each axis is displayed as all zeros.
5. Turn servos on with the ENABLE switch. The Message Line should indicate
“Check Position.” (If “ALARM:4511 DROP VALUE” appears, touch RESET
and continue.)
6. Ensure a clear path, select an appropriate Manual Speed, then press and hold
the FWD key to move the robot to the Second Home position. The data display
changes to all zeros in the DIFFERENCE column.
7. Visually verify that the robot is at the proper position.

NOTE: If the robot does NOT appear to be at the proper location, maintenance on the
robot may be required.
8. Choose DATA from the Menu area.
9. Choose CONFIRM POSITION from the drop-down. The message line will
display “Home position checked.”

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 Creating a Job

7.0 CREATING A JOB

To create a new job, the job must first be named with any combination of numbers,
capital letters, and symbols. A job name may contain no more than 32 characters.
NOTE: The controller must be set for either the EDITING, MANAGEMENT, or
SAFETY security level in order to access CREATE NEW JOB in the JOB
menu.

7.1 Create New Job

To create a new job name, complete the following steps:
1. In TEACH mode from the Main Menu, choose JOB.
2. Choose CREATE NEW JOB from the sub-menu.
3. With cursor on the asterisks next to JOB NAME, press the SELECT key or
single tap.

Figure 7-1 CREATE NEW JOB

4. Choose the desired Character tab. Using either the touch screen or the Cursor
and SELECT keys, choose up to 32 characters for the job name on the [Result]
line.
or
Enter the job name using numeric keypad.

NOTE: Pressing CANCEL will clear the entire line.

5. Press the ENTER key to accept the JOB NAME.
6. If a COMMENT is desired, move the cursor to the data entry box to the right of
COMMENT and press the SELECT key.
or
Touch in the COMMENT data entry box to move the cursor, then tap.

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Creating a Job

7. Enter up to 32 characters for viewing when DETAIL DISPLAY is active on the

JOB LIST. Press ENTER to accept the COMMENT.
8. If a JOB FOLDER is desired, move the cursor to the JOB FOLDER data entry
box.
9. Press the SELECT key or tap on the data entry box.
10. Move the cursor to the desired folder.
11. Press the SELECT key or tap on the desired folder.
12. If the GROUP SET is different than R1, move the cursor to the GROUP SET
data entry box.
13. Press the SELECT key or tap on the data entry box.
14. Move the cursor to the desired group axes combination.
15. Press the SELECT key or tap on the desired group axes combination.
16. Touch EXECUTE or press the ENTER key to complete the creation of the new
job.
The JOB CONTENT screen for the newly created job will appear with two
instructions: 0000 NOP (No Operation, top of the job) and 0001 END (bottom of the
job).

Figure 7-2 JOB CONTENT

7.2 Displaying the Active Job

When the screen display has been changed to something other than the active job,
there is only one way to get this active JOB CONTENT back on the screen.
NOTE: During program execution in PLAY mode on the active JOB can be displayed.

(Start Lamp ON and Status icon displayed for Running.)

To return to the active JOB CONTENT, perform the following:

1. From the Main Menu, touch the JOB icon.

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 Creating a Job

2. Choose JOB in the sub-menu.

The currently active job will appear on the screen.

Figure 7-3 Display Active JOB

7.3 Selecting A Job

All job names appear on the JOB LIST from the SELECT JOB menu. Any job can be
selected while in TEACH mode. In PLAY mode, any job can be selected if a job is
not currently running.
NOTE: Another job cannot be selected during program execution in Play mode.

To bring an existing job to the screen in TEACH or PLAY mode, if a job is not
currently running, perform the following keystrokes:
1. From the Main Menu, touch JOB.
2. Choose SELECT JOB from the sub-menu to access the JOB LIST.
3. Cursor to the name of the desired job and press the SELECT key.
or
Touch the desired job name to move the cursor. Tap the job name.

Figure 7-4 JOB LIST

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Creating a Job

7.4 Master Job

Only one job name can be registered as the Master Job in a standard configuration.
Access this job with Call Master Job selection from the JOB menu. Do not change
the Master Job registration without permission from supervisory personnel.
7.4.1 Registration of the Master Job Name
To register a Master Job name, complete the following in TEACH mode:
1. From the Main Menu, choose JOB.
2. Choose MASTER JOB in the sub-menu.
NOTE: If no Master Job has been previously registered, 32 asterisks appear. If a
Master Job has been defined, the currently registered job name will be visible.
3. With the cursor on the asterisks or the existing Master Job name, press the
SELECT key or tap.

Figure 7-5 MASTER JOB Selection

4. Move the cursor to SETTING MASTER JOB.

5. Press the SELECT key.

Figure 7-6 SETTING MASTER JOB

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 Creating a Job

6. Move the cursor to the desired job name.

7. Press the SELECT key or tap the job name.
The name will be registered and the Job Content will be displayed.
7.4.2 Calling Master Job to the Screen

To call the Master Job to the screen in TEACH or PLAY mode from the Main
Menu, perform the following:
1. From the Main Menu, touch JOB.
2. Choose MASTER JOB from the sub-menu.
3. Press the SELECT key.
4. With the cursor on CALL MASTER JOB, press the SELECT key.

NOTE: The Master Job cannot be “called” when the START light is on during program
execution in PLAY mode.

NOTE: When in a Job Content, the JOB selection in the Menu area also has choices
for Creating Jobs, Selecting Jobs, Calling the Master Job, etc.

Figure 7-7 CALL MASTER JOB from Menu Area

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Creating a Job

7.5 Supervisory, Concurrent Job software option

In a system with multiple pieces of hardware the Concurrent Job software option is
typically turned on. With one job typically being used as the top level job, it is useful
to have easy access to this job. Registering a job as the Master Job/Master Task
allows this identified job to be quickly brought to the screen. Sub Tasks can also have
Master Jobs identified.

Figure 7-8 SUPERVISORY

7.5.1 Registration of the Master Job/Master Task

To register a Master Job/Master Task name, complete the following:

1. In TEACH mode from the Main Menu, choose JOB.
2. Choose CTRL MASTER.

NOTE: If no Master Job has been previously registered, asterisks (********) will be in
place of the Master job name. If a Master Job has been defined, the currently
registered job name will be visible.

Figure 7-9 CTRL MASTER/SUPERVISORY

3. With the cursor on the asterisks or the current Master Job name, press the
SELECT key or tap.
4. Move the cursor to SETTING MASTER JOB and press the SELECT key.

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 Creating a Job

5. Move the cursor to the desired job name and press the SELECT key or tap the
job name.
The name will be registered.
NOTE: Sub-tasks may also have Master Jobs assigned.

7.5.2 Calling Master Job to the Screen

From any other JOB CONTENT, the Master Job can easily be accessed.
To call the Master Job to the screen in TEACH or PLAY mode from the Main
Menu, perform the following:
1. From the Main Menu, choose JOB.
2. Choose CTRL MASTER.
3. With the cursor on MASTER JOB: MASTER, press the SELECT key or tap.
4. Move the cursor to CALL MASTER JOB and press the SELECT key.

The registered Master Job’s content screen will be displayed.

or perform the following:

1. Choose JOB from the Menu area.
2. Choose SUPERVISORY.
3. With the cursor on MASTER JOB: MASTER, press the SELECT key or tap.
4. Move the cursor to CALL MASTER JOB and press the SELECT key.

NOTE: The Master Job cannot be “called” when the START light is on during program
execution in Play mode.

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Creating a Job

NOTES

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 Path Creation

8.0 PATH CREATION

For the controller to move the robot to a program step, three pieces of information are
required; COMMAND POSITION, MOTION TYPE, and PLAY SPEED. The Edit
Buffer Line, identified with the white background, displays the active Motion Type,
Speed, and other tags.

8.1 Command Position

The COMMAND POSITION is the Pulse destination for the robot, as well as other
motors, if applicable. The controller will record the CONTROL GROUP’s current
position as the motion step’s COMMAND POSITION when the MOV_ instruction is
entered.

8.2 Motion Type

The MOTION TYPE key allows selection for the desired path that the robot/TCP
will take moving to the COMMAND POSITION. The four standard motion types
are Joint, Linear, Circular, and Spline. Each press of the MOTION TYPE key
sequences through MOVJ, MOVL, MOVC, and MOVS on the Edit Buffer Line.

Figure 8-1 Edit Buffer Line and Motion Type Key

8.3 Play Speed

The PLAY SPEED tag designates the desired travel speed for MOTION TYPE to
the COMMAND POSITION. The MOVJ VJ=Joint_speed is a percent of maximum
ranging from 0.01% to 100.00%. The velocity for MOVL, MOVC, and MOVS is
expressed as V=Control_point_speed units of mm/sec, cm/min, in/min, or mm/min.
Table 8-1 Play Speed Lists

Factory Default Playback Speed Lists

VJ=Joint_speed V=Control_point_speed

(%) (mm/sec)

100.00 1500.0

50.00 750.0

25.00 375.0

12.50 187.0

6.25 93.0

3.12 46.0

1.56 23.0

0.78 11.0

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Path Creation

8.3.1 Play Speed List Method

The Play Speed List method only allows selection from the eight preset values for
either the Joint_speed= (%) or the Control_point_speed= linear units list.
To select one of the eight preset play speeds, perform the following steps in
TEACH mode:
1. After setting the desired motion type, press the SELECT key to move the cursor
to the Edit Buffer Line.
2. Cursor right to highlight the speed data.
3. While holding a SHIFT key, cursor UP/DOWN to choose a speed from the list.

8.3.2 Data Entry Method

Play Speed data may be designated as any value within the speed’s range by using the
number keypad for data entry.
To change the Play Speed tag data, perform the following in TEACH mode:
1. After setting the desired motion type, press the SELECT key to move the cursor
to the Edit Buffer Line.
2. Cursor right to highlight the existing speed data.
3. Press the SELECT key. The appropriate Speed Data Prompt will appear.
4. Enter the desired speed data and press the ENTER key.

The Speed Data units are as follows:

VJ = Joint speed for MOVJ [VJ= 0.01-100.00%].
V = Control point speed for MOVL, MOVC, and MOVS as displayed
within the JOB CONTENT in desired units as follows:
1-9000 cm/min
1-3543 in/min
1-90000 mm/min
0.1-1500.0 mm/sec (Default mm/sec for SAVE on CF)
[The robot maximum V=Control_point_speed is based on the
model’s type. Some have a higher maximum speed.]
VR = Angle speed for MOVL, MOVC, MOVS [VR = 0.1-360.0 deg/
sec.].
VMAX= Maximum motor speed for MOVL [VMAX = 50-100%].

NOTE: The requested play speed may not be fully attained during regular playback
based on distance to travel, acceleration/deceleration tag settings, and any
position level tag parameters. Also, activation of some special playback
modes restrict program playback speeds.

YRC1000 Basic Programming Training Manual Page 8-2 © YASKAWA ACADEMY

 Path Creation

8.4 Programming a Motion Step

To program a motion step, the system must be in TEACH mode with the security
level set to at least the EDITING Mode.
NOTE: Select the correct Tool No. 00-63 prior to jogging and recording a new motion
step. Always proofread the Edit Buffer Line before inserting the new motion
instruction into the JOB CONTENT.

To program a new motion step in a job, perform the following:

1. CURSOR: Move the cursor on the Address side (left side). For the first entry
into a new job, this would be Line: 0000 NOP. Each new step instruction MOV_
will enter below the currently highlighted line address.
2. MOTION TYPE: To change the motion type currently displayed on the Edit
Buffer Line, press the MOTION TYPE key as necessary.

NOTE: For the MOTION TYPE key to function, the cursor must be active on the
Address side of the job content. (The MOTION TYPE key will not function
after pressing the SELECT key to make the cursor active within the Edit
Buffer.)
3. PLAY SPEED: If necessary to change the play speed tag, press the SELECT key
to access the Edit Buffer Line ( MOV_ ). Cursor to highlight the speed data for
VJ=, V=, VR=, or VMAX= and set the velocity using either the Play Speed List
method or the Data Entry method.
4. With the servos enabled, press [INSERT], ENTER.
All information regarding Command Position, Motion Type, Play Speed and the
active Tool Number is recorded in the JOB CONTENT. (INSERT is not required
when the cursor is highlighting the address immediately before the END instruction.)
NOTE: Jogging to the desired position may also be performed before setting the Edit
Buffer instruction details. However, if the operator does not keep servo power
enabled during setup of the Edit Buffer, the position will change slightly due
to the brakes repeatedly engaging and releasing. Additional jogging may be
required to re-establish the desired accuracy of the Command Position before
entry into the job content.

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Path Creation

8.5 Joint Motion Type (MOVJ)

Joint motion type controls only the destination. The job’s CONTROL GROUP
motors move until the Command Position’s Pulse data for each axis is achieved.

The robot’s tool path will not be straight because the controller does not interpolate
its path. Therefore, applications such as machine tending, painting, and dispensing
are not performed with the joint motion type. Joint motion type is used primarily for
transition points moving to/from the work piece.

The speed tag, VJ= Joint_speed, represents the acceptable maximum for the “Velocity
of Joints” when moving to the programmed Command Position.
(Not all joint/motors may be required to move.)

Figure 8-2 Job Path with “open-air-cuts” using Joint Motion Type

YRC1000 Basic Programming Training Manual Page 8-4 © YASKAWA ACADEMY

 Path Creation

8.6 Linear Motion Type (MOVL)

Linear is an interpolated motion for the robot’s Tool Control Point (TCP). Choosing
this motion type for a step has the controller move the robot’s TCP in a straight line
path during travel to the robot Pulse Command Position.

If there is a change of tool angle of orientation from its previous position to the
destination, the posture will gradually adapt as it follows a linear path.

The speed tag used on a MOVL instruction when the TCP is actually traveling is the
“Velocity” tag V= Control_point_speed or the VMAX=. Another type, the “Velocity
of Rotation” tag, VR=Angle_Speed, is used when the TCP is just pivoting in place.

LINE INSTRUCTION
0000 NOP
1,6
0001 MOVJ VJ=0.78
0002 MOVJ VJ=100.00
0003 MOVJ VJ=25.00
2 5 0004 MOVL V=46.0
0005 MOVJ VJ=50.00
0006 MOVJ VJ=100.00
4 0007 END
3
Figure 8-3 Job Path with Linear Motion Step

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Path Creation

8.7 Circular Motion Type (MOVC)

Programming at least three consecutive taught points with MOVC motion type has
the controller move the robot’s Tool Control Point (TCP) in a circular arc.

The three positions allow the controller to determine the plane, radius, and center
of the interpolated circle. Programming additional MOVC steps unnecessarily
will require the controller to recalculate a new plane, radius, and center with each
additional MOVC point.

2
3
2

1 1 3 1 2

Figure 8-4 Circular Motion Type Examples

To program a circular arc, perform the following in TEACH mode:

1. With the cursor on the address side, press the MOTION TYPE key until MOVC
is displayed on the Edit Buffer Line.
2. Set an appropriate V=Control_point_speed.
3. Jog the robot to the beginning point of the arc; with servos enabled, press
[INSERT], ENTER.

NOTE: The controller uses linear path interpolation for the first MOVC.
4. Jog the robot to any location on the arc; with servos enabled, press [INSERT],
ENTER.
5. Jog the robot to the ending point of the arc; with servos enabled, press [INSERT],
ENTER.

CAUTION! If the operator puts the cursor on each MOVC individually with
the Cursor Key or by touch, then using the FWD key will move the
robot in a linear path to each MOVC. Only the FWD/BWD key and
INTERLOCK+TEST START methods of path verification will follow the
interpolated circular path.

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 Path Creation

3 4 6 7

0003 MOVJ VJ=25.00

0004 MOVC V=83.0
0005 MOVC V=83.0
0006 MOVC V=83.0
0007 MOVL V=83.0
Figure 8-5 Job Path with Circular Motion

Four or more MOVC steps can be used to create either a full circle or an overlapping
circle. To complete a full circle, a fourth MOVC can be programmed at the same
point as the first MOVC.

Full Circle Circle with Overlap

4 4

6
3, 6 5 3 5

0003 MOVC V=83.0

0004 MOVC V=83.0
0005 MOVC V=83.0
0006 MOVC V=83.0
Figure 8-6 Full Circle and Overlapping Circle

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Path Creation

8.8 Spline Motion Type (MOVS)

Programming three consecutive points with MOVS has the controller move the
robot’s TCP through a parabolic path. The middle MOVS point must be programmed
on the spline path approximately midway between the first and third as shown in the
figure below. The controller will calculate the actual apex point equidistant between
the spacing of the first and third points.

n
1 3
m

Figure 8-7 Spline Motion Example

To program a parabolic path with spline motion type, perform the following in
TEACH mode:
1. With the cursor on the address side, press the MOTION TYPE key until MOVS
is displayed on the Edit Buffer Line.
2. Set an appropriate V=Control_point_speed.
3. Jog the robot to the beginning point of the parabola; with servos enabled, press
[INSERT], ENTER.

NOTE: The controller uses linear path interpolation for the first MOVS.
4. Jog the robot to the desired apex of the parabola; with servos enabled, press
[INSERT], ENTER.
5. Jog the robot to the ending point of the parabola; with servos enabled, press
[INSERT], ENTER.

CAUTION! If the operator puts the cursor on each MOVS individually with
the Cursor Key or touch, then using the FWD key will move the
robot in a linear path to each MOVS. Only the FWD/BWD key and
INTERLOCK+TEST START methods of path verification will follow the
interpolated Spline path.

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 Path Creation

The figure shown below shows the parabola made by 3 MOVS motion steps.

2 6

3 5

0002 MOVJ VJ=100.00

0003 MOVS V=375.0
0004 MOVS V=187.0
0005 MOVS V=187.0
0006 MOVJ VJ=50.00
Figure 8-8 Job Path with Spline Motion

In addition, the Spline motion type may be used for a continuous free-curve path
by programming several consecutive MOVS steps in a job. There is no limit to the
number of MOVS steps. The programmer may space them as required to form a best-
fit curve.

The path illustrated in the figure below could be programmed with a continuous string
of MOVS motion type.

All points MOVS

Figure 8-9 Multiple Spline Motions

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Path Creation

8.9 First and Last Step As Same Position

When possible, the first and last steps of a job should be taught at the same location.
This overlapping keeps the robot from ending and starting the overall process at
different locations, or taking an indeterminate path from the end of one job to the
beginning of the next.
NOTE: Depending on cell configuration, the first step should be programmed with
a very slow speed regardless of motion type MOVJ or MOVL. The last step
should be programmed with either MOVJ or MOVL with an appropriate speed,
but most importantly, it should be located at the same Command Position as
the first step.

To program the last step at same location as the first step as, complete the
following procedure in TEACH mode:
1. Move the cursor to the address side of the first step (Step 0001).
2. Ensure a clear path, then press and hold the FWD key until the robot comes to a
stop at Step 0001. The cursor will stop flashing.
3. Move the cursor to the last recorded step (Step 0005).
4. Press the MOTION TYPE key to set the motion type to MOVJ .
5. Set the appropriate play speed tag (VJ=100.00).
6. With servos on, press the ENTER key.
In the example below, the last step (Step 0006) is now programmed at the same
location as the first step (Step 0001).

LINE STEP INSTRUCTION

0000 NOP
0001 0001 MOVJ VJ=0.78
0002 0002 MOVJ VJ=100.00
0003 0003 MOVJ VJ=25.00
0004 0004 MOVL V=46.0
0005 0005 MOVJ VJ=50.00
0006 0006 MOVJ VJ=100.00
0007 END
Figure 8-10 Job Path with Joint and Linear Motion Types

YRC1000 Basic Programming Training Manual Page 8-10 © YASKAWA ACADEMY

 Path Confirmation & Playback

9.0 PATH CONFIRMATION & PLAYBACK

Prior to running a program in PLAY mode with full playback speed, the TEACH
mode provides two methods to verify positions and path interpolation.

The first method, using the FWD and BWD keys allows step-by-step execution.
The second method, INTERLOCK+TEST START, uses continuous operation.

9.1 Method 1: Confirmation by and Keys

Robot motion will be executed only while the FWD key (or BWD key) is pressed;
releasing the key will stop robot motion. [Manual Speed selection L, M, or H]

FAST
MANUAL SPEED

SLOW

Backward & Forward

INTER 7 8 9 TEST
SHIFT
SHIFT
LOCK START

ROBOT INFORM 4 5 6 BWD FWD

LIST

EX.AXIS
WELD 1 2 3 DELETE INSERT
ON/OFF

MOTION 0 . -
AUX MODIFY ENTER
TYPE

Figure 9-1 Position and Path Confirmation

To perform Position/Path confirmation with FWD key, perform the following in

TEACH mode:
1. Move the cursor to the first step in the job and verify that there is a clear path to
this command position from where the robot is currently positioned.
2. Choose the desired manual speed setting:
: Low Speed : Medium Speed : High Speed

3. With servos enabled, press and hold the FWD key. The robot will move to the
step and cease motion; the cursor will no longer be flashing.
4. Release the FWD key, then press and hold the FWD key again to advance the
cursor and move the robot through each successive step.

NOTE: Regarding non-motion instructions, either move the cursor past instructions
that do not need to be executed, or use INTERLOCK+FWD keys with servos
on to execute any desired/necessary non-motion instructions.

CAUTION! Do not manually move the cursor to next/previous step when performing
path confirmation with FWD/BWD; otherwise each step will be treated as
an isolated motion type.
YRC1000 Basic Programming Training Manual Page 9-1 © YASKAWA ACADEMY
Path Confirmation & Playback

9.2 Method 2: Confirmation with +

This method allows the robot to act as if it were in the playback mode, but with speed
limitation.

The cycle selection is active during the TEST START program execution, therefore
the single CYCLE setting is recommended.

Motion steps recorded with speed tags greater than the limit, 25% of
maximum, will be executed as follows:
MOVJ VJ=25.00
MOVL or MOVC or MOVS V=375.0 mm/sec (2250 cm/min, 886 in/min)
MOVL or MOVC VR=90.0 deg/sec.

Interlock + Test Start

INTER 7 8 9 TEST
SHIFT
SHIFT
LOCK START

ROBOT INFORM 4 5 6 BWD FWD

LIST

EX.AXIS
WELD 1 2 3 DELETE INSERT
ON/OFF

MOTION 0 . -
AUX MODIFY ENTER
TYPE

Figure 9-2 INTERLOCK and TEST START Keys

To use the INTERLOCK+TEST START method, perform the following

procedure in TEACH mode:
1. Choose EDIT in the Menu area.
2. Choose TOP LINE in the drop-down to move the cursor to L: 0000 NOP.
3. Enable the servos.
4. While pressing the INTERLOCK key, press and hold the TEST START key.
(The INTERLOCK key may be released once the robot is in motion.)

The START button on the pendant will light and the robot will move continuously
through all steps of the programmed path.

Release the TEST START key or Servo Enable switch to interrupt/stop the program
execution.

YRC1000 Basic Programming Training Manual Page 9-2 © YASKAWA ACADEMY

 Path Confirmation & Playback

9.3 Cycle Selection

The three cycle selections are STEP, CYCLE, and AUTO. The current selection, as
indicated in the pendant Status Display area, effects not only PLAY mode, but also
TEACH using INTERLOCK+TEST START.
NOTE: Cycle selection is accessible from both TEACH or PLAY mode.

STEP
The controller will execute only the one line on which the cursor is
located in the selected job each time the START button is pressed.
Tool Device instructions are not executed.

CYCLE
The controller will execute the selected job one time from the cursor
location to the END statement of that job when START button is pressed.

AUTO
The controller will execute the selected job repetitively beginning from
the cursor location when the START button is pressed.

NOTE: The cycle setting may be changed at any time during PLAY mode. To stop at
the END instruction of a job running in AUTO, change to the CYCLE setting.

To select the desired cycle, perform the following keystrokes:

1. From the Main Menu, touch JOB.
2. Choose CYCLE from the sub-menu.

Figure 9-3 Cycle Selection

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Path Confirmation & Playback

3. With the cursor in the WORK SELECT indicator box, press the SELECT key or
touch.
4. Move the cursor to the desired cycle.
5. Press the SELECT key.

9.4 Playing A Job

Job Selection can be performed in Play Mode only if a job is not currently running.
Cycle selection, however, can be changed at any time regardless of mode or status.
To play a job, perform the following steps:
1. Select a job and verify where the cursor will begin execution of the job.
2. Switch from TEACH to PLAY with the Mode Selector Switch.
3. Press the SERVO ON/READY button.
4. Choose AUTO, CYCLE, or STEP cycle selections. Verify desired icon in the
Status Display area.
5. Press the START button to initiate job execution.

NOTE: If a job is running in AUTO cycle, select CYCLE setting in order to stop
execution at the END instruction of the job.

YRC1000 Basic Programming Training Manual Page 9-4 © YASKAWA ACADEMY

 Copy, Delete, & Rename Job

10.0 COPY, DELETE, & RENAME JOB

In EDITING, MANAGEMENT, or SAFETY Mode, any job can be copied. Jobs that
are not edit protected can be deleted or renamed. These functions can be performed
from the actual JOB CONTENT screen or from the JOB LIST display. Also, the JOB
LIST can be organized by NAME or DATE with a DETAIL DISPLAY enabled or
disabled.

10.1 Copy Job

The COPY JOB function makes an identical copy of a job where only the job name
is different. Use this function to create jobs whenever a cell has multiple jobs with
minor differences. COPY JOB should also be used when doing extensive editing of
an existing job as not to corrupt the original.
To copy the active job, with the job displayed, perform the following steps:
1. In TEACH, choose JOB in the Menu area.
2. Choose COPY JOB from the drop-down.
3. Choosing from desired Character Screens (Numbers or Symbols), touch to enter
each character for the copy job name on the [Result] line and touch ENTER
when complete.
4. Choose “YES” on the “Copy?” screen.

To copy a job from the job list display, perform the following steps:
1. In TEACH from the Main Menu, choose JOB.
2. Choose SELECT JOB from the sub-menu.
3. Move the cursor to highlight the job to be copied.
4. Choose JOB in the Menu area.
5. Choose COPY JOB from the drop-down.

Figure 10-1 COPY JOB

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Copy, Delete, & Rename Job

6. Choosing from desired Character Screens (Numbers or Symbols), touch to enter

each character for the copy job name on the [Result] line and touch ENTER
when complete.
7. Choose “YES” on the “Copy?” screen.

10.2 Delete Job

The DELETE JOB function allows deletion of an unused or obsolete job.
To delete the active job, with the job displayed, perform the following steps:
1. In TEACH, choose JOB in the Menu area.
2. Choose DELETE JOB from the drop-down.
3. Choose “YES” on the “Delete?” screen.

To delete a job from the job list display, perform the following steps:
1. In TEACH from the Main Menu, choose JOB.
2. Choose SELECT JOB from the sub-menu.
3. Move the cursor to highlight the job to be deleted.
4. Choose JOB in the Menu area.
5. Choose DELETE JOB from the drop-down.
6. Press the SELECT key.

Figure 10-2 DELETE JOB

7. Choose “YES” on the “Delete?” screen.

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 Copy, Delete, & Rename Job

10.2.1 Enable Undelete Job Function

The UNDELETE JOB FUNCTION allows for the recovery of jobs from the TRASH
JOB LIST.
To enable UNDELETE JOB, perform the following steps:
1. In TEACH from Main Menu, choose SETUP.
2. Choose TEACHING COND. from the sub-menu.
3. Move the cursor to highlight the JOB UNDELETE FUNCTION indicator box.
4. Press the SELECT key to toggle between INVALID or VALID.
or
Touch to toggle the JOB UNDELETE FUNCTION indicator box between
VALID and INVALID.

10.2.2 Undelete Job

The UNDELETE JOB FUNCTION allows for the recovery of a job from the TRASH
JOB LIST and places it back into the JOB LIST providing a job of the same name
does not exist.
To undelete a job, perform the following steps:
1. In TEACH from the Main Menu, choose JOB.
2. Choose TRASH JOB LIST from the sub-menu.
3. Move the cursor to the Job name to undelete.
4. Choose JOB in the Menu area.
5. Choose UNDELETE JOB from the drop-down.
6. Choose “YES” on the “Undelete?” screen.

10.3 Rename Job

The RENAME JOB function allows changing of a job name. Renaming is necessary
if a job with the same name is to be loaded into the system from the SD or USB
memory device. The software will not allow a file to be overwritten, so the job in the
controller may be renamed or deleted.
To rename the active job, with the job displayed, perform the following steps:
1. In TEACH, choose JOB in the Menu area.
2. Choose RENAME JOB in the drop-down.
3. Select the desired Character Screen (keyboard or symbols), enter the new job
name on the [Result] line, and press ENTER.
4. Choose “YES” on the “Rename?” screen.

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Copy, Delete, & Rename Job

To rename a job from the job list display, perform the following steps:
1. In TEACH from the Main Menu, choose JOB.
2. Choose SELECT JOB in the sub-menu.
3. Move the cursor to highlight the job to be renamed.
4. Choose JOB in the Menu area.
5. Choose RENAME JOB from the drop-down.

Figure 10-3 RENAME JOB

6. Select the desired Character Screen (keyboard or symbols), enter the new job
name on the [Result] line, and press the ENTER key.
7. Choose “YES” on the “Rename?” screen.

10.4 Job Header

The JOB HEADER is like the title page of the job. It displays additional detailed
information about the job currently selected. The Job Header shows the job name,
comment, the folder the job is in, the date and time it was last edited, the size of the
job, number of lines and steps, if edit protect has been set, if the job has been saved
since the last change, and the group set.
To display a JOB HEADER, complete the following from the JOB CONTENT
screen in TEACH mode:
1. Choose DISPLAY in the Menu area.
2. Choose JOB HEADER from the drop-down.

Figure 10-4 DISPLAY Sub Menu

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 Copy, Delete, & Rename Job

The Job Header is displayed as shown.

Figure 10-5 JOB HEADER

To return to the Job Content screen, complete the following from the JOB
HEADER screen:
1. Choose DISPLAY in the Menu area.
2. Choose JOB CONTENT from the drop-down.

10.5 Name/Date Job Lists

The JOB LIST can be set to display the names of the jobs in alphabetical order
(NAME), or in order of last edit (DATE). The date of the last edit is always current in
each JOB HEADER.

The NAME order is based on the following priority of characters:

! % & ’( ) - _
0123456789
A B C ... Z

10.5.1 Setting JOB LIST order by NAME or by DATE

Only one setting, NAME or DATE, can be active for the order of the JOB LIST.
To set the JOB LIST order by NAME or DATE, complete the following steps:
1. From the Main Menu, choose JOB.
2. Choose SELECT JOB from the sub-menu.
3. Choose DISPLAY in the Menu area.
4. Choose NAME or DATE from the drop-down. (Only one setting can be selected
at a time.)

NOTE: The active organization is indicated with an “ * ” (Asterisk) next to the Name/
Date.

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Copy, Delete, & Rename Job

10.5.2 Detail Display

Details of a job may be displayed while in the Job List through the use of the DETAIL
selection. Information about the highlighted job is displayed on the lower portion of
the General-Purpose Display area. This display will remain active until set inactive.
To enable or disable the DETAIL display, complete the following steps:
1. From the Main Menu, choose JOB.
2. Choose SELECT JOB from the sub-menu.
3. Choose DISPLAY in the Menu Area.
4. Choose DETAIL from the drop-down.

Figure 10-6 DISPLAY Sub-menu

An “ * ” (Asterisk) appears beside it indicating that this detail will now be displayed.

The DETAIL for the currently highlighted job name are displayed at the bottom of the
JOB LIST screen as shown in the figure below.

Figure 10-7 DETAIL DISPLAY

NOTE: The DETAIL display for the highlighted job name will always show when the
JOB LIST is on the screen until the DETAIL selection is disabled.

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 Job Editing

11.0 JOB EDITING

There are several ways to edit a JOB CONTENT. This includes path adjustment
by modifying Command Positions or changing Motion Types, as well as adding or
removing Position Level/Accuracy, Comments, and other details. Also, the EDIT
menu features CUT, COPY, PASTE, REVERSE PASTE, and REVERSE PATH.

The JOB CONTENT screen is divided into two sections, as shown below.
Address Side Instruction Side

Line Number
Step Number
Tool Number

Figure 11-1 The Two Sides of the JOB CONTENT Screen

When the cursor is active on the left side of the screen, it is on the “Address” side of
the JOB CONTENT. A Line number (L:0000) identifies every address in the job.

Each Motion Type instruction MOVJ, MOVL, MOVC, or MOVS not only has a Line
number, but a “Step” number and “Tool” number associated with it. The current
or last active Step number is indicated in the upper part of the Job Content screen
(S:0001). The current or last active Tool number is also indicated in the upper part of
the Job Content screen (TOOL: 00).

The Address side may include each Step number and/or Tool number next to the Line
number address by activating the ENABLE STEP NO and/or ENABLE TOOL NO
under the DISPLAY menu.

The cursor must be on the Address

TEST side for initial programming and to use the
SHIFT
START
INSERT, MODIFY, or DELETE keys. These keys surround the ENTER key, and
each has an L.E.D. to indicate its
BWDactive
FWD status.

DELETE INSERT

MODIFY ENTER

Figure 11-2 The INSERT, MODIFY, and DELETE Keys

The right side of the Job Content is referred to as the “Instruction” side of the screen.
The cursor must be on this side of the job for line editing and motion type changes.
The currently highlighted instruction appears in the Edit Buffer Line.
YRC1000 Basic Programming Training Manual Page 11-1 © YASKAWA ACADEMY
Job Editing

11.1 UNDO Feature

The EDIT menu ENABLE UNDO feature allows UNDO and REDO to become
available. The controller maintains an UNDO buffer for the last 5 operations of that
job. One operation could be a single line change or multiple line changes, such as a
COPY, CUT, or PASTE.
ENABLE UNDO

To enable the UNDO/REDO feature, perform the following:

1. In TEACH in the JOB CONTENT screen from the Address side, choose EDIT
from the Menu Area.
2. Choose ENABLE UNDO from the drop-down.

Figure 11-3 UNDO Enabled

NOTE: The state of “ENABLE UNDO” is indicated with an (*) asterisk.

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 Job Editing

UNDO

To use the UNDO feature after any change to the JOB CONTENT (insert,
modification of positions, delete, paste, speed changes, etc.), perform the
following:
1. In TEACH, in the JOB CONTENT screen, choose EDIT from the Menu area.
2. Choose UNDO from the drop-down.

Figure 11-4 Menu area EDIT, UNDO

or
Hold either of the SHIFT keys, then press the CANCEL key.
The controller will find the line where the previous entry just occurred.

Figure 11-5 Example of Deleted Line

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Job Editing

The address will be covered with the word UNDO.

Figure 11-6 UNDO Active

3. Press the SELECT key to undo the last entry.

Figure 11-7 UNDO Complete

NOTE: The controller maintains the UNDO buffer until a change is made in another
job. A message will show on the message line, “Undo data of job editing
cleared”.

REDO
The UNDO can be reversed from the Menu area EDIT again so that REDO appears.
To use the REDO feature, perform the following:
1. In TEACH in the same JOB CONTENT screen as the prior UNDO, choose EDIT
from the Menu area.
2. From the drop-down, choose REDO.
or
3. Hold the SHIFT key, then press the CANCEL key.

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 Job Editing

Figure 11-8 Menu area EDIT, REDO

The controller will locate the cursor on the proper line. The address will be covered
with the word REDO.

Figure 11-9 REDO Active

4. Press the SELECT key to reinsert/redo the last entry/change.

Figure 11-10 REDO Complete

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11.2 Inserting a Step

When inserting a motion step between existing lines/steps, the Teaching Condition
setting for MOVE INSTRUCTION SET POSITION determines whether the new step
inserts below the cursor as the next LINE in the job, or inserts immediately above the
next STEP in the job.

The setting STEP prevents a new motion step from being inserted anywhere within
an existing move’s Instruction Set which is any set of consecutive non-motion
instructions that follow a motion step in the job.

The setting LINE means that the inserted motion step will always go below the active
cursor address.

Figure 11-11 MOVE INSTRUCTION SET, POSITION LINE/STEP

To insert a motion step between existing program lines/steps in a job, perform

the following steps:
1. In TEACH mode, select the JOB CONTENT to be edited.
2. Move the cursor to the Address side of the line above the step to be inserted.
3. Choose the desired MOTION TYPE.
4. Set the desired Play Speed.
5. If multiple tools in use, choose appropriate Tool No. 00-63. Enable the Servos.
6. Jog the robot/TCP to the desired Command Position.
7. Press the INSERT key.
8. With servos enabled, press the ENTER key.

NOTE: The new line number and all addresses below the inserted address will
renumber accordingly.

CAUTION! Always confirm the newly inserted path before running in PLAY mode.
First use FWD/BWD with desired Manual Speed, and second use
INTERLOCK+TEST START.

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11.3 Modifying a Step Command Position

The MODIFY key, with servos enabled, allows only the COMMAND POSITION
for a motion step address to be recaptured with the ENTER key. The Instruction side
information does not change.
To modify the position of a step in a job, perform the following steps:
1. In TEACH mode, select the JOB CONTENT to be edited.
2. Move the cursor to the Address side of the step to be modified.
3. If multiple tools in use, choose appropriate Tool No. 00-63. Jog the robot /TCP
to new desired position. (The cursor will now be blinking.)
4. Press the MODIFY key.
5. With servos enabled, press the ENTER key. (The cursor will stop blinking.)

NOTE: The pendant beeps when the cursor stops blinking as confirmation that the
position data was accepted for that motion step address.

11.4 Deleting a Step

Deleting a step may used to remove an unnecessary point. It may also be performed
with the intention of being replaced by inserting an entirely new instruction to correct
or improve the job path.
NOTE: To delete a step, the robot must be positioned at the step to be deleted.
When the robot is at the Command Position, the cursor will not blink.

To delete a step in a job, perform the following steps:

1. In TEACH mode, select the JOB CONTENT to be edited.
2. Move the cursor to the Address side of the step to be deleted.
3. If multiple tools in use, choose appropriate Tool No. 00-63.
4. FWD the robot to the COMMAND POSITION. (The cursor will not be blinking
when at the exact taught point).
5. Press the DELETE key.
6. With servos enabled, press the ENTER key.

CAUTION! Before running the job in PLAY mode, always confirm the edited path by
first using FWD/BWD with desired Manual Speed, and secondly by using
INTERLOCK+TEST START.

NOTE: All line numbers below the deleted address will renumber accordingly.

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11.5 Changing Step Motion Type

The Motion Type of a step can be changed from the Instruction side of a Job Content.
When changing to/from MOVJ from/to MOVL, the speed tag will adjust the units
accordingly unless changing from a MOVL VMAX= or MOVL VR=. There will not
be a speed tag associated with a VMAX= or VR=. Only MOVJ, MOVC, or MOVS
will appear on the Edit Buffer Line.
To change the Motion Type of a programmed step, perform the following:
1. In TEACH mode, select the JOB CONTENT to be edited.
2. Move the cursor to the Instruction side of the step to be modified. (The
instruction appears in the Edit Buffer Line.)
3. Press the SELECT key to move the cursor to the Edit Buffer line and highlight
the Motion Type instruction.

Figure 11-12 Change Motion Type

4. Hold either of the SHIFT keys and cursor up/down to choose the desired Motion
Type.
5. Press ENTER.

CAUTION! Changing the motion type of a step will alter the programmed path. Always
confirm the edited path by first using FWD/BWD with desired Manual Speed,
and secondly by using INTERLOCK+TEST START.

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11.6 Copy, Cut, Paste, & Reverse Paste

The CUT, COPY, PASTE & REVERSE PASTE functions edit jobs using a
“clipboard” memory buffer area as follows:

COPY Copies a specified range of lines/steps to the memory

buffer.
CUT Cuts a specified range of lines/steps from a job and
copies it to the memory buffer.
PASTE Inserts the memory buffer content into a job below the
cursor.
REVERSE PASTE Inserts the content of the memory buffer into a job in
reverse order below the cursor.

The content of the memory buffer “clipboard” may be placed elsewhere in the same
JOB CONTENT with PASTE or REVERSE PASTE. It may also be placed into any
other job with the same defined CONTROL GROUP.

The memory clipboard will remain until replaced by another COPY/CUT of

instructions or if deleted in the JOB menu’s JOB CAPACITY screen.

Figure 11-13 Example DELETE EDIT BUFFER

11.6.1 Copy
The COPY function copies a specified range of lines/steps to the memory buffer.
To copy a specified range of lines/steps to the memory buffer, perform the
following keystrokes:
1. In TEACH mode, select the JOB CONTENT.
2. Move the cursor to the Instruction side to the top/bottom line of the range to be
copied.

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3. Hold either of the SHIFT keys and press the SELECT key. The address is
highlighted in blue.
4. If more than one line is to be copied, move the cursor down/up highlighting the
desired range. The entire range will be highlighted blue.

Figure 11-14 Highlighting Range of Addresses

5. Choose EDIT in the Menu area.

6. Choose COPY from the drop-down. The highlighting on the address side
disappears when the copy is complete. (The cursor defaults back to the first line
of the selected range.)

Figure 11-15 COPY

11.6.2 Cut
The CUT function deletes/removes the range of lines (with consecutive highlighted
addresses) from the Job Content and stores it to the “clipboard” memory buffer.
To cut a specified range of lines from a job, perform the following keystrokes:
1. In TEACH mode, move the cursor to the Instruction side of the job to the top or
bottom line of the range to be cut.
2. Hold either of the SHIFT keys and press the SELECT key.

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 Job Editing

3. Move the cursor down/up to highlight the entire range to be cut.

4. Choose EDIT in the Menu area.
5. Choose CUT from the drop-down.
6. Choose YES on the “Delete?” window.

Figure 11-16 CUT

11.6.3 Paste
The PASTE function inserts the memory buffer into a JOB CONTENT below the
cursor from the Instruction side.
To paste the content of the current memory buffer, perform the following:
1. In TEACH mode, display a destination job.
2. Move the cursor to the Instruction side where the current content of the memory
buffer will be pasted below the cursor.
3. Choose EDIT in the Menu area.
4. Choose PASTE from the drop-down.
5. If the content is correct, choose YES on the “Paste?” window.

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The following is an example of a job, before and after pasting instructions.

Figure 11-17 Before and After PASTE

11.6.4 Reverse Paste

The REVERSE PASTE function inserts the content of the memory buffer into a job in
reverse order below the cursor from the Instruction side.
To reverse paste the content of the memory buffer, perform the following:
1. In TEACH mode, display a destination job.
2. Move the cursor to the Instruction side to reverse paste below the cursor
3. Choose EDIT in the Menu area.
4. Choose REVERSE PASTE from the drop-down.
5. If the content is correct, choose YES on the “Paste?” window.
The following is an example of copied lines reverse pasted into J:CIRCLE.
(Note how the speed tags indicate a REVERSE PASTE).

Figure 11-18 REVERSE PASTE

NOTE: The function for PATH REVERSE is activated by parameter in MANAGEMENT
or SAFETY Mode. Only the steps from the clipboard are pasted; the motion
types and velocities are changed according to the reverse of the original path.

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11.7 Comment Out Line/Lines

The COMMENT OUT function allows a line or multiple consecutive lines to be
commented out. The commented out lines will not be executed when the job is
executed. The color of the commented out line can also be changed under SETUP,
DISPLAY COLOR COND, INFORM COLOR (LINE COMMENT).
To comment out a specified range of lines/steps, perform the following
keystrokes:
1. In TEACH mode, select the job content.
2. Move the cursor to the Instruction side on the top/bottom line of the range to be
commented out.
3. Hold either of the SHIFT keys and press the SELECT key. The address is
highlighted in blue.
4. If more than one line is to be highlighted, move the cursor down/up highlighting
the desired range. The entire range will be highlighted blue.

Figure 11-19 Highlighting Range of Addresses

NOTE: The NOP and END instructions can not be commented out. Error 2371: EDIT
LOCK/COMMENT functions cannot be applied to NOP and END will occur.
5. Choose EDIT in the Menu area.
6. Choose COMMENT OUT in the drop-down.

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Figure 11-20 COMMENT OUT

The highlighting on the address side disappears when the comment out is complete
and // appears at the head of the instruction(s).

Figure 11-21 Lines 4 through 6 Commented Out

CAUTION! Before running the job in PLAY mode, always confirm the edited path by
first using FWD/BWD with desired Manual Speed, and secondly by using
INTERLOCK+TEST START.

NOTE: If the commented out line is selected or a modification attempted ERROR

1012: This line is defined as a comment will appear.

NOTE: When using the Structured Language paired instructions IFTHEN, ENDIF or
SWITCH, ENDSWITCH both instructions have to be commented out else the
ERROR 2372: This line cannot be defined as a comment will appear. If using
FOR, NEXT or WHILE, ENDWHILE only one of the instructions needs to be
commented out, the other will automatically be commented out.

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11.7.1 Canceling the Comment Out

To cancel out the comment out a specified range of lines/steps, perform the
following keystrokes:
1. In TEACH mode, select the job content.
2. Move the cursor to the Instruction side on the top/bottom line of the range to
remove the COMMENT OUT.
3. Hold either of the SHIFT keys and press the SELECT key. The address is
highlighted in blue.
4. If more than one line is to have COMMENT OUT removed, move the cursor
down/up highlighting the desired range. The entire range will be highlighted
blue.

Figure 11-22 Single Highlighting Address

5. Choose EDIT in the Menu area.

6. Choose *COMMENT OUT from the drop-down. The * may not appear if there
are non-commented out instructions in the range.

Figure 11-23 *COMMENT OUT

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The highlighting on the address side disappears when the comment clear is complete
and the // disappears from the head of the instruction(s).

Figure 11-24 COMMENT OUT Removed from a Single Line

11.7.2 Canceling the Comment Out for Whole Job

To cancel out the comment for a complete job, perform the following keystrokes:
1. In TEACH mode, with the cursor on the Instruction side, choose EDIT in the
Menu area.
2. Choose COMMENT OUT CLR (ALL) from the drop-down.

Figure 11-25 COMMENT CLR (ALL)

When the comment clear is complete the // disappears from the head of the
instructions.

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Figure 11-26 All COMMENT OUTs Removed

11.8 General Line Editing

General Line Editing is performed within the Edit Buffer Line; the JOB CONTENT
screen remains in view. It can only be used to modify numeric data or to change the
motion type of an existing step.

For a new instruction the Edit Buffer is accessed from the Address side; for an
existing instruction it is accessed from the Instruction side.

Some examples of Edit Buffer Line editing are shown in the following figure.

Figure 11-27 General Editing in Edit Buffer Line

To perform a general line edit in the Edit Buffer Line, complete the following in
TEACH mode:
1. If programming a new line, ensure that the cursor is on the Address side where
the new instruction will be inserted below the cursor.
2. Choose the desired instruction with MOTION TYPE key for a step or the
INFORM LIST key; press the SELECT key.
or
If changing an existing line, move the cursor on the Instruction side of the line to
be edited (the information appears on the Edit Buffer Line); press the SELECT
key.
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3. On the Edit Buffer Line, move the cursor to highlight the information to be
changed.
4. To choose from a list of data, hold either of the SHIFT keys and move the cursor
UP/DOWN until the desired change appears on the Edit Buffer Line. (Also, use
this method to change the motion type of an existing step.)
or
To enter data from the number keypad, press the SELECT key. The data entry
box appears to describe the selection. Enter the desired data and press the
ENTER key.

NOTE: Repeat steps 2 and 3 until all desired changes are displayed on the Edit
Buffer Line.
5. Press the ENTER key to accept the Edit Buffer Line into the JOB CONTENT.

11.9 Detail Edit

A DETAIL EDIT screen is associated with the initial “root” instruction. The first
element in a line of instruction (MOV_, TIMER, DOUT, etc.) is the root. The
DETAIL EDIT screen contains all of the detail tags that can be used by that root
instruction.

The DETAIL EDIT screen is accessible from the Address side for programming a
new instruction on the Edit Buffer Line or from the Instruction side to edit an existing
line in the job.
To perform a DETAIL EDIT, complete the following in TEACH mode:

NOTE: Keystrokes may vary based on whether the instruction is a motion instruction
or non-motion instruction. The desired instruction will be displayed on the Edit
Buffer Line with the cursor highlighting the root instruction.
1. If programming a new line, place the cursor on the Address side where the
new instruction will be inserted; choose the desired instruction, then press the
SELECT key.
or
If editing an existing line in the job, move the cursor on the Instruction side to
the line to be edited so that the existing line is displayed on the Edit Buffer Line,
then press the SELECT key.
2. With the cursor highlighting the root instruction, press the SELECT key. The
DETAIL EDIT screen is displayed in place of the Job Content.
3. Move the cursor and SELECT or tap an item to add/remove/change, make all the
desired detail edits from the available menu selections. Press the ENTER key
after each completed number keypad entry.

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Figure 11-28 MOVL DETAIL EDIT Screen

4. Press the ENTER key to accept the desired Edit Buffer Line and close the
DETAIL EDIT screen to return to the JOB CONTENT.
5. If on the Address side press the [INSERT], ENTER key to accept the instruction.

11.10 Positioning Level Tag

At higher velocities where an abrupt directional change occurs, for example at a
corner, the robot’s TCP will not fully reach the taught position. The controller will
maintain a continuous path flow with the job speed as its priority.

An additional detail “Positioning_level=” PL= tag may be used to define the level
of completion for that step. If exact precision is needed, regardless of the velocity, a
PL=0 tag can be used to have the robot reach the Command Position. This will cause
a momentary hesitation as the controller confirms the exact pulse data for [SLURBT].
Other settings of PL=1 through PL=8 are set by parameter in microns for the required
level of travel completion to the point.
11.10.1 Selecting a Position Level During Initial Step Programming
To add a Position Level during initial step programming, perform the following
keystrokes after choosing the MOTION TYPE in the Edit Buffer Line:
1. In TEACH mode, press the SELECT key to put the cursor on the root instruction
MOV in the Edit Buffer Line.
2. Press the SELECT key again to open the DETAIL EDIT screen.
3. Move the cursor to the POS LEVEL “UNUSED.”
4. Press the SELECT key or tap on “UNUSED.”

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Figure 11-29 DETAIL EDIT for POS LEVEL Tag

5. Move the cursor to PL= and press the SELECT key. If the default “0” is desired,
skip to step 8.
6. Move the cursor to the default setting “0” and press the SELECT key or tap on
the “0.”
7. Enter the desired POS LEVEL (1-8) and press the ENTER key.
8. Press the ENTER key to accept and close Detail Edit to return to the JOB
CONTENT.
9. Enable Servos and jog robot/TCP to desired position, press the [INSERT],
ENTER key.
The Command Position, Motion Type, Play Speed tag, and Position Level tag are
registered on the inserted step.
11.10.2 Adding a Position Level to an Existing Step
To add a Position Level to an existing step, perform the same keystrokes as above,
except highlight the existing line on the Instruction side of the Job Content so that the
instruction to be edited appears in the Edit Buffer Line.
11.10.3 Deleting a Position Level from an Existing Step

To delete a POS LEVEL, perform the following steps:

1. In TEACH mode from the Instruction side, move the cursor to the line where the
Position Level needs to be deleted and press the SELECT key.
2. Press the SELECT key again to open the DETAIL EDIT screen.
3. Move the cursor to the POS LEVEL “PL= .”
4. Press the SELECT key or tap on the “PL=.”

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Figure 11-30 Removing a POS LEVEL Tag

5. Move the cursor to “UNUSED.”
6. Press the SELECT key or tap on “UNUSED.”
7. Press the ENTER key to display the JOB CONTENT screen and the Edit Buffer
Line.
8. Press the ENTER key again to place the edited step into the job.

NOTE: The Position Level Tag may be enabled on the Edit Buffer Line for all new
inserted Motion Types if most points or at least several consecutive steps
will require the PL tag. To set this enabled, access the EDIT menu from the
Address side and choose ENABLE POS LVL TAG.

Figure 11-31 ENABLE POS LVL tag

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11.11 Position Distance Tag for MOVL

An additional MOVL detail “Positioning_level=” PD= tag may be used to define the
level of completion for that step. The PL= tag is based on parameters. If the value
in the parameter is changed after the jobs have been written a crash could occur or
cycle time affected. Using the PD= tag will define in millimeters the accuracy or
inaccuracy for the robot to reach the Command Position.
11.11.1 Selecting a Position Distance During Initial Step Programming
To add a Position Distance during initial step programming, perform the
following keystrokes after choosing the MOVL in the Edit Buffer Line:
1. In TEACH mode, press the SELECT key to put the cursor on the root instruction
MOVL in the Edit Buffer Line.
2. Press the SELECT key again to open the DETAIL EDIT screen.
3. Move the cursor to the POS LEVEL “UNUSED.”
4. Press the SELECT key or tap on “UNUSED.”

Figure 11-32 DETAIL EDIT for POS DISTANCE Tag

5. Move the cursor to PD= and press the SELECT key. If the default “0.1” is
desired, skip to step 8.
6. Move the cursor to the default setting “0.1” and press the SELECT key or tap on
the “0.1.”
7. Enter the desired POS DISTANCE (mm)= and press the ENTER key.

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Figure 11-33 DETAIL EDIT for MOVL POS DISTANCE Tag for Accuracy

8. Press the ENTER key to accept and close DETAIL EDIT to return to the JOB
CONTENT.
9. Enable Servos and jog robot/TCP to desired position, press the [INSERT],
ENTER key.
The Command Position, Motion Type, Play Speed tag, and Position Distance tag are
registered on the inserted step.
11.11.2 Adding a Position Distance to an Existing Step
To add a Position Distance to an existing step, perform the same keystrokes as above,
except highlight the existing line on the Instruction side of the Job Content so that the
instruction to be edited appears in the Edit Buffer Line.
11.11.3 Deleting a Position Distance from an Existing Step

To delete a POS LEVEL, perform the following steps:

1. In TEACH mode from the Instruction side, move the cursor to the line where the
Position Level needs to be deleted and press the SELECT key.
2. Press the SELECT key again to open the DETAIL EDIT screen.
3. Move the cursor to the POS DISTANCE “PD= .”
4. Press the SELECT key or tap on the “PD=.”

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Figure 11-34 Removing a POS DISTANCE Tag

5. Move the cursor to “UNUSED.”
6. Press the SELECT key or tap on “UNUSED.”
7. Press the ENTER key to display the JOB CONTENT screen and the Edit Buffer
Line.
8. Press the ENTER key again to place the edited step into the job.

11.12 FINE Tag

The FINE tag allows a “Positioning_accuracy=” setting that ranges from 0-3 for more
fine requirements to complete the Command Position step. The FINE=0 has the same
result as the PL=0 tag which causes a complete stop/hesitation at either the exact
COMMAND POSITION (0 Pulse Count tolerance), or within 25 Pulse Counts for
each motor, depending on an enabled/disabled parameter setting for the system.

The FINE tag may be added to a MOVJ, MOVL, MOVC, or a MOVS step
instruction.

Figure 11-35 Example FINE tag on MOVL

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This tag is beneficial when the accuracy requirement is between the range of
exact (PL=0 or FINE=0) up to about 1cm (10,000 microns) or 1/2-inch which is
approximately the PL=1 default setting (12,500 microns).

An individual parameter for each motor link is set in PULSE counts for SLURBT for
FINE=1, FINE=2, and FINE=3.

The Yaskawa/Motoman position set zones for the FINE tag are as follows:
FINE=1 (100 Pulse Counts)
FINE=2 (300 Pulse Counts)
FINE=3 (1,000 Pulse Counts)

11.12.1 Selecting a FINE tag During Initial Step Programming

To add a FINE accuracy tag during initial step programming, perform the
following keystrokes after choosing the MOTION TYPE in the Edit Buffer Line:
1. In TEACH mode, press the SELECT key to put the cursor on the root instruction
MOV in the Edit Buffer Line.
2. Press the SELECT key again to open the DETAIL EDIT screen.
3. Move the cursor to the POS LEVEL “UNUSED.”
4. Press the SELECT key or tap on “UNUSED.”

Figure 11-36 DETAIL EDIT for FINE Tag

5. Move the cursor to FINE= and press the SELECT key. If the default “0” is
desired, skip to step 8.
6. Move the cursor to the default setting “0” and press the SELECT key or tap on
the “0.”

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Figure 11-37 DETAIL EDIT for FINE Tag Positioning_accuracy

7. Enter the desired Positioning_accuracy (1-3) and press the ENTER key.
8. Press the ENTER key to accept and close Detail Edit to return to the JOB
CONTENT.
9. Enable Servos and jog robot/TCP to desired position, press the [INSERT],
ENTER key.
The Command Position, Motion Type, Play Speed tag, and FINE tag are registered on
the inserted step.
11.12.2 Adding a FINE tag to an Existing Step
To add a FINE tag to an existing step, perform the same keystrokes as above, except
highlight the existing line on the Instruction side of the Job Content so that the
instruction to be edited appears in the Edit Buffer Line.
11.12.3 Deleting a FINE tag from an Existing Step

To delete a FINE tag, perform the following steps:

1. In TEACH mode from the Instruction side, move the cursor to the line where the
FINE tag needs to be deleted and press the SELECT key.
2. Press the SELECT key again to open the DETAIL EDIT screen.
3. Move the cursor to the POS. ACCURACY “FINE= .”
4. Press the SELECT key or tap on the “FINE=.”

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Figure 11-38 Removing a FINE Tag

5. Move the cursor to “UNUSED.”
6. Press the SELECT key or tap on “UNUSED.”
7. Press the ENTER key to display the JOB CONTENT screen and the Edit Buffer
Line.
8. Press the ENTER key again to place the edited step into the job.

11.13 FPT Tag

The YRC1000 calculates a new circular path for each consecutive group of three
MOVC instructions as shown in the figure below.
1

2
1. MOVC
2. MOVC
3. MOVC 3
4. MOVC
5. MOVC
4

Figure 11-39 Consecutive MOVC Interpolation

The MOVC Detail Edit provides “Circle End MOD” as a finish point with FPT tag.
This tag finalizes the previous circular calculation and restarts another at this point.
Without this tag, an additional MOVL would be inserted as an interrupt between the
two arcs for their directional change. The FPT tag makes this unnecessary.

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2
1. MOVC
2. MOVC
3. MOVC FPT 3
4. MOVC
5. MOVC
4

Figure 11-40 Consecutive MOVC Interpolation with FPT

11.13.1 Selecting a FPT tag During Initial Step Programming

To add a FINE accuracy tag during initial step programming, perform the
following keystrokes after choosing the MOVC in the Edit Buffer Line:
1. In TEACH mode, press the SELECT key to put the cursor on the root instruction
MOVC in the Edit Buffer Line.
2. Press the SELECT key again to open the DETAIL EDIT screen.
3. Move the cursor to the CIRCLE END MOD “UNUSED.”
4. Press the SELECT key or tap on “UNUSED.”

Figure 11-41 DETAIL EDIT for FPT Tag

5. Move the cursor to FPT and press the SELECT key.
6. Press the ENTER key to accept and close Detail Edit to return to the JOB
CONTENT.
7. Enable Servos and jog robot/TCP to desired position, press the [INSERT],
ENTER key.
The Command Position, Motion Type, Play Speed tag, and FPT tag are registered on
the inserted step.

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11.13.2 Adding a FPT tag to an Existing Step

To add a FPT tag to an existing step, perform the same keystrokes as above, except
highlight the existing line on the Instruction side of the Job Content so that the
instruction to be edited appears in the Edit Buffer Line.
11.13.3 Deleting a FPT tag from an Existing Step

To delete a FPT tag, perform the following steps:

1. In TEACH mode from the Instruction side, move the cursor to the line where the
FPT tag needs to be deleted and press the SELECT key.
2. Press the SELECT key again to open the DETAIL EDIT screen.
3. Move the cursor to the CIRCLE END MOD “FPT .”
4. Press the SELECT key or tap on the “FPT.”

Figure 11-42 Removing a FPT Tag

5. Move the cursor to “UNUSED.”
6. Press the SELECT key or tap on “UNUSED.”
7. Press the ENTER key to display the JOB CONTENT screen and the Edit Buffer
Line.
8. Press the ENTER key again to place the edited step into the job.

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11.14 COORD Tag

As the YRC1000 interpolates the path of the TCP when using MOVCs, the
orientation of the tool along the path may not be as desired.

The MOVC Detail Edit provides “CIRC POSE CTRL” with a COORD tag.

This tag allows a “CIRCLE_POSTURE_CTRL=” setting that ranges from 0-1 for
tool orientation requirements along the path.
11.14.1 Selecting a COORD tag During Initial Step Programming
To add a COORD accuracy tag during initial step programming, perform the
following keystrokes after choosing the MOVC in the Edit Buffer Line:
1. In TEACH mode, press the SELECT key to put the cursor on the root instruction
MOVC in the Edit Buffer Line.
2. Press the SELECT key again to open the DETAIL EDIT screen.
3. Move the cursor to the CIRC. POSE CTRL “UNUSED.”
4. Press the SELECT key or tap on “UNUSED.”

Figure 11-43 DETAIL EDIT for COORD Tag

5. Move the cursor to COORD= and press the SELECT key. If the default “0” is
desired, skip to step 8.
6. Move the cursor to the default setting “0” and press the SELECT key or tap on
the “0.”

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 Job Editing

Figure 11-44 DETAIL EDIT for Circle_posture_ctrl

7. Enter the desired Circle_posture_ctrl (0-1) and press the ENTER key.
8. Press ENTER to accept and close Detail Edit to return to the JOB CONTENT.
9. Enable Servos and jog robot/TCP to desired position, press the [INSERT],
ENTER key.
The Command Position, Motion Type, Play Speed tag, and COORD tag are registered
on the inserted step.
11.14.2 Adding a COORD tag to an Existing Step
To add a COORD tag to an existing step, perform the same keystrokes as above,
except highlight the existing line on the Instruction side of the Job Content so that the
instruction to be edited appears in the Edit Buffer Line.
11.14.3 Deleting a COORD tag from an Existing Step

To delete a COORD tag, perform the following steps:

1. In TEACH mode from the Instruction side, move the cursor to the line where the
COORD tag needs to be deleted and press the SELECT key.
2. Press the SELECT key again to open the DETAIL EDIT screen.
3. Move the cursor to the CIRC. POSE CTRL “COORD= .”
4. Press the SELECT key or tap on the “COORD=.”

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Job Editing

Figure 11-45 Removing a COORD Tag

5. Move the cursor to “UNUSED.”
6. Press the SELECT key or tap on “UNUSED.”
7. Press the ENTER key to display the JOB CONTENT screen and the Edit Buffer
Line.
8. Press the ENTER key again to place the edited step into the job.

11.15 Comment for Step Instruction

A comment may be added to any MOV_ step instruction in DETAIL EDIT either
during initial programming from the Address side or when editing an existing step
from the Instruction side.

The instruction and comment are separated by a double slash “//” delineation.
MOVJ VJ=100.00 // HOME POSITION
To add a Comment to any Motion Type Instruction, perform the following:
1. SELECT the DETAIL EDIT screen of the MOV_ instruction.
2. Move the cursor to COMMENT UNUSED.
3. Press the SELECT key or tap on COMMENT UNUSED.
4. Move the cursor to //.

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 Job Editing

Figure 11-46 DETAIL EDIT for COMMENT

5. Press the SELECT key.

6. Move the cursor to the default setting COMMENT.
7. Press the SELECT key. The keyboard will be displayed.
8. Type a comment up to 32 characters and press the ENTER key.
9. Press the ENTER key to return to the DETAIL EDIT screen.
10. Press the ENTER key to return to the JOB CONTENT screen.
11. Press [INSERT] if on the address side, the ENTER key to accept into the job
content.

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Job Editing

NOTES

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 Speed Editing

12.0 SPEED EDITING

The numeric data in the speed tags of motion steps within a single JOB CONTENT
can be edited either individually, or by type, or as a batch.

The following is a list of various methods for editing speed tag data:
• PLAY SPEED LIST
• DATA ENTRY
• DETAIL EDIT
• CHANGE SPEED

12.1 Play Speed List

The eight preset Play Speeds are accessed from within the Edit Buffer Line. The
MOVJ default settings and other example settings are shown in the table below.
Table 12-1 PLAYBACK SPEED LIST

Factory Default Playback Speed Lists

VJ=Joint_speed V=Control_point_speed VR= Angle_speed

(TCP velocity) (TCP rotation)

% mm/sec cm/min inch/min mm/min deg/sec

100.00 1500.0 9000 3543 90000 360.0

50.00 750.0 4500 1772 45000 180.0

25.00 375.0 2250 886 22500 90.0

12.50 187.0 1122 442 11220 45.0

6.25 93.0 558 220 5580 22.5

3.12 46.0 276 109 2760 11.3

1.56 23.0 138 54 1380 5.7

0.78 11.0 66 26 660 2.9

To modify a speed tag (expressed as a CONSTANT) to any one of the eight preset
speeds from the list, perform the following steps:
1. In TEACH mode, move the cursor to the Instruction side of the screen on the
step to be changed.
2. Press the SELECT key. The cursor appears in the Edit Buffer Line highlighting
the MOV_.
3. Cursor right to highlight the speed tag data.
4. Hold either of the SHIFT keys while pressing the cursor up to increase the speed,
or down to decrease the speed.
5. Press the ENTER key for Edit Buffer Line to replace the line in the job.

NOTE: This method only allows one line at a time to be edited, and it only offers a
selection from the eight preset velocities.
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Speed Editing

12.2 Data Entry

An individual step’s speed tag may be edited by using the number keypad to enter any
CONSTANT value within the range of the corresponding velocity unit.
To modify a programmed speed tag using the number keypad, perform the
following steps:
1. In TEACH mode, move the cursor to the Instruction side of the screen on the
step that requires changing.
2. Press the SELECT key. The cursor appears on the Edit Buffer Line highlighting
the MOV_.
3. Cursor right to highlight the speed data to be changed.
4. Press the SELECT key. A prompt appears for the appropriate type velocity along
with the data entry box.

Figure 12-1 Velocity Data Line Entry

5. Enter the desired data on the number keypad.

6. Press the ENTER key.
7. Press the ENTER key again for the Edit Buffer Line to replace the line in the job.

12.3 Detail Edit

The DETAIL EDIT screen not only allows the speed data to be changed using the
number keypad, but it also includes the ability to change the type of Velocity tag “V”
to “VR” or “V” to “VMAX” depending on the Motion Type.
To change velocities with DETAIL EDIT, perform the following steps:
1. In TEACH mode from the Instruction side of the screen, move the cursor to the
line to be edited.
2. Press the SELECT key; the cursor will move to the Edit Buffer Line.
3. With the cursor highlighting the root instruction, MOV_, press the SELECT key.
The DETAIL EDIT screen will display.

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 Speed Editing

NOTE: There are three different speed data types (V, VMAX, or VR) for MOVL. To
change to VMAX or VR, cursor to the “V” and press SELECT.
4. Cursor to the speed data to be changed.
5. Press the SELECT key.
6. Enter the desired speed data on the number keypad.
7. Press the ENTER key.

VJ = Joint_speed MOVJ [0.01-100.00%]

V = Control_point_speed MOVL; MOVC; MOVS
[0.1-1500.0 mm/sec]
[1-9000 cm/min]
[1-3543 inch/min]
[1-90000 mm/min]

VR = Angle_speed MOVL; MOVC; MOVS [0.1-360.0 deg/sec]
VMAX = Maximum motor speed MOVL [50-100%]

8. Press the ENTER key to accept the data, close the DETAIL EDIT, and return to
the Job Content.
9. Press the ENTER key again for the Edit Buffer Line to replace the line in the job.

12.4 Change Speed

The EDIT menu CHANGE SPEED function allows for the modification of speed data
on all or a selected range of steps within a single job. This is an advantage over the
Play Speed List or Data Entry methods which only edit an individual speed tag.
NOTE: Using any function to make changes to a job (Change Speed, Parallel Shift,
etc.) clears the Undo Buffer.

Range of Addresses
Before accessing the CHANGE SPEED feature in the EDIT menu, a range of
consecutive addresses may be highlighted from the Instruction side by holding the
of the SHIFT keys and pressing the SELECT key to set the START LINE NO., then
cursor to the END LINE NO. in the Job Content. If no addresses are highlighted,
then the entire job is available for the CHANGE SPEED process in the EDIT menu
from the Instruction side.

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Speed Editing

Figure 12-2 SPEED MODIFICATION Screen

Modification Type
CONFIRM or NO CONFIRM under MODIFICATION TYPE functions as follows:

• NO CONFIRM Upon selecting EXECUTE, all steps will be changed

simultaneously and the refreshed Job Content appears.

• CONFIRM Upon selecting EXECUTE, the screen returns to the

Job Content with a single step highlighted. Each step
may be Confirmed (changed individually) using the
ENTER key, or skipped (not changed) using the cursor.

Figure 12-3 MODIFICATION TYPE Selection

NOTE: After EXECUTE, each time the CHANGE SPEED screen is accessed, it
defaults back to NO CONFIRM; SPEED KIND: VJ; SPEED: 25.00%.

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 Speed Editing

Speed Kind
The SPEED KIND selection allows either one type (VJ, V, VR, or VE) to be edited
exclusively, or all types, except VMAX, to be modified with the RELATIVE choice
using a percentage decrease (1-99%) or increase (101-200%).

Figure 12-4 SPEED KIND Selection

Speed
The SPEED element allows for number keypad entry of a specific speed CONSTANT
for the VJ, V, VR, and VE speed types. The speed data must be within the allowable
range of the selected SPEED KIND. The RELATIVE speed data entry is the
percentage multiplier that will be applied to all, except VMAX, of the numeric speed
kind data within the job.

After setting all of the above elements as desired, choose EXECUTE.

If CONFIRM was active, complete the process of ENTER for each change, then press
CANCEL to quit from the active “Modifying Speed” message.

CAUTION! Always observe the initial Playback in one cycle after significant speed
editing. (The MACHINE LOCK Special Run will logically confirm if any
Excessive/Over-Speed alarms will exist prior to physically running
through the job.)

12.5 Cycle Time Display

The CYCLE TIME screen displays the PLAYBACK TIME, which is the amount of
time since the START button was last pressed.
To enable the CYCLE TIME display, perform the following keystrokes:
1. Switch to PLAY mode.
2. In the desired JOB CONTENT, choose DISPLAY in the Menu area.
3. Choose CYCLE TIME in the drop-down.

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Speed Editing

An asterisk “ * ” appears beside it indicating that this detail will now be displayed
whenever in PLAY mode until it is disabled by repeating these steps.

Figure 12-5 CYCLE TIME Display

NOTE: To determine the time for just one cycle, play the job from NOP to END in
Cycle mode. If the job is run in AUTO cycle, the Cycle Time display will show
the cumulative time data.

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 INFORM LIST

13.0 INFORM LIST

The INFORM LIST includes all of the non-motion programming instructions. These
instructions perform tasks related not only to the end-of-arm tooling, but also the
control of sequence, the operation and monitoring of inputs and outputs, as well as
Arithmetic functions. Availability is based on software version, software options, and
the application setup for the YRC1000 Controller.

13.1 Using the INFORM LIST Key

The INFORM LIST key is functional only when in the EDITING, MANAGEMENT,
or SAFETY Mode. The cursor must be on the Address side of the JOB CONTENT.

The list is opened and closed by pressing the INFORM LIST Key; it is displayed on
the right side of the screen indicated by the titles as shown.

INFORM
LIST

Figure 13-1 Inform List

Choosing a desired category title allows access to the specific instructions. A

mistaken selection to the Edit Buffer Line can be closed by pressing CANCEL.

Figure 13-2 INFORM LIST Specific Instructions (CONTROL)

NOTE: Touch the screen to move the active cursor from/to the INFORM LIST to/from
the last active address underlined in the JOB CONTENT screen.

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INFORM LIST

13.2 Language Level

The INFORM language has three levels of instruction sets. These range from a
reduced instruction set for ease of programming to a complete instruction set.

SUBSET The SUBSET Language instruction set reduces the number of

instructions in the INFORM LIST for IN/OUT, ARITH, CONTROL,
SHIFT, and DEVICE.
STANDARD The STANDARD Language instruction set allows use of all
standard menu instructions on the INFORM LIST. (Software
Option menu items will appear upon installation.)
EXPANDED All programming choices become available in EXPANDED
Language which includes the following additions:
• Expanded JOB HEADER to reserve Local Variables
• Array addressing for arithmetic and position variable types
• Fully expanded INFORM LIST to access all instructions.
(For example, CWAIT is not available in SUBSET or STANDARD.)

NOTE: Instructions existing in a job will be executed at playback, regardless of the

current language level of the instruction set.

To set the Language Level, perform the following keystrokes in TEACH mode:
1. Verify the Main Menu is open.
2. Choose SETUP in the Main Menu.
3. Choose TEACHING COND. in the sub-menu.

Figure 13-3 SETUP, TEACHING COND.

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 INFORM LIST

4. Cursor to or touch the LANGUAGE LEVEL indicator box to highlight the

current level.

Figure 13-4 LANGUAGE LEVEL

5. Press the SELECT key or tap the indicator box.

6. Cursor to or touch the desired level.
7. Press the SELECT key.

NOTE: This training manual is based on the STANDARD Language Level.

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INFORM LIST

NOTES

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 CONTROL Instructions

14.0 CONTROL INSTRUCTIONS

The Control instructions, such as CALL, RET, JUMP, PAUSE, or ABORT are used
to control the flow, or sequencing, of the logic within a job and/or multiple jobs.
These five particular instructions can be made conditional so that the controller logic
determines whether or not to execute that instruction.

14.1 CALL and RET

The CALL instruction allows one job to open another as a subroutine. The job doing
the calling is referred to as the “parent” job. The job being called is referred to as a
“child” job in which an optional return RET instruction or the END completes that
child job. The controller will resume execution of the parent job with the next line of
instruction beneath the corresponding CALL instruction.
14.1.1 Linking Jobs with CALL
Jobs can be linked together consecutively simply by creating a parent job with a
CALL instruction for each desired child job in the order they should be executed.

Figure 14-1 Linking Jobs Using CALL

NOTE: The FWD/BWD keys by default do not execute non-motion instructions.
The CALL can be executed while in TEACH by using INTERLOCK+FWD
to execute one line, or by using INTERLOCK+TEST START for continuous
operation.
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CONTROL Instructions

CAUTION! If the called job is also a motion job, great care should be taken to
ensure a clear path to and from the child job.

To program a CALL JOB:(child name) instruction into the parent job, perform
the following steps:
1. In TEACH mode, move the cursor to the Address side of the screen on the line
above where the call is to be entered.
2. Press the INFORM LIST key.
3. Choose CONTROL from the Inform List.
4. Choose CALL in the sub-menu. Press the SELECT key to access the DETAIL
EDIT if other tags are required.
5. Cursor right to the job name and press the SELECT key.
6. Cursor to or touch the job name to be called from the job list; press the SELECT
key or tap on the job name.
7. To close Detail Edit, press the ENTER key to accept the completed Edit Buffer
Line and return to the JOB CONTENT screen.
8. Press [INSERT], the ENTER key to put the instruction into the job.

14.1.2 Direct Open

Pressing the DIRECT OPEN key “on” while the cursor is highlighting the Address
or the Instruction line of an unconditional CALL JOB:(child name) will open its Job
Content.

DIRECT
OPEN

Figure 14-2 Displaying a “child” Job Using DIRECT OPEN

Holding either of the SHIFT keys and pressing DIRECT OPEN will close the child
job display and return to the parent JOB CONTENT.

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 CONTROL Instructions

If the CALL JOB:(child name) is conditioned with an IF condition, the controller

does not know if the JOB CONTENT or the condition status is to be displayed. A
dialog box will appear allowing selection of the desired item.

Figure 14-3 DIRECT OPEN on a conditional CALL JOB.

Selecting on the desired item will open the JOB CONTENT, I/O, or Variable screen.

To return to the parent JOB CONTENT from the DIRECT OPEN I/O or VARIABLE
display press DIRECT OPEN.

To return to the parent JOB CONTENT display from the child JOB CONTENT
display hold either of the SHIFT keys and pressing DIRECT OPEN

NOTE: While in the DIRECT OPEN JOB CONTENT, the “child” job can be edited.
Also, the FWD/BWD and INTERLOCK+TEST START functions can be
operated.

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CONTROL Instructions

14.1.3 Use of the RET Instruction

The optional return RET instruction is used to have the controller terminate or “close”
the child job prior to the child job’s END. This allows only the instructions preceding
the RET to be executed in the child job.

In the following parent/child job sample, if the condition is true, the child job will
terminate when Line L:0003 is executed and then resume execution of the parent job
at Line L:0004. If the condition is false, the child job will continue execution to its
END, and then return to the parent to resume.
PARENT CHILD
J:ABC J:123
0000 NOP 0000 NOP
0001 MOVJ VJ=50.00 0001 MOVL V=46.0
0002 MOVJ VJ=6.25 0002 MOVL V=46.0
0003 CALL JOB:123 0003 RET IF IN#(1)=ON
0004 MOVJ VJ=25.00 0004 MOVL V=46.0
0005 MOVJ VJ=100.00 0005 MOVL V=46.0
0006 END 0006 END

Figure 14-4 RET Instruction in Called Child Job

CAUTION! Ensure a clear path to and from the child job if the RET instruction is executed
as well as when returning after the END.

To program the RET instruction in a called child job, perform the following:
1. In TEACH mode, move the cursor to the Address side of the job screen, and
press the INFORM LIST key.
2. Choose CONTROL.
3. Choose RET in the sub-menu. Press the SELECT key to access the Detail Edit if
other tags are required.
4. To close Detail Edit, press the ENTER key to accept the completed Edit Buffer
Line and return to the JOB CONTENT screen.
5. Press [INSERT], the ENTER key to place the instruction into the job below the
cursor.

NOTE: When a child job is “independently” executed without being called by a parent,
any attempt to execute a RET instruction will cause the “ALARM: 4440
UNDEFINED RETURN JOB” to occur.

14.1.4 Nesting Jobs

The CALL instruction can be used within a child job to “nest” jobs inside one
another. With each new parent/child execution, a JOB STACK of parent names is
accumulated so that the controller can track the proper RET/END sequence as each is
completed.

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 CONTROL Instructions

Up to twelve levels of nested jobs can be used; the original parent is level one.
The following job samples illustrate child jobs nested from the original parent job:

Figure 14-5 Nesting Jobs Using CALL

To display the JOB STACK, perform the following steps:

1. In PLAY mode, choose DISPLAY from the Menu area.
2. Choose JOB STACK.
An asterisk “*” appears beside it indicating that this screen will now always be
displayed when in PLAY mode. To remove the display, repeat the above procedures.

Figure 14-6 JOB STACK of Parent Names with Active Child Job Running

NOTE: ALARM 4452 STACK MORE THAN 12 (JOB CALL) occurs if more than 12
levels of nested calls are attempted.

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CONTROL Instructions

14.2 JUMP*LABEL and *LABEL

The JUMP *LABEL instruction works only with the *LABEL instruction.

Together they instruct the controller to go from the line of the JUMP*LABEL to the
matching *LABEL within the same job and resume execution on the next line.

The JUMP*LABEL can be used in combination with *LABEL to omit a portion of

lines in the job or to create a repeat loop.
NOTE: The label automatically includes the asterisk (∗). The programmer can
redefine the default characters, LABEL, with 1 to 8 characters using any
combination of upper or lowercase letters, numbers, and symbols.

14.2.1 JUMP to Skip/Omit Lines

To skip a section of lines, the JUMP *LABEL must precede its matching *LABEL.

In the following job sample, the controller will jump over lines L:0006, L:0007, and
L:0008, and search for the matching label on L:0009, then resume execution with the
instruction on L:0010 (only if the condition(s) is/are true); otherwise, the controller
will execute all lines in between.

0000 NOP
0001 MOVJ VJ=0.78
0002 MOVJ VJ=100.00
0003 MOVJ VJ=25.00 PL=0
0004 MOVL V=112.5
0005 JUMP *LABEL1 IF IN#(4) = ON
0006 MOVL V=112.5
0007 MOVL V=112.5
0008 MOVL V=112.5
0009 *LABEL1
0010 MOVL V=112.5
0011 MOVJ VJ=25.00
0012 MOVJ VJ=100.00
0013 END
Figure 14-7 Jump to Omit Lines

CAUTION! Ensure a clear path from the last step preceding the JUMP *LABEL to
the next step after the corresponding *LABEL.

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 CONTROL Instructions

14.2.2 JUMP to Create a Repeat Loop

To create a repeat loop, the *LABEL must precede the JUMP *LABEL instruction.

In the following job sample, the controller will initially ignore the *LABEL on
L:0005 until it reaches the corresponding JUMP *LABEL instruction on L:0011.
The job execution will then repeatedly loop back to perform Lines L:0006 through
L:0010 if the conditional is true upon each execution of L:0011. If the condition upon
execution of L:0011 is not true, the controller will continue with the next line after the
JUMP, in this case L:0012.

0000 NOP
0001 MOVJ VJ=0.78
0002 SET B001 3
0003 MOVJ VJ=100.00
0004 MOVJ VJ=25.00
0005 *LABEL
0006 MOVC V=120.8
0007 MOVC V=120.8
0008 MOVC V=120.8
0009 MOVC V=120.8
0010 DEC B001
0011 JUMP *LABEL IF B001 > 0
0012 MOVJ VJ=25.00
0013 MOVJ VJ=100.00
0014 END

Figure 14-8 Jump to Repeat Lines

To program the JUMP*LABEL instruction, complete the following steps:

1. In TEACH mode, move the cursor to the Address side of the screen on the line
above where the JUMP instruction is to be inserted.
2. Press the INFORM LIST key.
3. Choose CONTROL.
4. Choose JUMP from the sub-menu.
5. “JUMP ∗LABEL” appears on the Editing Buffer line. Cursor right to the word
LABEL or to the existing LABEL name if the instruction has been previously
used since powering on the controller, and press the SELECT key.
6. If desired, press the CANCEL key to clear the [Result] line and remove any
current label definition. Choose up to 8 characters. When complete, press the
ENTER key.
7. Press [INSERT], the ENTER key to insert the instruction into the job.

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CONTROL Instructions

14.2.3 Use of the *LABEL Instruction

A matching *LABEL instruction must be programmed in a job when a paired JUMP
*LABEL instruction is used in reference to it. The Label characters must be exactly
the same as the Label name specified in the corresponding JUMP *LABEL.
To program a Label into a job, perform the following steps:
1. In TEACH mode, move the cursor to the Address side of the screen.
2. Press the INFORM LIST key.
3. Choose CONTROL.
4. Choose LABEL from the sub-menu.
5. “*LABEL” appears on the Editing Buffer Line. Cursor right to highlight the
word LABEL or to the existing LABEL name, and press the SELECT key.

NOTE: The Label automatically includes the asterisk (*) and each *LABEL within a
Job Content must be unique. The default label name, “LABEL”, may be used.
6. Press the CANCEL key to clear the [Result] line; choose the characters as
referenced by its corresponding JUMP *LABEL instruction. When complete,
press the ENTER key.

7. Press [INSERT], the ENTER key to place the Label into the job.

14.3 JUMP JOB

The JUMP JOB:(name) instruction is used to abort the currently active job and begin
execution of an entirely different job. The controller will not return to the original job
after jumping to another job.

In L:0003 of the following job sample, the controller will stop execution of the
original job, and instead, execute the JOB:R completely to its END instruction (only
if the condition is true); otherwise, it will continue to execute the original job.

0000 NOP
0001 CALL JOB:START
0002 CALL JOB:DX
0003 JUMP JOB:R IF IG#(1) = 15
0004 CALL JOB:C
0005 CALL JOB:START
0006 END
Figure 14-9 Jump to a Job

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 CONTROL Instructions

To program a JUMP JOB: instruction, complete the following:

1. In TEACH mode, move the cursor to the Address side on the line above where
the JUMP JOB: instruction is to be inserted.
2. Press the INFORM LIST key.
3. Choose CONTROL.
4. Choose JUMP from the sub-menu.
5. Press the SELECT key to access DETAIL EDIT.
6. With the cursor on “*” press the SELECT key.
7. Cursor to highlight the “JOB:” tag and press the SELECT key.
8. Cursor right and press the SELECT key to access the job list. Cursor to the
desired job name and press the SELECT key.
9. Press the ENTER key to accept the completed Edit Buffer Line, close the Detail
Edit, and return to the JOB CONTENT screen.
10. Press [INSERT], the ENTER key to put the instruction into the job.

14.4 COMMENT
Comments are notes/prompts to the programmer or operator. Comments are preceded
by an apostrophe (’) and are limited to 32 characters per line.
To program a comment into a job, perform the following steps:
1. In TEACH mode, move the cursor to the Address side of the screen.
2. Press the INFORM LIST key.
3. Choose CONTROL.
4. Choose COMMENT from the sub-menu.
5. An apostrophe ( ’ ) appears on the Edit Buffer Line. Cursor right to highlight
COMMENT and press the SELECT key.

NOTE: Up to 32 characters can be used with upper or lower case letters, numbers,
symbols, or any combination. A Space button is available for use between
words. Pressing and holding the SHIFT key moves the cursor to the name
line allowing right/left cursor and the use of the Backspace button to remove
individual characters. Pressing the CANCEL key removes all characters from
the input line.
6. Press the CANCEL key to clear the input line, then select each desired character.
When complete, press the ENTER key.
7. Press [INSERT] the ENTER key to insert the Comment into the job.

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CONTROL Instructions

14.5 TIMER
The TIMER instruction causes a delay in execution of the job until the designated
time expires. The cursor remains on this instruction line while the controller executes
the TIMER.

The TIMER instruction is used when the robot needs to remain at a certain position
for some length of time, such as establishing vacuum, gripping, tool change, etc.

The TIMER’s range is 0.01 to 655.35 seconds.

To program a TIMER instruction, complete the following steps:

1. In TEACH mode, move the cursor to the Address side of the screen.
2. Press the INFORM LIST key.
3. Choose CONTROL.
4. Choose TIMER from the sub-menu.
5. Cursor to the time data (T= expressed in seconds) and press the SELECT key.
6. Enter the amount of time required (0.01 to 655.35 seconds) and press the ENTER
key.
7. Press [INSERT], the ENTER key to insert the TIMER into the job.

NOTE: In some systems, quick access is available to the TIMER instruction by

pressing the “1” key on the number keypad.

14.6 PAUSE
The PAUSE instruction is used whenever a programmed hold is required to suspend
execution of the job. The START lamp turns OFF, and the robot maintains its
position.

The message line displays

To resume, press the START button.

To program a PAUSE instruction, complete the following steps:

1. In TEACH mode, move the cursor to the Address side of the screen.
2. Press the INFORM LIST key.
3. Choose CONTROL.
4. Choose PAUSE from the sub-menu.
5. Press [INSERT], the ENTER key to insert the PAUSE into the job.

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 CONTROL Instructions

14.7 ABORT
The ABORT instruction is used to stop execution of the job and requires a job to be
re-selected. The START lamp turns OFF, and the robot maintains its position.

The message line displays

To resume, re-select a job.

To program a ABORT instruction, complete the following steps:

1. In TEACH mode, move the cursor to the Address side of the screen.
2. Press the INFORM LIST key.
3. Choose CONTROL.
4. Choose ABORT from the sub-menu.
5. Press [INSERT], the ENTER key to insert the ABORT into the job.

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CONTROL Instructions

NOTES

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 Variables & ARITH Instructions

15.0 ARITHMETIC VARIABLES & INSTRUCTIONS

Whenever any data is not expressed as a CONSTANT value, an appropriate type of
VARIABLE address is used to store and reference for current content data that may
“vary” during job execution.

The YRC1000 controller has the following types of VARIABLE types:

ARITHMETIC [BYTE, INTEGER, DOUBLE PRECISION, AND REAL]
STRING [ASCII Characters]
POSITION [ROBOT, STATION, BASE]
TIMER [Time value]
TIMER FLAG [ON or OFF]
FLAG [Boolean, 0 or 1]
Global Variable files are available to all jobs so that any information stored from one
job may be used by another.

15.1 Arithmetic Variables

Each Arithmetic Variable address can only store one numeric data value as its content.
The type of variable address determines its range and use capabilities.
Table 15-1 Arithmetic Variable Table

Type Addresses Range Application

BYTE B000-B099 0-255 I/O Communication

INTEGER I000-I099 -32768 to +32767 Counting

DOUBLE D000-D099 -2147483649 to +2147483647 Distance (Microns)

±3.400000 E+38
Higher Arithmetic Calculations
(minimum/maximum)
REAL R000-R099 (DIV, SQRT, SIN, COS, ATAN,
±9.999999E-38
etc.)
(values between -1 and +1)

15.1.1 Displaying an Arithmetic Variable Type/Address

To display a variable type and view the content value in any variable address,
(regardless of TEACH or PLAY mode), perform the following steps:
1. From the Main Menu, choose VARIABLE.
2. Choose the variable type (INTEGER, DOUBLE PRECISION, REAL, or BYTE).
3. Touch and drag up/down.
or
Cursor to locate the appropriate variable address.

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Variables & ARITH Instructions

or
With the cursor on the variable address, press the SELECT key, Type in the
desired address number from the keypad, and press the ENTER key.
or
From the MENU Area, choose EDIT. Choose SEARCH. Type the desired
address number from the keypad and press the ENTER key.

15.1.2 Editing Variables

The content of an Arithmetic Variable address can be manually edited in TEACH
mode only.
To change the content value in a variable address, perform the following steps:
1. Display the desired variable address.
2. Move the cursor to the content data of the variable address or touch the content
data of the variable address.
3. Press the SELECT key or tap in the content’s box.
4. Enter the desired value (within the variable type’s range) on the numeric keypad,
and press the ENTER key.

Figure 15-1 BYTE VARIABLE File Example

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 Variables & ARITH Instructions

15.2 Arithmetic Instructions

The ARITH (Arithmetic) menu on the INFORM LIST contains a selection of
instructions that are used for calculation purposes, etc. The following table is an
overview of the instructions used for counting up/down, setting an initial value, and
clearing the content for a range of consecutive addresses to the default, zero.
Table 15-2 Arithmetic Instruction Table

Function Format Example Result

INC B<address> INC B023
Adds one to the contents If contents = 6
INC of specified address.
INC I<address> INC I023
increments to 7.
INC D<address> INC D023
Subtracts one from the DEC B<address> DEC B023
If contents = 6
DEC contents of specified DEC I<address> DEC I023
decrements to 5.
address. DEC D<address> DEC D023
Sets Data 1 equal I012 becomes a
SET to Data 2.
SET <Data 1> <Data 2> SET I012 3
constant of 3.
Clears I007, 8, 9, 10
Clears range from ad- CLEAR <address> CLEAR I007 4
CLEAR dress to specific value. CLEAR <address> CLEAR I007 ALL
Clears from I007 on.
(I007-I099)

NOTE: All Arithmetic instructions are accessed through the INFORM LIST under the
ARITH abbreviation.

15.2.1 INC (Increment)

The INC instruction increases the value stored in a variable content by one (+1). For
example, if I012 currently has a value of six (6), upon execution of the instruction
INC I012, it will have a value of seven (7). The INC Arithmetic instruction can only
be used with B, I, & D type variables.

0013 MOVJ VJ=25.00

0014 MOVJ VJ=100.00
0015 INC I012
0016 END
Figure 15-2 Job Example Using INC

The INC instruction is used primarily for counting to an undefined total that
accumulates during job(s) execution. It can be used to count the number of cycles a
job has been run, or to count the total number of parts completed by a work cell.

The INC should occur after the desired task/job has been performed to avoid a
miscount perhaps due to job interruption/restart. Therefore, the INC instruction is
entered after the task or at the end of the job as shown in the example above.
NOTE: If the INC instruction will cause the stored value to exceed the maximum of
that variable’s range, then “ALARM: 4446 OVER VARIABLE LIMIT” will occur,
stopping execution of the job on that instruction line.

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Variables & ARITH Instructions

To program the INC instruction in a job, perform the following keystrokes:

1. In TEACH mode, move the cursor to the Address side of the screen.
2. Press the INFORM LIST key.
3. Choose ARITH.
4. Choose INC from the sub-menu.
5. With the cursor highlighting INC on the Editing Buffer line, press the SELECT
key to access the Detail Edit screen.
6. Move the cursor to the or touch the for the RESULT.
7. Press the SELECT key or tap the .
8. Move the cursor to the appropriate variable type B, I, or D or touch the
appropriate variable type.
9. Press the SELECT key.
10. Move the cursor to the address or touch the address.
11. Press the SELECT key or tap the address.
12. Enter the address (0 to 99) using the numeric keypad and press the ENTER key.
13. Press [INSERT], the ENTER key to insert the instruction into the job.

15.2.2 DEC (Decrement)

The DEC instruction decreases the value stored in a variable content by one (-1). For
example, if I022 has a value of 11, upon execution of the instruction DEC I022, it will
have a value of 10. The DEC instruction can only be used with B, I, & D variables.

The DEC instruction may be used for an application that must reach a production
goal. A variable is chosen to store the required number of parts that must be run. The
variable would be decremented (DEC) each time a part is completed. For best results,
change the count only after the job/task has been completed.

0004 MOVL V=72.5

0005 MOVL V=72.5
0006 MOVL V=72.5
0007 MOVL V=72.5
0008 DEC I022
0009 PAUSE IF I022 <= 0
0010 END
Figure 15-3 Job Example Using DEC

NOTE: If the DEC instruction will cause the stored value to exceed the minimum of
that variable’s range, then “ALARM: 4446 OVER VARIABLE LIMIT” will occur,
stopping execution of the job on that instruction line.

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 Variables & ARITH Instructions

To program the DEC instruction in a job, perform the following steps:

1. In TEACH mode, move the cursor to the Address side of the screen.
2. Press the INFORM LIST key.
3. Choose ARITH.
4. Choose DEC from the sub-menu.
5. With the cursor highlighting DEC on the Editing Buffer line, press the SELECT
key to access the Detail Edit screen.
6. Move the cursor to the or touch the for the RESULT.
7. Press the SELECT key or tap the .
8. Move the cursor to the appropriate variable type B, I, or D or touch the
appropriate variable type B, I, or D.
9. Press the SELECT key.
10. Move the cursor to the address or touch the address.
11. Press the SELECT key or tap the address.
12. Enter the address (0 to 99) using the numeric keypad and press the ENTER key.
13. Press [INSERT], the ENTER key to insert the instruction into the job.

15.2.3 SET
The SET instruction will place a value into a variable address content. This allows
a job instruction to establish initial values required for the job rather than relying on
manual data entry into the variable file. It may also be used to reset the content of an
individual address back to zero.

0004 MOVJ VJ=25.00

0005 MOVJ VJ=50.00
0006 SET B020 15
0007 SET I099 0
0008 END
Figure 15-4 Example SET Instruction with CONSTANT

To program a SET instruction in a job, perform the following steps:

1. In TEACH mode, move the cursor to the Address side of the screen.
2. Press the INFORM LIST key.
3. Choose ARITH.
4. Choose SET from the sub-menu.
5. With the cursor highlighting SET on the Editing Buffer Line, press the SELECT
key to access the Detail Edit screen.
6. Move the cursor to the or touch the at DESTINATION.
7. Press the SELECT key or tap the .

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Variables & ARITH Instructions

8. Move the cursor to the appropriate variable type B, I, or D or touch the

appropriate variable type B, I, or D.
9. Press the SELECT key.
10. Cursor to the address or touch the address.
11. Press the SELECT key or tap the address.
12. Enter the address (0 to 99) using the numeric keypad and press the ENTER key.
13. Cursor to the SOURCE(TOKEN) value or touch the SOURCE(TOKEN) value.
14. Press the SELECT key or tap the value.
15. Enter the constant value on the numeric keypad and press the ENTER key.
16. Press the ENTER key to store the value onto the Editing Buffer line and return to
the JOB CONTENT.
17. Press [INSERT], the ENTER key to insert the instruction into the job.

NOTE: In DETAIL EDIT, the SET instruction may also be used to set the content
from one variable address into another variable address, provided it does not
exceed that variable range if the resultant address is a different type.

0006 SET D019 D052

0007 SET I020 B004
Figure 15-5 Example SET Instruction with VARIABLE

15.2.4 CLEAR
The CLEAR instruction allows consecutive variable addresses to be initialized to
the default value of zero (0). The starting address and the number of variables are
identified as the tags to the CLEAR instruction. In the example below, CLEAR
I007 4 clears data from the four addresses I007, I008, I009, and I010 such that their
content becomes zero.

0004 MOVJ VJ=25.00

0005 MOVJ VJ=100.00
0006 CLEAR I007 4
0007 CLEAR B000 ALL
0008 END
Figure 15-6 Job Example Using CLEAR
In the CLEAR Detail Edit screen, the tag “ALL” may be selected instead of a
constant number of addresses. This initializes from the starting address through the
end of the variable file address list. For example, CLEAR B000 ALL zeroes the
content of addresses B000 through B099.

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 Variables & ARITH Instructions

To program a CLEAR instruction in a job, perform the following steps:

1. In TEACH mode, move the cursor to the Address side of the screen.
2. Press the INFORM LIST key.
3. Choose ARITH.
4. Choose CLEAR from the sub-menu.
5. With the cursor highlighting CLEAR on the Editing Buffer line, press the
SELECT key to access the Detail Edit screen.
6. On the TARGET line, move the cursor to the .
7. Press the SELECT key or tap on the .
8. Cursor to or touch on the desired variable type and press the SELECT key.
9. Move the cursor to the address.
10. Press the SELECT key or tap on the address.
11. Enter the address; press the ENTER key.
12. To enter how many addresses to clear, perform the following steps:
13. Move the cursor to the CLEAR NUM. value. To clear from the specified address
to 099, Move the cursor right to the .
14. Press the SELECT key or tap.
15. Enter the number of addresses to be cleared and press the ENTER key.
or
Move the cursor to ALL if clearing from a specific address to 099. Press the
SELECT key.

16. Press [INSERT] the ENTER key to insert the instruction into the job.

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Variables & ARITH Instructions

NOTES

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 Monitoring Inputs & Outputs

16.0 MONITORING INPUTS & OUTPUTS

It is possible to monitor the status and/or determine the name description of all
GENERAL PURPOSE INPUTs and GENERAL PURPOSE OUTPUTs whether in
TEACH mode or PLAY mode.
NOTE: The I/O Monitor screens for GENERAL PURPOSE INPUTS/OUTPUTs offer
two different displays. The DETAIL display shows a single group with name
and status. The SIMPLE display shows multiple groups with only the Byte/Bit
indicators.

16.1 Monitoring GENERAL PURPOSE INPUTs

To access the GENERAL PURPOSE INPUT display screen, use the following
keystrokes:
1. From the Main Menu, choose IN/OUT.
2. Choose GENERAL PURPOSE INPUT from the sub-menu.
3. To change the display, choose DISPLAY in the Menu area.
4. Choose DETAIL or SIMPLE from the drop-down.

Figure 16-1 GENERAL PURPOSE INPUT DETAIL and SIMPLE Displays

To search for a specific Input number from the DETAIL display screen:
5. In the DETAIL display, put the cursor on any IN# ( ) and press the SELECT key
or tap on the address. Enter the desired Input number and press the ENTER key.
or
In the DETAIL display, choose EDIT. Choose to SEARCH SIGNAL NO. Key
in the desired Input number and press the ENTER key.

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Monitoring Inputs & Outputs

NOTE: There are 512 General Purpose Input Groups available on the YRC1000
controller. Individually they are numbered IN#(1) through IN#(4096).

To force (simulate the input as if it were in an ON condition) an input ON/OFF,

perform the following in TEACH mode:
1. In the DETAIL display of the appropriate GENERAL PURPOSE INPUT, move
the cursor to the indicator box next to the status symbol.
2. Press the SELECT key or tap to toggle the indicator box to SIM.
3. Cursor to or touch the status symbol [❍] for the input to be simulated.
4. Hold the INTERLOCK key and press the SELECT key to toggle the input status
between [●] ON and [❍] OFF.
To deselect SIM, perform the keystrokes for steps 1 and 2 above to turn the SIM
OFF.

Figure 16-2 Input Simulation

When a job is executed either using INTERLOCK+TEST-START or in PLAY, and

any signal has been simulated, the controller will verify the job should be run with the
simulation. This keeps unintentional simulation from causing crashes.

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 Monitoring Inputs & Outputs

Figure 16-3 Simulate Verification

16.2 I/O Simulation

Inputs and outputs are able to be “simulated”. This indicates a separation from the
Concurrent IO Ladder driven status, and being forced ON or OFF manually. Because
there are three types that can be simulated (EXTERNAL INPUTS, EXTERNAL
OUTPUTS, and GENERAL PURPOSE INPUTS) and each has 4096 individual bits,
finding which is simulated may become a problem.
To search for a simulated signal, perform the following:
1. While displaying the DETAIL display for GENERAL PURPOSE INPUTS,
EXTERNAL INPUTS, or EXTERNAL OUTPUTS, choose EDIT in the Menu
area.

Figure 16-4 IO Simulation SEARCH

2. Choose IO Simulation SEARCH from the drop-down.

3. Use the PAGE, SHIFT+PAGE, touch and drag left/right to move through the
groups that have a SIM set.

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Monitoring Inputs & Outputs

Figure 16-5 IO Simulation Identified

or

To search for a combined listing of the simulated signals, perform the following:
1. In the Main Menu, choose IN/OUT.
2. In the sub-menu, choose IO SIMULATION LIST.

Figure 16-6 IO SIMULATION LIST

3. With the list displayed, use the PAGE key to view the GP. INPUT LIST, the
EXTERNAL INPUT LIST, and the EXTERNAL OUTPUT LIST.

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 Monitoring Inputs & Outputs

Figure 16-7 IO SIMULATION LIST

16.3 Monitoring GENERAL PURPOSE OUTPUTs

To monitor GENERAL PURPOSE OUTPUTs, use the following keystrokes:
1. From the Main Menu, choose IN/OUT.
2. Choose GENERAL PURPOSE OUTPUT from the sub-menu.
3. To change the display, choose DISPLAY in the Menu area.
4. Choose DETAIL or SIMPLE from the drop-down.

To search for a specific Output number from the DETAIL Display screen:
5. In the DETAIL display, put the cursor on any OT# ( ) and press the SELECT
key or tap on the address. Enter the desired output number and press the ENTER
key.
or
In the DETAIL display, choose EDIT. Choose to SEARCH SIGNAL NO. Key
in the desired output number and press the ENTER key.

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Monitoring Inputs & Outputs

The DETAIL Output screen allows GENERAL PURPOSE OUTPUTs to be forced

ON/OFF.

Figure 16-8 GENERAL PURPOSE OUTPUT DETAIL

To force a GENERAL PURPOSE OUTPUT ON/OFF, perform the following in
TEACH mode:
1. Cursor to or touch the status symbol [❍] for the output to be changed.
2. Hold the INTERLOCK key and press the SELECT key to toggle the output
status between [●] ON and [❍] OFF.

NOTE: There are 512 GENERAL PURPOSE OUTPUT Groups available on the
YRC1000 controller. Individually they are numbered OT#(1) through
OT#(4096).

16.4 Binary Status and I/O Groups

The two states of a Digital I/O signal are either [●] ON =1 or [❍] OFF =0.
The 8-bits of an I/O group are looked at as a full byte with a binary value. This can
be converted to a Decimal value. The status of the entire Sample group in the table is
128+16=144.
Table 16-1 8-Bit Place Values in Binary

IN#/OT# (8) (7) (6) (5) (4) (3) (2) (1)

Binary place value 27 26 25 24 23 22 21 20

Decimal value 128 64 32 16 8 4 2 1

Sample ON/OFF 1 0 0 1 0 0 0 0 =144

The binary status for each group is displayed as a decimal equivalent shown as
“__:DEC” at the top of the group’s page.

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 Monitoring Inputs & Outputs

Figure 16-9 GENERAL PURPOSE INPUT and OUTPUT Displays

In the figure above, the first GENERAL PURPOSE INPUT Group, IG#001 has a
status of 107:DEC (1 + 2 + 8 + 32 + 64). The first GENERAL PURPOSE OUTPUT
Group, OG#001 has a status of 205:DEC (1 + 4 + 8 + 64 + 128).

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Monitoring Inputs & Outputs

NOTES

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 IO Instructions

17.0 I/O INSTRUCTIONS

A robot system rarely works without having to interact with other devices. In nearly
all instances, the controller has to communicate with external equipment, such as
programmable logic controllers (PLC), positioners, fixtures, valves, and sensors.
Communication is accomplished through the use of GENERAL PURPOSE INPUTs
and OUTPUTs (I/O). The INFORM language supports both digital and analog forms
of I/O instructions.

17.1 DOUT OT#( ) Digital Output

The DOUT instruction with the OT#( ) tag can only operate an individual GENERAL
PURPOSE OUTPUT. It is used any time a device, such as a light, clamp, or gripper,
is to be turned ON or OFF.

The following is an example of the DOUT instruction used with a single

GENERAL PURPOSE OUTPUT (OT#):
0003 DOUT OT#(3) ON
0004 MOVL V=187.0
0005 MOVL V=187.0
0006 DOUT OT#(3) OFF
Figure 17-1 Example DOUT Instruction

The DOUT with an OT#( ) instruction can also reference a Byte Variable for a status
of 0-1.

0004 DOUT OT#(1) B000

Figure 17-2 DOUT with a Byte Variable

To program a DOUT OT#( ) instruction in a job, perform the following steps:

1. In TEACH mode, move the cursor to the Address side of the screen.
2. Press the INFORM LIST key.
3. Choose IN/OUT.
4. Choose DOUT from the sub-menu.
5. Press the SELECT key to access the DETAIL EDIT screen.
6. Move the cursor to the OUTPUT TO line.
7. Press the SELECT key or tap.
8. Move the cursor to OT#.
9. Press the SELECT key.
10. Move the cursor to the output number.

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IO Instructions

11. Press the SELECT key or tap the output number.

12. Enter the OT#( ) number.
13. Press the ENTER key.
14. Move the cursor to DATA value.
15. Press the SELECT key to toggle between ON/OFF or tap to toggle between ON/
OFF.
16. Press the ENTER key to accept and return to the JOB CONTENT screen.
17. Press [INSERT], the ENTER key to insert the instruction into the job.

NOTE: By default, once an output has been turned ON, it will remain ON until it is
turned OFF by a job instruction or manually turned OFF.

17.2 DOUT OG#( ) Digital Output for a Group

The Digital Output instruction with the OG#( ) tag commands all 8 output bits in the
designated GENERAL PURPOSE OUTPUT Group to become the status of a BYTE
range of (0-255). The decimal number is converted into a binary number, with each
bit identifying the status for the individual outputs in the group.

For example, the result of DOUT OG#(1) = 162 would be Outputs 2, 6, and 8 ON
(2 + 32 + 128 = 162), and Outputs 1, 3, 4, 5, and 7 would be OFF.

In the job example below, Outputs 1 and 5 would be turned ON (1 + 16= 17) as all
others in the group would be turned OFF. The DOUT OG#(1) = 0 turns all 8 outputs
in the group OFF.

0004 DOUT OG#(1) 17

0005 MOVL V=187.0
0006 DOUT OG#(1) 0
Figure 17-3 Job Example Using DOUT to a Group

The DOUT with an OG#( ) instruction can also reference a BYTE VARIABLE for a
status of 0-255.

0004 DOUT OG#(1) B000

Figure 17-4 DOUT with a BYTE VARIABLE

To program a DOUT OG#( ) instruction to a GENERAL PURPOSE OUTPUT

GROUP, perform the following steps:
1. In TEACH mode, move the cursor to the Address side of the screen.
2. Press the INFORM LIST key.
3. Choose IN/OUT.

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 IO Instructions

4. Choose DOUT from the sub-menu.

5. Press the SELECT key to access the DETAIL EDIT screen.
6. Move the cursor to the OUTPUT TO line.
7. Press SELECT or tap.
8. Move the cursor to OG#.
9. Press the SELECT key.
10. Move the cursor to the Group number.
11. Press SELECT or tap on the number.
12. Enter the OG#( ) number.
13. Press the ENTER key.
14. Move the cursor to DATA .
15. Press the SELECT key or tap on the .
16. Move the cursor to CONSTANT.
17. Press the SELECT key.
18. Move the cursor to the current data.
19. Press the SELECT key or tap on the current data.
20. Enter the desired value of the selection on the keypad.
21. Press the ENTER key.
22. Press the ENTER key to accept and return to the JOB CONTENT screen.
23. Press [INSERT], the ENTER key to insert the instruction into the job.

17.3 PULSE OT#( ) or OG#( )

The PULSE instruction acts as a momentary contact switch for GENERAL
PURPOSE OUTPUT(s) only. It can be used for PLC communication signals as just
a “flash” for the default time of only 0.3 seconds. It is also used for devices such as
grippers, machinery cycle start, part loaded/unloaded, or anything that needs to be on
for a designated length of time.

However, PULSE does not delay execution of the job; the cursor moves to the next
line and continues processing while the timer tag on the PULSE instruction expires.

The job example below shows the PULSE instruction used for an individual output,
OT#(8), with a T=1.50 timer tag. In Line:0007, the group instruction PULSE
OG#( 1) 127 , will “flash” outputs 1-7 for the default time of only 0.3 seconds.
0003 MOVJ VJ = 12.50 PL=0
0004 PULSE OT#(8) T=1.50
0005 TIMER T=1.55
0006 MOVJ VJ = 6.25
0007 PULSE OG#(1) 127
Figure 17-5 Job Example PULSE Instructions
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IO Instructions

To program a PULSE OT#( ) instruction for a single output, perform the

following steps:
1. In TEACH mode, move the cursor to the Address side of the screen.
2. Press the INFORM LIST key.
3. Choose IN/OUT.
4. Choose PULSE from the sub-menu.
5. Press the SELECT key to access the DETAIL EDIT screen.
6. Move the cursor to the OUTPUT NO. line.
7. Press the SELECT key or tap.
8. Enter the Output number OT#( ).
9. Press the ENTER key.
10. If desired, move the cursor to TIME “UNUSED” and press the SELECT key or
tap on “UNUSED.” Move the cursor to “T=” and press the SELECT key. Move
the cursor to the value area. Press the SELECT key or tap on the value area.
Enter the time in seconds (0.01-655.35) and press the ENTER key.
11. Press the ENTER key to accept and return to the JOB CONTENT screen.
12. Press [INSERT], the ENTER key to insert the instruction into the job.

NOTE: Insert a control timer immediately following the PULSE instruction if required.

NOTE: The PULSE instruction can be conditioned with “IFEXPRESS” and up to 15

conditions.

17.4 WAIT
The WAIT instruction is used when a robot program is dependent on a signal from
a limit switch, proximity sensor, PLC, or other source. This includes GENERAL
PURPOSE IN#, OT#, IG#, OG#, IGH#, OGH#, IGU#, OGU#, or SPECIFIC SIN#,
SOUT#, another BYTE address content, a FOREXPRESS, as well as a TIMER T=.

A bailout timer may also be used in conjunction with the WAIT instruction. When a
bailout timer is used the robot will wait for either the I/O status to be true or for the
timer to expire; whichever comes first.
NOTE: If the I/O status is already “true” when the controller gets to the WAIT
instruction in the job, then there will be no waiting.

The following are WAIT instructions with/without a timer tag:

WAIT IN#(3)=ON [waits indefinitely for Input 3 to be ON]
WAIT IG#(1)=255 [waits indefinitely for Input Group 1 = 255]
WAIT IN#(5)=OFF T=3.25 [waits either for Input 5 to be OFF or for
3.25 sec., then continues to next line]

Figure 17-6 Job Examples Using the WAIT Instruction

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 IO Instructions

CAUTION! When a time limit is used, for example, WAIT IN#(7)=ON T=2.50, then
immediately following it should be a CONTROL instruction with a
conditional IF statement.

To program a WAIT instruction in a job for a GENERAL PURPOSE INPUT,

perform the following steps:
1. In TEACH mode, move the cursor to the desired line on the Address Side.
2. From the INFORM LIST, choose IN/OUT and select WAIT.
3. Press SELECT to access the DETAIL EDIT screen.
4. Move the cursor to the WAIT TARGET line.
5. Press the SELECT key or tap.
6. Move the cursor to IN#( ).
7. Press the SELECT key.
8. Move the cursor to the input number.
9. Press the SELECT key or tap the input number.
10. Enter the desired IN#( ) from the keypad.
11. Press the ENTER key.
12. If CONDITION OFF is desired, move the cursor to CONDITION ON and press
the SELECT key to toggle between ON and OFF or tap to toggle between ON
and OFF.
13. If needed, move the cursor to TIME UNUSED; press the SELECT key or tap on
UNUSED. Move the cursor to T= and press the SELECT key. Move the cursor
to the time value and press the SELECT key or tap on the value area. Enter the
seconds to specify an expiration time (0.01 - 655.35) for the WAIT instruction
and press the ENTER key.
14. Press the ENTER key to accept and return to the JOB CONTENT screen.
15. Press [INSERT], the ENTER key to insert the instruction into a job.

NOTE: The WAIT instruction can have a FOREXPRESS with up 15 conditions .

YRC1000 Basic Programming Training Manual Page 17-5 © YASKAWA ACADEMY

IO Instructions

17.5 DIN (Digital Input Status to BYTE or DOUBLE)

The Digital Input instruction DIN is used to store I/O status in either a BYTE or
DOUBLE VARIABLE address. This I/O information may be received from a PLC,
thumbwheel, or other input device. This includes GENERAL PURPOSE I/O: IN#,
OT#, IG#, OG#, IGH#, OGH#, or SPECIFIC I/O: SIN# and SOUT# for a BYTE
VARIABLE address or user defined I/O: IGU# or OGU# for a DOUBLE VARIABLE
address.

When the DIN instruction is performed, the controller will read the current I/O status
and store the binary data in the designated variable address. This content will be a
value between 0 and 255 for a BYTE or 0 to 2,147,483,647 for a DOUBLE, which
may then be used for other purposes later in the program.

0001 DIN B005 IG#(1)

Figure 17-7 Job Example Using DIN

To program a DIN instruction in a job, perform the following steps:

1. In TEACH mode, move the cursor to the Address side of the screen.
2. Press INFORM LIST key.
3. Choose IN/OUT.
4. Choose DIN from the sub-menu .
5. Press the SELECT key to access the DETAIL EDIT screen.
6. Move the cursor to INPUT TO .
7. Press the SELECT key or tap on the .
8. Move the cursor to B or D.
9. Press the SELECT key.
10. Move the cursor to the left to highlight the address.
11. Press the SELECT key or tap on the address.
12. Enter the address.
13. Press the ENTER key.
14. Move the cursor to the INPUT FROM line.
15. Press the SELECT key or tap.
16. Move the cursor to the desired selection from the list.
17. Press the SELECT key.
18. Move the cursor to the number.
19. Press the SELECT key or tap on the number.
20. Enter the number from the keypad.
21. Press the ENTER key.

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 IO Instructions

22. Press the ENTER key to accept and return to the JOB CONTENT screen.
23. Press [INSERT], the ENTER key to record the information into the job.

YRC1000 Basic Programming Training Manual Page 17-7 © YASKAWA ACADEMY

IO Instructions

NOTES

YRC1000 Basic Programming Training Manual Page 17-8 © YASKAWA ACADEMY

 Control “IF” Condition

18.0 CONDITIONAL“IF” CONSTRUCT

The IF condition tag is a construct to execute the instruction only if the condition
has been met. It can be added to the Edit Buffer Line for a new instruction from the
Address side, or it may be added to an existing line from the Instruction side.

The IF conditional tag can only be accessed in DETAIL EDIT for use with
the following instructions:
• JUMP
• CALL
• RET
• PAUSE
• ABORT
• PSTART with Concurrent Job software option
• PWAIT with Concurrent Job software option

The conditional options available for use with the IF tag are as follows:

Table 18-1 IF Condition Possibilities

Target Name Condition

IN# GENERAL PURPOSE INPUT ON, OFF, or BYTE VARIABLE
OT# GENERAL PURPOSE OUTPUT. ON, OFF, or BYTE VARIABLE
FL# FLAG VARIABLE ON, OFF, or BYTE VARIABLE
TF# TIMER FLAG VARIABLE ON, OFF, or BYTE VARIABLE
IG# INPUT GROUP = or <>; 0 to 255, or BYTE VARIABLE
OG# OUTPUT GROUP = or <>; 0 to 255, or BYTE VARIABLE
=, <>, >, >=, <, or <=; -2,147,483648 to
IGU# INPUT GROUP USER
2,147,483,647, or DOUBLE VARIABLE
=, <>, >, >=, <, or <=; -2,147,483648 to
OGU# OUTPUT GROUP USER
2,147,483,647, or DOUBLE VARIABLE
VARIABLE B, I, D, R, or S =, <>, >, >=, <, or <=

=, <>, >, >=, <, or <=; -2,147,483648 to

TM# TIMER VARIABLE
2,147,483,647, or DOUBLE VARIABLE

YRC1000 Basic Programming Training Manual Page 18-1 © YASKAWA ACADEMY

Control “IF” Condition

18.1 “IF” Condition Based On Input Status

When a conditional IF tag is based on the status of a GENERAL PURPOSE INPUT,
the only choices are ON, OFF (constant) or a BYTE VARIABLE content’s box.

0014 CALL JOB:DOGHOUSE IF IN#(1) = ON

0015 CALL JOB:OMEGA IF IN#(2) = B000
Figure 18-1 Example IF tag with GENERAL PURPOSE INPUT and BYTE VARIABLE

To program a CALL, RET, JUMP, PAUSE, ABORT, PSTART, or PWAIT with

an IF based on a GENERAL PURPOSE INPUT, perform the following steps in
TEACH mode:
1. With the cursor highlighting the root instruction on the Edit Buffer Line, press
the SELECT key to access DETAIL EDIT.
2. Cursor to or touch CONDITION “UNUSED.”
3. Press the SELECT key or tap “UNUSED”.
4. Cursor to or touch “IF.”
5. Press the SELECT key.
6. Cursor to the current TARGET.
7. Press the SELECT key or tap on the current TARGET.

Figure 18-2 DETAIL EDIT for CALL IF IN#( )

8. Cursor to or touch IN#( ).

9. Press the SELECT key.
10. Cursor to or touch the current input number.
11. Press the SELECT key or tap the current input number.

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 Control “IF” Condition

12. Using the numeric keypad, enter the desired IN#( ) number, and press the
ENTER key.
13. Cursor down to CONDITION “ON”or touch the CONDITION.
14. Press the SELECT key or tap to toggle between ON and OFF.
15. Press the ENTER key as necessary to accept the information on the Edit Buffer
Line and return to the JOB CONTENT screen.
16. Press [INSERT], the ENTER key to insert the instruction into the job.

18.2 “IF” Condition Based On an INPUT GROUP

When a conditional IF tag is based on the status of a GENERAL PURPOSE INPUT
GROUP, the controller can compare the value using either “=” Equal or “< >” Not
Equal. The condition can be 0 - 255 (constant) or a BYTE VARIABLE content’s box.

0027 RET IF IG#(1) < > 240

0028 RET IF IG#(2) < > B001
Figure 18-3 Example IF tag with GENERAL PURPOSE INPUT GROUP

To program a CALL, RET, JUMP, PAUSE, ABORT, PSTART, or PWAIT with

an “IF IG#( ) = ” tag based on the status of a GENERAL PURPOSE INPUT
GROUP, perform the following steps in TEACH mode:
1. With the cursor highlighting the root instruction on the Editing Buffer line, press
the SELECT key to access DETAIL EDIT.
2. Cursor to or touch CONDITION “UNUSED.”
3. Press the SELECT key or tap the CONDITION “UNUSED.”
4. Cursor to or touch “IF” and press the SELECT key.
5. Cursor to or touch the current TARGET.
6. Press the SELECT key or tap the current TARGET.
7. Cursor to or touch IG#( ) and press the SELECT key.
8. Cursor to or touch the current Group number.
9. Press the SELECT key or tap the current Group number.
10. Using the numeric keypad, enter the desired number and press the ENTER key.
11. Cursor to or touch the current CONDITION.
12. Press the SELECT key or tap the current CONDITION.
13. Cursor or touch “=.”
14. Press SELECT.
15. Cursor to or touch the .
16. Press SELECT or tap the .
17. Cursor to or touch CONSTANT and press the SELECT key.

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Control “IF” Condition

18. Cursor to or touch the current status value.

19. Press the SELECT key or tap the current status value.
20. Enter the desired binary status as a decimal (range 0-255); press the ENTER key.
21. Press the ENTER key as necessary to accept the information on the Editing
Buffer Line and return to the JOB CONTENT screen.
22. Press [INSERT], the ENTER key to insert the instruction into the job.

18.3 “IF” Condition Based On a Variable

When a conditional IF tag is based on a variable, the controller can compare the
content of the variable address using one of the symbols for equality or inequality.

0020 CALL JOB:TOOL-CLN IF I099 > = 30

0021 CALL JOB:SERVICE IF D027 < = 0
Figure 18-4 Example IF tag with Variable
The following symbols are available for Variable/Constant comparison:
= Equal
<> Not Equal
> Greater Than
>= Greater Than or Equal to
< Less Than
<= Less Than or Equal to

To program a CALL, RET, JUMP, PAUSE, ABORT, PSTART, or PWAIT with

an IF based on a variable, perform the following steps in TEACH mode:
1. With the cursor highlighting the root instruction on the Editing Buffer Line, press
the SELECT key to access DETAIL EDIT.
2. Cursor to CONDITION “UNUSED” or touch on CONDITION “UNUSED.”
3. Press the SELECT key or tap on CONDITION “UNUSED.”
4. Cursor to “IF” or tap on “IF.”
5. Press the SELECT key.
6. Cursor to the current TARGET, IN#( ) or tap on current TARGET, IN#( )
7. Press the SELECT key or tap.
8. Cursor to the desired variable type or tap on the desired variable type.
9. Press the SELECT key.
10. Cursor to or tap on the variable address displayed.
11. Press the SELECT key or tap on the variable address.
12. Using the numeric keypad, enter the variable address, press the ENTER key.

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 Control “IF” Condition

13. Cursor to CONDITION “=” or touch.

14. Press the SELECT key or tap.
15. Cursor to the appropriate symbol of equality/inequality or touch the appropriate
symbol of equality/inequality.
16. Press the SELECT key.
17. Cursor to CONDITION value or touch the CONDITION value.
18. Press the SELECT key or tap.
19. Using the numeric keypad, enter a value and press the ENTER key.
20. Press the ENTER key again, as necessary, to accept the information on the
Editing Buffer Line and return to the JOB CONTENT screen.
21. Press [INSERT], the ENTER key to insert the instruction into the job.

18.4 Editing an Existing “IF” Condition

Only editing for numeric data can be performed within the Edit Buffer Line of a
conditional IF tag.

Figure 18-5 Edit Buffer Line Numeric Data Change

In order to change the type of conditional data, the DETAIL EDIT screen must be
used.

The DETAIL EDIT screen for “IF” can be accessed by cursoring to the “IF” in the
Edit Buffer Line and pressing SELECT or by choosing “I” within the DETAIL EDIT
screen for the root instruction.

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Control “IF” Condition

Figure 18-6 Access to “IF” Detail Edit

To change an IF tag, perform the following steps in TEACH mode:

1. Access the IF DETAIL EDIT.
2. Cursor to the current TARGET or touch the current TARGET .
3. Press the SELECT key or tap.
4. Cursor to the desired TARGET or touch the desired TARGET.
5. Press the SELECT key.
6. Change the data in the Detail Edit, and press the ENTER key to accept the
instruction into the job.

18.5 Removing an “IF” Condition

When INSTRUCTION INPUT LEARNING is VALID, the instruction may appear
on the Edit Buffer Line already with a conditional “IF.” If the conditional “IF” is not
desired, it may be removed by going through the steps detailed below.

This procedure may also be used for an existing instruction to line edit the “IF” from
the Instruction Side.
To remove an “IF” tag from the Edit Buffer Line, perform the following steps:
1. Press SELECT to access DETAIL EDIT for the instruction.
2. Cursor down to CONDITION “IF” or touch the CONDITION “IF.”
3. Press the SELECT key or tap on “IF.”.
4. Cursor to “UNUSED” or touch on “UNUSED.

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 Control “IF” Condition

5. Press the SELECT key.

6. Press the ENTER key, as necessary, to return to the JOB CONTENT screen.
7. Press the ENTER key to accept the data on the Edit Buffer Line and record it into
the job.

18.6 Conditions with IN#( ), IG#( ), or VAR

The following examples compare the results in operation when using a conditional IF
with an Input status, an Input Group status, or a Variable value.

In the job example below, an individual job or any combination of jobs may be run
for each cycle of the parent job.

0000 NOP
0001 CALL JOB: YX IF IN#(1) = ON
0002 CALL JOB: R IF IN#(2) = ON
0003 CALL JOB: C IF IN#(3) = ON
0004 END
Figure 18-7 Condition with an Input Status

Notice that in the next job example, for each cycle of the parent job, typically only
one individual job is intended for execution. However, if while YRC1000 is running
the status of IG#(1) changes to 2, then R would be called next. Likewise, if IG#(1)
changes to 4 while YX or R is running, then C would be called within the same cycle.

0000 NOP
0001 CALL JOB: YX IF IG#(1) = 1
0002 CALL JOB: R IF IG#(1) = 2
0003 CALL JOB: C IF IG#(1) = 4
0004 END
Figure 18-8 Condition with an Input Group Status

In the last example using a BYTE address, one and only one individual job may be
executed for each cycle of the parent job. This is because the value in the BYTE
address B004 cannot be changed until the digital input instruction in Line 0001 is
executed on the next cycle

0000 NOP
0001 DIN B004 IG#(1)
0002 CALL JOB: YX IF B004 = 1
0003 CALL JOB: R IF B004 = 2
0004 CALL JOB: C IF B004 = 3
0005 END
Figure 18-9 Condition with a BYTE

YRC1000 Basic Programming Training Manual Page 18-7 © YASKAWA ACADEMY

Control “IF” Condition

18.7 IFTHEN; ELSEIF; ELSE; and ENDIF

The IFTHEN and ENDIF can make a section of a job conditional based upon the
status of an IN#( ), an IG#( ), or the comparison of content in one Variable address to
another or a CONSTANT.

Also, the ELSEIF instruction as well as the ELSE instruction may be inserted
anywhere between the IFTHEN and ENDIF range.
NOTE: The ENDIF instruction automatically inserts immediately below the IFTHEN.
The following job sample illustrates the many combinations of using these
conditional CONTROL instructions.

MOVJ VJ=50.00
IFTHEN IN#(1)=ON
CALL JOB:THIS1
CALL JOB:THIS2
ELSEIF B099 > 0
MOVJ VJ=25.00
MOVL V=83.5
MOVL V=75.0
MOVJ VJ=50.00
ELSE
CALL JOB:OTHER3
CALL JOB:OTHER4
CALL JOB:OTHER5
ENDIF
MOVJ VJ=50.00
CALL JOB:START

NOTE: The ELSE instruction has no DETAIL EDIT tags, nor does the ENDIF.

YRC1000 Basic Programming Training Manual Page 18-8 © YASKAWA ACADEMY

 User Frames

19.0 USER FRAME

As a teaching aid, it is useful to define a coordinate system that resides on the plane
in which the work will actually be taught. The YRC1000 supports 63 user-definable
Cartesian Coordinate Systems referred to as User Frames (UF #01-63).

A User Frame is a plane defined by three points ORG, XX, and XY:
•ORG The zero, ORIGIN, position for a User Frame.
•XX A point on the positive direction of the X-axis.
•XY A point on the positive Y side of the plane.

Z-axis

X-axis

XX
XY
Y-axis
ORG

Figure 19-1 User Frame Points

From this information, the controller creates an XYZ Cartesian Coordinate System.

The ORG (origin) location is at the programmer’s discretion.

The ray created from the ORG through the XX data point is used to determine the X+
jogging direction.

The XY data point, along with the ORG and XX points, determines the plane of the
User Frame. The Z+ jogging key will jog the robot’s active TCP perpendicular to the
XY plane.

CAUTION! The operator should confirm which User Coordinate is active

before jogging with the +/- X, Y, Z, Rx, Ry, and Rz Axis keys in USER
COORDINATES.

YRC1000 Basic Programming Page 19-1 © YASKAWA ACADEMY

User Frames

User coordinates Fixture

Fixture Fixture

User coordinates

Figure 19-2 Example USER COORDINATES

19.1 Creating a User Frame

To define/modify a User Frame, complete the following steps:
1. In TEACH mode from the Main Menu, choose ROBOT.
2. Choose USER COORDINATE from the sub-menu.
3. Move the cursor UP/DOWN to find the desired User Frame number.
4. Press the SELECT key or tap the USER COORDINATE number.

Figure 19-3 USER COORDINATE

NOTE: Undefined frames are indicated with an open bullet. Previously defined
frames will indicate the bullet as set ().
5. Ensure that the cursor is set to “SET POS: ORG.”
6. Choose any jogging COORD other than USER.
7. Enable Servo Power.
8. Jog the robot TCP to the desired ORG origin point.
9. With servos enabled, press the MODIFY key.
10. Press the ENTER key. The ORG bullet will be set ().

YRC1000 Basic Programming Page 19-2 © YASKAWA ACADEMY

 User Frames

Figure 19-4 Defining a User Frame

11. Press the SELECT key or tap on ORG.
12. Move the cursor to XX.
13. Press the SELECT key.
14. Jog the robot TCP to an XX point along the intended X+ jogging direction.
15. With servos enabled, press the MODIFY key.
16. Press the ENTER key. The XX bullet will be set ().
17. Press the SELECT key or tap on XX.
18. Move the cursor to XY.
19. Press the SELECT key.
20. Jog the robot TCP to any point within the positive XY quadrant to determine the
desired plane and the Z+ operation direction.
21. With servos enabled, press the MODIFY key.
22. Press the ENTER key. The XY bullet will be set ().
23. When all three points have been taught, choose COMPLETE.
24. To name the User Frame, move the cursor to the [ name area ] and press the
SELECT key or tap on the [ name area ].
25. Enter the desired characters, up to 16, and press the ENTER key.

NOTE: To view or verify the current set position for either ORG, XX, or XY, choose the
desired “SET POS:” (it will be blinking if the robot/TCP in not at that location),
then press the FWD key until the highlighted “SET POS:” for ORG, XX, or XY
stops flashing and the robot stops moving.

YRC1000 Basic Programming Page 19-3 © YASKAWA ACADEMY

User Frames

19.2 Selecting a User Frame for Jogging

Once a User Frame has been defined, it can become active for jogging by highlighting
its number 1 through 63 on the USER COORD SELECT list. It will remain the
active USER COORD frame number until changed.
To access USER COORD SELECT list, perform the following keystrokes:
1. Choose User Coordinates with the COORD key. The status icon
displays the currently active frame number.
To change the currently active number, continue with the steps below.

2. Press and hold either of the SHIFT keys, then press the COORD key. +

.
The USER COORD SELECT list is displayed.

Figure 19-5 USER COORD SELECT List

3. Move the cursor to the desired User Coordinate frame. This User Coordinate
frame number is now selected for use.
4. To close the USER COORD SELECT list, press and hold either of the SHIFT
keys, then press the COORD key to return to the Job Content screen.

YRC1000 Basic Programming Page 19-4 © YASKAWA ACADEMY

 User Frames

19.3 Displaying Current Position in USER

To display the current position of the Robot’s TCP in XYZ coordinates for a
desired frame in USER, perform the following keystrokes:
1. From the Main Menu, choose ROBOT.
2. Choose CURRENT POSITION from the sub-menu.
3. Press the SELECT key.
4. Move the cursor to USER.
5. Press the SELECT key.
6. Enter the desired frame number on the data line (>User_coord_no.= ).
7. Press the ENTER key.

YRC1000 Basic Programming Page 19-5 © YASKAWA ACADEMY

User Frames

NOTES

YRC1000 Basic Programming Page 19-6 © YASKAWA ACADEMY

 Job Edit Protection

20.0 JOB EDIT PROTECTION

When a job has been created and tested, changes can be limited by setting edit
protection. This protection, or EDIT LOCK, is set in the JOB HEADER. A setting in
the TEACHING CONDITION SETTING determines the extent of this protection.

20.1 EDIT LOCK:ON/OFF Job Protection

The software job protection feature, EDIT LOCK: ON/OFF, is set within each
individual JOB HEADER in MANAGEMENT Mode only.

Edit Lock

Figure 20-1 JOB HEADER Display

To display a JOB HEADER, from the desired JOB CONTENT, complete the
following keystrokes:
1. In TEACH mode from JOB CONTENT, choose DISPLAY in the Menu area.
2. Choose JOB HEADER.

NOTE: To return to the JOB CONTENT, touch DISPLAY in the Menu area, and
choose JOB CONTENT.

YRC1000 Basic Programming Training Manual Page 20-1 © YASKAWA ACADEMY

Job Edit Protection

20.2 STEP ONLY CHANGING for EDIT LOCK Jobs

The STEP ONLY CHANGING: PERMIT allows the editor to MODIFY only existing
servo COMMAND POSITION steps in a job with EDIT LOCK:ON.

Setting this condition to PROHIBIT fully protects the locked jobs.

Figure 20-2 TEACHING CONDITION SETTING

To set STEP ONLY CHANGING, complete the following keystrokes in at least

EDITING Security level:
1. In TEACH mode from the Main Menu, choose SETUP.
2. Choose TEACHING COND.
3. Move the cursor to the indicator box for STEP ONLY CHANGING.
4. Press the SELECT key to toggle between PERMIT or PROHIBIT or tap to
toggle between PERMIT or PROHIBIT.

NOTE: The setting will remain until changed by the editor. The PROHIBIT setting
provides full edit protection for all EDIT LOCK:ON jobs, the PERMIT setting
allows position modifications for servo captured COMMAND POSITIONS only.

YRC1000 Basic Programming Training Manual Page 20-2 © YASKAWA ACADEMY

 Job Edit Protection

20.3 Line Edit Lock

The LINE EDIT LOCK function prohibits a line from being edited in a job with the
header EDIT LOCK off. When an editing operation, such as changing, deletion,
selection, or cutting, is performed to the line to which the LINE EDIT LOCK is set,
“Error 1011:EDIT LOCK is set for this line.” appears. The color of the commented
out line can also be changed under SETUP, DISPLAY COLOR COND, INFORM
COLOR (LINE EDIT LOCK).
To LINE EDIT LOCK a specified range of lines/steps, perform the following
keystrokes:
1. In TEACH mode, select the job content and move the cursor to the Instruction
side on the top/bottom line of the range to be copied.
2. Press and hold either of the SHIFT keys and press the SELECT key. The address
is highlighted in blue.
3. If more than one line is to be highlighted, move the cursor up/down highlighting
the desired range. The entire range will be highlighted blue.

Figure 20-3 Highlighting Range of Addresses

NOTE: LINE EDIT LOCK can not be set to the NOP and END instructions. “Error
2371: EDIT LOCK/COMMENT functions cannot be applied to NOP and END”
will occur.
4. Choose EDIT in the Menu area.
5. Choose LINE EDIT LOCK.

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Job Edit Protection

Figure 20-4 LINE EDIT LOCK

The highlighting on the address side disappears when the LINE EDIT LOCK is
complete and an X appears at the head of the line(s).

Figure 20-5 Lines 3 through 5 LINE EDIT LOCKed

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 Job Edit Protection

20.3.1 Canceling the LINE EDIT LOCK

To cancel out the LINE EDIT LOCK out a specified range of lines/steps, perform
the following keystrokes:
1. In TEACH mode, select the job content and move the cursor to the Instruction
side on the top/bottom line of the range to be copied.
2. Press and hold either of the SHIFT keys and press the SELECT key. The address
is highlighted in blue.
3. If more than one line is to be copied, move the cursor up/down highlighting the
desired range. The entire range will be highlighted blue.

Figure 20-6 Single Highlighted Address

4. Choose EDIT in the Menu area.

5. Choose *LINE EDIT LOCK. The * may not appear if there are non-edit locked
instructions in the range.

Figure 20-7 LINE EDIT LOCK Removed from a Line

The highlighting on the address side disappears when the Line Edit Lock is complete
and the X disappears from the head of the line(s).

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Job Edit Protection

20.3.2 Canceling the LINE EDIT LOCK for a Whole Job

To cancel LINE EDIT LOCK for a complete job, perform the following
keystrokes:
1. In TEACH mode, with the cursor on the Instruction side, choose EDIT in the
Menu area.
2. Choose EDITLOCK CLR (ALL).

Figure 20-8 EDITLOCK CLR (ALL)

When the EDITLOCK CLR(ALL) is complete the X disappears from the head of the
instructions.

Figure 20-9 All EDITLOCKs Removed

YRC1000 Basic Programming Training Manual Page 20-6 © YASKAWA ACADEMY

 Tool Control Point

21.0 TOOL CONTROL POINT (TCP)

Each Tool Control Point data in a YRC1000 controller is stored as a six-element
offset from the robot’s wrist flange as X, Y, Z, in millimeters and Rx, Ry and Rz in
degrees.
The YRC1000 is capable of storing up to 64 different Tool data files.

A single robot may need only one tool to perform the system application, and
therefore just one set of TCP data such as for an arc welding torch. In a cell with
multiple tools and/or robots, the Tool Switch capability must be activated.

The Tool data files are numbered as follows:

• Tool No. 00 [Standard Tool for Robot with only one tool]
• Tool No. 01-63 [Universal Tools for additional tool data files]

21.1 Tool List & Selection

Setting the Tool No. Switch setting to PERMIT on the TEACHING CONDITIONS
list allows the definition and selection of up to 64 different TCP data files.
NOTE: Setting the Tool No. Switch setting to PROHIBIT will keep the last selected
tool, but Calibration is only available for Tool No 00.

21.1.1 Tool No. Switch

To permit or prohibit the ability to switch tools with the Tool Selection list,
perform the following steps:
1. Choose SETUP in the Main Menu area.
2. Choose TEACHING COND. in the sub-menu
3. Cursor to or touch TOOL NO. SWITCH.
4. Press the SELECT key or tap to toggle between PERMIT and PROHIBIT.

Figure 21-1 TOOL NO. SWITCH

YRC1000 Basic Programming Training Manual Page 21-1 © MOTOMAN

Tool Control Point

21.1.2 Active Tool No. Selection

To set the active Tool No. from the Tool List, perform the following steps:
TOOL SEL

COORD
1. Choose any COORD except User Coordinates with the COORD key.
TOOL SEL

SHIFT COORD
2. Press and hold either of the keys, then press . Cursor to highlight
the desired Tool number.
3. Repeat SHIFT + COORD/TOOL SELECT to close the list.

Figure 21-2 TOOL NO. SELECT List

Each MOV_ that is entered in a job includes a Tool No. reference. This is displayed
on the JOB CONTENT screen when the cursor is highlighting the step address.

Figure 21-3 Tool Number for each STEP address

Accurately defined TOOL DATA is important for precise operation of the TCP during
MOVL, MOVC, MOVS interpolated paths.

This also includes the tags for PL=Position level or CR=Corner Radius motion and
the proper speed control for V= (Control Point Speed) or VR= (Angle Speed).

When jogging in RECT/CYL, TOOL, or USER, the controller references the active
Tool No. data for operation of the robot TCP.

There are two methods for defining the TCP data:

• Manual TOOL definition for all six elements, X, Y, Z, Rx, Ry, & Rz.
or
• UTILITY for TOOL CALIBRATION for all six elements, X, Y, Z, Rx, Ry, &
Rz.

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 Tool Control Point

21.2 Manual TCP Data Entry

Manual TCP definition is typically used for entering/modifying the Rx, Ry, and Rz in
degrees after using the UTILITY for TOOL CALIBRATION for determining the X,
Y, & Z elements in millimeters. However, manual definition of the X, Y, Z may also
be used when the values are already known or have been accurately measured.

Z+ in Tool

Case of Tool A Case of Tool B

X 0.000 mm Rx 0.00 deg. X 0.000 mm Rx 0.00 deg.

Y 0.000 mm Ry 0.00 deg. Y 0.000 mm Ry -60.00 deg.
Z 260.000 mm Rz 0.00 deg. Z 260.000 mm Rz 0.00 deg.

Case of Tool C

X 0.000 mm Rx 0.00 deg.

Y 145.000 mm Ry 0.00 deg.
Z 260.000 mm Rz 90.00 deg.

Figure 21-4 Entering Tool Dimensions

To manually enter TOOL data, complete the following steps in Teach mode:
1. In TEACH mode from the Main Menu area, choose ROBOT.
2. Choose TOOL from the sub-menu. If the list appears, move the cursor to the
desired tool number; press the SELECT key or tap.
3. Move the cursor to the first tool dimension that requires modification and press
the SELECT key or tap.
4. Using the numeric keypad, enter the dimension/angle of the tool, relative to the
wrist flange and press the ENTER key.

YRC1000 Basic Programming Training Manual Page 21-3 © MOTOMAN

Tool Control Point

5. Repeat Steps 3 and 4 for each tool dimension to be entered.

The TCP is now defined. To ensure accuracy of the TOOL data, use the “rotate-
about” keys Rx, Ry, and Rz in TOOL Coordinates to rotate the tool’s orientation
about the TCP. The TCP should not move off of the point location when rotated. If it
does move away, then one or more of the X, Y, or Z elements are inaccurate.

Also, check the X, Y & Z directions of operation in TOOL Coordinates; the Z+

should operate in the direction of the application. For example, rather than the
default Z+ direction off the Wrist Flange, for a welding torch’s wire-feed, the data
Ry = -60 degrees has been entered for the Flange Coordinate of TOOL B.

If the operation of the jogging keys for +/- X, Y, Z is not as desired, then one or more
of the Rx, Ry, Rz elements of the TOOL DATA is incorrect.

21.3 Tool Calibration Utility

The UTILITY menu provides an automatic method to calculate X, Y, and Z (Coord),
or Rx, Ry, and Rz, (Posture) or X, Y, Z, Rx, Ry, and Rz (Coord+Posture) dimensions
of the tool data from 5 TC reference positions taught with a variety of orientations.

Figure 21-5 Example Pointer Reference for TC1-TC5

This resulting calibration data represents either the offsets, in millimeters, or angle in
degrees, or both from the wrist flange of the T-axis to the desired tool control point on
the end-of-arm tooling.
To calibrate the X, Y, and Z elements of the TCP data, follow these steps:
1. Choose a fixed point in the robot cell.
2. In TEACH mode from the Main Menu area, choose ROBOT.
3. Choose TOOL from the sub-menu.
4. Choose UTILITY in the Menu Area.
5. Choose CALIBRATION.

YRC1000 Basic Programming Training Manual Page 21-4 © MOTOMAN

 Tool Control Point

Figure 21-6 TOOL CALIBRATION Screen

NOTE: To clear the set bullets, choose DATA in the Menu Area and choose CLEAR
DATA. Choose [YES] on the “Clear data?” screen.
6. Choose the calibration method.

Figure 21-7 TOOL CALIBRATION METHOD

Coord will calculation the tool’s X, Y, and Z only off the 5 taught positions.. The RX,
Ry, and Rz would need to be manually entered if different than displayed.

Posture will calculate the tool’s Rx, Ry, and Rz only based off the 5 taught positions.

Coord+Posture will calculate the tool’s X, Y, Z, Rx, Ry, and Rz based off the 5 taught
positions.
Note: When the METHOD is set to Posture or Coord+Posture the orientation of TC1
is critical. The tool must be square to the robot in Rx, Ry, and Rz.

YRC1000 Basic Programming Training Manual Page 21-5 © MOTOMAN

Tool Control Point

7. Enable Servo Power and choose any COORD to jog the desired TCP to the
fixed point, then press the MODIFY key and the ENTER key. The first point,
POSITION TC1, is now accepted and the bullet is set (●).

Figure 21-8 Defining TC1 - TC5 for a Tool Control Point

8. Press the SELECT key or tap. Move the cursor to the next identifier POSITION
TC2; press the SELECT key.
9. Repeat Steps 7 and 8 until TC1 through TC5 have position data set. Obtain as
much variation as possible in orientation between the five TC points.

NOTE: To view the position where a TC point was set, use the FWD key to move to
the desired TC point. When the highlighted TC number stops flashing, the
robot is at that TC point set location.
10. After all five TC points have been entered choose COMPLETE.
Upon completion, the new data for the is displayed.

Figure 21-9 TOOL Data Screen

11. Manually enter any required Rx, Ry, or Rz data in degrees if using the METHOD
of Coord.

YRC1000 Basic Programming Training Manual Page 21-6 © MOTOMAN

 Tool Control Point

To check the accuracy of this data, proceed with steps 12 through 15:

12. Press the COORD key until TOOL coordinates is displayed in the Status
line. If the system uses only the Standard Tool No.00, skip to step 14.
13. If the system uses multiple tools, press and hold the SHIFT key + the COORD
key to display the TOOL list and move the cursor to the tool number of the newly
calibrated tool. Press and hold the SHIFT key + the COORD key again to turn
off the list.
14. To ensure accuracy of the TOOL data, use the “rotate-about” keys Rx, Ry, and
Rz to rotate the tool’s orientation about the new TCP. It should not move off of
the point location when rotated.
15. Check the X, Y, & Z directions of operation in TOOL Coordinates.
The Z+ should operate in the direction of the application such as, the approach for
a gripper’s handling process, the direction of dispensing sealant, or the direction of
cutting with water-jet, laser, or plasma. To adjust for this, the desired orientation in
degrees for Rx, Ry, and Rz must be entered manually.

CAUTION! The TOOL data becomes effective immediately. Before playing a job, use
the FWD/BACK keys and INTERLOCK+TEST START keys method of path
confirmation and MODIFY points as required.

Be aware that previously recorded points will still move the robot’s
SLURBT links to the COMMAND POSITION data stored in Pulse.
However, the new TCP will be controlled during the interpolated path of
the MOVL, MOVC, and MOVS steps.

21.4 W. Grav. Pos Measure Utility

The UTILITY menu provides an automatic method to calculate the weight (W),
centers of gravity (Xg, Yg, and Zg), and the moment of inertia (Ix, Iy, and Iz).

CAUTION: Do not perform this procedure for a HC-10 robot. Obtain this data from
CAD software.

21.4.1 Tool Load and Centers of Gravity

To measure the tool load and the center of gravity, perform the following:
1. Move the manipulator to its home position (U-, R-, B- and T-axes) and operate
the U-, R-, B- and T-axes.

NOTE: To correctly measure the tool load or the center of gravity, remove the cables
or wires connected to the tool. The measurement may not be performed
properly because unnecessary loads are applied.
2. From the Main Menu, select ROBOT.

YRC1000 Basic Programming Training Manual Page 21-7 © MOTOMAN

Tool Control Point

3. Select TOOL from the sub-menu.

4. Move the cursor to the desired tool number if TOOL NO. SWITCHING is
PERMIT; press the SELECT key or tap.
5. Choose UTILITY in the Menu area.
6. Choose W. GRAV. POS MEASURE from the drop-down.

Figure 21-10 W. GRAV. POS MEASURE

7. With servo power on, press and hold the FWD key.
The manipulator will move at a medium speed to the home position (U-, R- and
B-axes).
8. Release the FWD key.
9. Press and hold the FWD key.
The measurement will start. The manipulator moves in the order listed below. Once
each measurement is completed, “m” changes to “●”. Measurement of the U-axis:
U-axis home position +4.5 degrees g-4.5 degrees. Measurement of the B-axis:
B-axis home position +4.5 degrees g-4.5 degrees. First measurement of the T-axis:
T-axis home position +4.5 degrees g -4.5 degrees. Second measurement of the
T-axis: T-axis home position +60 degrees g +4.5 degrees g -4.5 degrees

10. Once all the status circles are filled in select “REGISTER

21.4.2 Moment of Inertia

To measure the moment of inertia, perform the following:

1. Move the manipulator to its home position (U-, R- and B-, and T-axes and
operate the U-, R-, B- and T-axes.

NOTE: To correctly measure the moment of inertia, remove the cables or wires
connected to the tool. The measurement may not be performed properly
because unnecessary loads are applied.
2. From the Main Menu, select ROBOT.

YRC1000 Basic Programming Training Manual Page 21-8 © MOTOMAN

 Tool Control Point

3. Select TOOL from the sub-menu.

4. Cursor to the desired tool number if TOOL NO. SWITCHING is PERMIT; press
the SELECT key.
5. Choose UTILITY in the Menu area.
6. Choose W. GRAV. POS MEASURE from the drop-down.
7. With servo power on, press and hold the FWD key.
The manipulator will move at a speed to a position with R-axis +90 degrees to the
ground, B-axis horizontal to the ground, and T-axis home position -90 degrees).

8. Release the FWD key.

9. Press and hold the FWD key.
The measurement will start. The manipulator moves in the order listed below. Once
each measurement is completed, “m” changes to “●”. Measurement of the B-axis:
B-axis home position +30 degrees g-30 degrees. Measurement of the B-axis second
time: B-axis home position +30 degrees g-30 degrees.

10. Release the FWD key.

11. Press and hold FWD. The manipulator will move to another position.
12. Release the FWD key.
13. Press and hold FWD.
The T-axis measurement will start. Measurement of the T-axis: T-axis home position
+30 degrees g -30 degrees.

14. Select “REGISTER.

15. Touch “YES” on the Write Data? dialog box.

YRC1000 Basic Programming Training Manual Page 21-9 © MOTOMAN

Tool Control Point

NOTES

YRC1000 Basic Programming Training Manual Page 21-10 © MOTOMAN

 Appendix A: SETUP SPECIAL RUN

A.0 SPECIAL RUN MODES

There are several ways to run a job in PLAY or TEACH with special limitations or
restrictions for ease of debugging and/or safety reasons.

The SETUP SPECIAL RUN menu, found under UTILITY in TEACH or PLAY,
allows a job to be played with/without speed restrictions, tool (DEVICE) instructions,
and/or “physical” execution of motion steps.

A.1 SETUP SPECIAL RUN in PLAY MODE

Special Run Mode Operations

Special Run Mode Speed Device

LOW SPEED START Cursored Step at 10% Max no DEVICE
SPEED LIMIT Limit 25% Max / Prog. Spd DEVICE!
DRY-RUN SPEED CONSTANT 10% Max no DEVICE
CHECK-RUN Prog. Spd no DEVICE
MACHINE LOCK Prog. Spd, no MOTION no DEVICE

To set a Special Run Mode VALID or INVALID, perform the following:

1. Select the PLAY mode.
2. From the JOB CONTENT screen, choose UTILITY in the Menu area.
3. Choose SETUP SPECIAL RUN.
4. Move the cursor to each desired mode, press the SELECT key to toggle from
INVALID to VALID or tap to toggle from INVALID to VALID.
5. Choose COMPLETE to return to the JOB CONTENT screen.

NOTE: All Special Playback modes default to an INVALID status when the controller
power is turned OFF/ON. Special Playback modes may be set to VALID
individually or in any combination.

A.1.1 Low Speed Start

The Low Speed Start moves the robot to the cursor highlighted step at a constant
velocity of 10% of maximum speed (regardless of programmed speed) without
execution of the tool DEVICE instructions, then stops. The setting VALID expires,
and upon pressing START, the job resumes as normal.

This function allows for a “safer” recovery/restart or desired startup from the middle
of a program. Also, after an E-stop, the operator may wish to restart the program
from the previous step (using cursor in TEACH mode) rather than continue to the step
it was approaching when the E-stop occurred.
NOTE: The Programming Pendant displays “SLOW SPEED mode” in the message
line area while in Low Speed Start mode.

YRC1000 Basic Programming Training Manual A-1 © YASKAWA ACADEMY

Appendix-A :SETUP SPECIAL RUN

A.1.2 Speed Limit

The Speed Limit mode limits all velocity types to no more than 25% of maximum
speed. Motion steps that do not exceed the limit will run at program speed.

Steps with speed tags greater than the Speed Limit will execute as follows:
VJ=25.00
V=375.0 mm/sec
VR=90.0 deg/sec.

CAUTION! DEVICE instructions are executed; therefore, SPEED LIMIT only VALID
is not recommended for jobs preforming applications with program
speeds that exceed the 25% limit because of possible hazards.

Combining CHECK RUN also VALID with SPEED LIMIT will inhibit tool operation
of DEVICE instructions.
NOTE: The Programming Pendant displays “Speed Limit mode” in the message line
area while in Speed Limit mode.

A.1.3 Dry-Run Speed

Dry-Run mode plays through the job “dry” meaning with no DEVICE operation.
Also, all program steps are executed at a constant velocity of 10% maximum speed;
VJ=10.00, V=150.0 mm/sec and VR=36.0 deg/sec.

This mode may be useful for running just the robot after grease replenishment or
replacement for preventive maintenance procedures.
NOTE: The Programming Pendant displays “Dry-Run mode” in the message line area
while in Dry-Run mode.

A.1.4 Check-Run
Check-Run mode allows the controller to run the job at programmed speeds, but
without DEVICE instructions such as ARCON, GUNON, LASERON, SPYON, etc.
(The HAND ON/OFF instructions are not inhibited by this mode.)

It is used primarily to visually check the path of the program at programmed speeds
without the hazard of performing the application.
NOTE: The Programming Pendant displays “Check mode” in the message line area
while in Check mode.

NOTE: CHECK/MACHINE LOCK must be set to PERMIT. This can be changed in

MANAGEMENT Mode or higher under SETUP, PLAYBACK CONDITION
SETTING.

YRC1000 Basic Programming Training Manual A-2 © YASKAWA ACADEMY

 Appendix A: SETUP SPECIAL RUN

A.1.5 Machine Lock

Machine Lock mode allows the controller to execute the job logically, but not
physically. The DEVICE instructions are inhibited except for HAND ON/OFF.
Machine Lock is typically used to check communication between the controller and
external devices, as well as check for all types of ALARMS other than the Internal
Shock Sensor alarm for Collision Detect.
NOTE: The Programming Pendant displays “Machine lock mode” in the message line
area while in Machine Lock mode.

NOTE: CHECK/MACHINE LOCK must be set to PERMIT. This can be changed in

MANAGEMENT Mode or higher under SETUP, PLAYBACK CONDITION
SETTING.

A.2 SETUP SPECIAL RUN in TEACH MODE

Special Run Modes are also available in the TEACH Mode. These allow the
INTERLOCK + TEST START method to be performed with additional limitations
beyond its DEVICE prohibit and Limited Speed of 25% of Maximum..
To set Special Run Modes in TEACH, use the following keystrokes:
1. Select the TEACH mode.
2. From a JOB CONTENT screen, choose UTILITY in the Menu area.
3. Choose SETUP SPECIAL RUN.
4. Cursor to the desired Special Run Mode and press the SELECT key. The screen
entry for that item will change to VALID.
5. Choose COMPLETE to return to the JOB CONTENT screen with the selected
mode enabled.

NOTE: Interlock/Test Start will execute the job with the selected VALID modes.
The SETUP SPECIAL RUN modes for TEACH will remain VALID until
changed to INVALID.

A.2.1 Machine Lock in TEACH

Machine Lock in Teach mode allows the controller to execute the job logically, but
not physically. The DEVICE instructions are inhibited except for HAND ON/OFF.
Machine Lock is typically used to check communication between the controller and
external devices, as well as check for all types of ALARMS other than the Internal
Shock Sensor alarm for Collision Detect.
A.2.2 Weave Prohibit in TEACH
Weave Prohibit keeps the WVON WEV#( ) and WVOF instructions from being
executed when in the TEACH mode. This allows the interpolated paths to be verified
without the tool performing the weave pattern as defined in the WEAVE FILE.

YRC1000 Basic Programming Training Manual A-3 © YASKAWA ACADEMY

Appendix-A :SETUP SPECIAL RUN

NOTES

YRC1000 Basic Programming Training Manual A-4 © YASKAWA ACADEMY

 Appendix B: TRT & Speed Override

B.0 ADDITIONAL SPEED FUNCTIONS

B.1 Traverse Run Time (TRT)
The TRT (Traverse Run Time) EDIT function calculates speed Moving Time based
on a designated Setting Time expressed in seconds. The TRT function rewrites the
speeds to achieve the desired Moving Time for a range of steps or the entire job.
NOTE: The selected job must be executed before performing TRT to establish the
existing MOVING TIME.

To perform TRT, use the following keystrokes:

1. In TEACH mode, move the cursor to the first line of the measured range on the
Instruction side of the screen.
2. Press and hold either of the SHIFT keys and press the SELECT key.
3. Move the cursor to highlight all the desired address lines to be measured.

NOTE: CALL and JUMP instructions are not allowed in the measured range.
4. Choose EDIT in the Menu area.
5. Choose TRT.

Figure B-1 TRT Screen

6. Move the cursor to SETTING TIME data entry box.

7. Press the SELECT key or tap on the data entry box.
8. Enter the desired SETTING TIME in seconds and press the ENTER key.
9. Choose EXECUTE The MOVING TIME display will change accordingly.

NOTE: If the desired TRT is not achieved on the first EXECUTE, press EXECUTE
again until the desired results are achieved.
10. When finished with TRT, choose CANCEL to return to JOB CONTENT.
YRC1000 Basic Programming Training Manual B-1 © YASKAWA ACADEMY
Appendix-B :TRT & Speed Override

B.2 Speed Override

This function causes all motion step speed tags expressed as a CONSTANT to be
globally changed by a percentage (10-150%) during job execution in PLAY mode.

To access the menu under UTILITY for data setup, the controller must be in PLAY
mode, but the job cannot be running.

CAUTION! When performing a SPEED OVERRIDE on a job that includes child jobs
or “subroutines,” the speed adjustment will only occur on motion steps
that are actually executed.

To perform SPEED OVERRIDE, complete the following steps:

1. In TEACH mode, ensure that the cursor is on the desired address of the job, then
switch to PLAY.
2. Choose UTILITY in the Menu area.
3. Choose SPEED OVERRIDE.

NOTE: An asterisk “*” appears beside SPEED OVERRIDE to enable the setup. The
message “Over-riding speed” will appear during execution.

Figure B-2 SPEED OVERRIDE

4. Cursor to highlight the RATIO 100 % and press the SELECT key.
5. Enter the percent change desired (10%-150%) and press the ENTER key.
6. Cursor left to highlight the MODIFY OFF and press the SELECT key to set ON.

NOTE: The SPEED ADJUSTMENT MODIFY [OFF] will not rewrite speeds when
START is pressed but will allow a preview of playback with the percent
change. This may be used repeatedly with different percent values until the
results are acceptable.
7. Press START to play the job and execute the desired speed change.

YRC1000 Basic Programming Training Manual B-2 © YASKAWA ACADEMY

 Appendix B: TRT & Speed Override

8. To exit “Over-riding speed” switch back to TEACH mode or repeat steps 2-3
above to disable the “*” SPEED OVERRIDE.

NOTE: If the parent job or any child job has its JOB HEADER set to EDIT LOCK:
ON, or a line has LINE EDIT LOCK then SPEED OVERRIDE cannot be
performed. The minor alarm “ALARM: 4476 CANNOT EDIT (EDIT LOCK
JOB)” will occur.

YRC1000 Basic Programming Training Manual B-3 © YASKAWA ACADEMY

Appendix-B :TRT & Speed Override

NOTES

YRC1000 Basic Programming Training Manual B-4 © YASKAWA ACADEMY

 Appendix C: YRC1000 Password Feature

C.0 YRC1000 PASSWORD FEATURE

C.1 Password Protection Option
The YRC1000 Password option is capable of storing 100 “case-sensitive” user names
and passwords with individualized security levels. Using password protection allows
only one user at a time to be LOGON to the controller.

A timeout value can also be entered to automatically LOGOFF the user into
Operation Mode if a key is not pressed within a defined amount of time.
To LOGON, perform the following keystrokes:
1. Choose SYSTEM INFO and LOGON.
2. With the cursor on USER NAME press the SELECT key or tap.
3. Enter the User’s defined name.

NOTE: User Names are case sensitive.

4. Move the cursor to PASSWORD, press the SELECT key or tap.
5. Using the number keypad, enter the user’s PASSWORD, press the ENTER key.
The user is now logged ON.

Figure C-1 The LOGON Screen for Entering USER NAME and PASSWORD

To LOGOFF, perform the following keystrokes:

1. Choose SYSTEM INFO and LOGOFF.
2. Verify the USER NAME, then choose EXECUTE.

YRC1000 Basic Programming Training Manual C-1 © YASKAWA ACADEMY

Appendix-C :YRC1000 Password Feature

NOTES

YRC1000 Basic Programming Training Manual C-2 © YASKAWA ACADEMY

 INDEX
A
ABORT INSTRUCTION 14-11
ACTIVE TOOL NO. SELECTION 21-2
ADDING A COORD TAG TO AN EXISTING STEP 11-31
ADDING A FINE TAG TO AN EXISTING STEP 11-26
ADDING A FPT TAG TO AN EXISTING STEP 11-29
ADDING A POSITION DISTANCE TO AN EXISTING STEP 11-23
ADDING A POSITION LEVEL TO AN EXISTING STEP 11-20
ALARM DETAIL 5-3
ALARM DISPLAY 5-4
AREA KEY 2-5
ARITHMETIC INSTRUCTIONS 15-3
ARITHMETIC VARIABLES 15-1

B
BINARY STATUS AND I/O GROUPS 16-6

C
CALL AND RET 14-1
CALLING MASTER JOB TO THE SCREEN 7-5, 7-7
CANCEL KEY 2-6
CANCELING MANUAL BRAKE RELEASE 5-11
CANCELING THE COMMENT OUT 11-15
CANCELING THE COMMENT OUT FOR WHOLE JOB 11-16
CANCELING THE LINE EDIT LOCK 20-5
CANCELING THE LINE EDIT LOCK FOR A WHOLE JOB 20-6
CHANGE SPEED 12-3
CHANGING STEP MOTION TYPE 11-8
CHARACTER SCREENS 3-18
CHECK-RUN A-2
CIRCULAR MOTION TYPE (MOVC) 8-6
CLEAR INSTRUCTION 15-6
COMMAND POSITION 8-1
COMMENT INSTRUCTION 14-9
COMMENT FOR STEP INSTRUCTION 11-32
COMMENT OUT LINE/LINES 11-13
CONDITIONS WITH IN#( ), IG#( ), OR VAR 18-7
CONTROL GROUPS 4-1
COORD TAG 11-30
COORDINATES 4-2
COPY LINES 11-9
COPY JOB 10-1
COPY, CUT, PASTE, & REVERSE PASTE 11-9
CREATE NEW JOB 7-1
CREATING A USER FRAME 19-2
CURRENT POSITION 4-8
CURSOR KEY 2-5
CUT 11-10
CYCLE SELECTION 9-3
CYCLE TIME DISPLAY 12-5

YRC1000 Basic Programming Training Manual Index 1 © YASKAWA ACADEMY

D
DATA ENTRY 12-2
DATA ENTRY METHOD 8-2
DEC (DECREMENT) INSTRUCTION 15-4
DELETE JOB 10-2
DELETE KEY 2-7
DELETING A COORD TAG FROM AN EXISTING STEP 11-31
DELETING A FINE TAG FROM AN EXISTING STEP 11-26
DELETING A FPT TAG FROM AN EXISTING STEP 11-29
DELETING A POSITION DISTANCE FROM AN EXISTING STEP 11-23
DELETING A POSITION LEVEL FROM AN EXISTING STEP 11-20
DELETING A STEP 11-7
DETAIL DISPLAY 10-6
DETAIL EDIT 11-18, 12-2
DIN (DIGITAL INPUT STATUS TO BYTE OR DOUBLE) INSTRUCTION 17-6
DIRECT OPEN 14-2
DISPLAY SETUP 3-8
DISPLAYING ALARM HISTORY 5-4
DISPLAYING AN ARITHMETIC VARIABLE TYPE/ADDRESS 15-1
DISPLAYING CURRENT POSITION IN USER 19-5
DISPLAYING THE ACTIVE JOB 7-2
DOUT OG#( ) DIGITAL OUTPUT FOR A GROUP INSTRUCTION 17-2
DOUT OT#( ) DIGITAL OUTPUT INSTRUCTION 17-1
DRY-RUN SPEED A-2

E
EDIT BUFFER LINE 3-4
EDIT LOCK:ON/OFF JOB PROTECTION 20-1
EDITING AN EXISTING “IF” CONDITION 18-5
EDITING KEYS 2-6
EDITING VARIABLES 15-2
EMERGENCY STOP (E-STOP) BUTTON 2-3
ENABLE UNDELETE JOB FUNCTION 10-3
ENTER KEY 2-7
ERROR MESSAGE 5-1
EX. AXIS KEY 4-1
EX. MEMORY 3-7

F
FINE TAG 11-24
FIRST AND LAST STEP AS SAME POSITION 8-10
FPT TAG 11-27
FWD AND BWD KEYS 9-1

G
GENERAL 3-7
GENERAL LINE EDITING 11-17
GENERAL-PURPOSE DISPLAY AREA 3-2

H
HIGH SPEED KEY 4-8
HOLD BUTTON 2-4
HUMAN INTERFACE DISPLAY AREA 3-4

YRC1000 Basic Programming Training Manual Index 2 © YASKAWA ACADEMY

I
/O SIMULATION 16-3
IF CONDITION BASED ON A VARIABLE 18-4
IF CONDITION BASED ON AN INPUT GROUP 18-3
IF CONDITION BASED ON INPUT STATUS 18-2
IFTHEN; ELSEIF; ELSE; AND ENDIF INSTRUCTIONS 18-8
IN/OUT 3-7
INC (INCREMENT) INSTRUCTION 15-3
INFORM LIST KEY 2-8
INSERT KEY 2-7
INSERTING A STEP 11-6
INTERLOCK KEY 2-8
INTERLOCK+TEST-START 9-2
INTERNAL SHOCK SENSOR / COLLISION DETECTION 5-7

J
JOB 3-7
JOB HEADER 10-4
JOINT COORDINATES 4-2
JOINT MOTION TYPE (MOVJ) 8-4
JUMP JOB INSTRUCTION 14-8
JUMP TO CREATE A REPEAT LOOP 14-7
JUMP TO SKIP/OMIT LINES 14-6
JUMP*LABEL AND *LABEL INSTRUCTIONS 14-6

L
LANGUAGE LEVEL 13-2
LINE EDIT LOCK 20-3
LINEAR MOTION TYPE (MOVL) 8-5
LINKING JOBS WITH CALL 14-1
LOW SPEED START A-1

M
MACHINE LOCK A-3
MACHINE LOCK IN TEACH A-3
MAIN CIRCUIT BREAKER POWER SWITCH 1-1
MAIN MENU AREA 3-1
MAIN MENU KEY 2-9
MAIN MENU SELECTIONS 3-6
MAJOR ALARMS 5-2
MANUAL BRAKE RELEASE 5-10
MANUAL SPEED 4-7
MANUAL SPEED ICONS & KEYS 4-7
MANUAL TCP DATA ENTRY 21-3
MASTER JOB 7-4
MENU AREA 3-3
MESSAGE LINE 3-4
MINOR ALARMS 5-1
MODE SELECTION SWITCH 2-3
MODIFY KEY 2-7
MODIFYING A STEP COMMAND POSITION 11-7
MOMENT OF INERTIA 21-8
MONITORING GENERAL PURPOSE INPUTS 16-1
MONITORING GENERAL PURPOSE OUTPUTS 16-5
MOTION TYPE 8-1
MOTION TYPE KEY 2-7
YRC1000 Basic Programming Training Manual Index 3 © YASKAWA ACADEMY
N
NAME/DATE JOB LISTS 10-5
NESTING JOBS 14-4
NUMBER KEYPAD 2-6

O
OPERATION BUTTONS 2-3
OVERRUN & SHOCK SENSOR ACTION 5-6
PASSWORD PROTECTION OPTION C-1

P
PASTE 11-11
PAUSE INSTRUCTION 14-10
PLAY MODE 2-3
PLAY SPEED 8-1
PLAY SPEED LIST 12-1
PLAY SPEED LIST METHOD 8-2
PLAYING A JOB 9-4
PM 3-7
POSITION DISTANCE TAG FOR MOVL 11-22
POSITIONING LEVEL TAG 11-19
POWERING UP THE YRC1000 CONTROLLER 1-2
PROGRAMMING A MOTION STEP 8-3
PROGRAMMING KEYS 2-7
PULSE OT#( ) OR OG#( ) INSTRUCTION 17-3

R
RECTANGULAR OR CYLINDRICAL, TOOL, AND USER 4-4
REGISTRATION OF THE MASTER JOB NAME 7-4, 7-6
REMOTE MODE 2-3
REMOTE PENDANT 3-16
REMOVING AN “IF” CONDITION 18-6
RENAME JOB 10-3
REVERSE PASTE 11-12
ROBOT 3-7
ROBOT KEY 4-1

S
SAFETY FUNC.3-7
SELECT KEY 2-6
SELECTING A COORD TAG DURING INITIAL STEP PROGRAMMING 11-30
SELECTING A FINE TAG DURING INITIAL STEP PROGRAMMING 11-25
SELECTING A FPT TAG DURING INITIAL STEP PROGRAMMING 11-28
SELECTING A JOB 7-3
SELECTING A POSITION DISTANCE DURING INITIAL STEP PROGRAMMING 11-22
SELECTING A POSITION LEVEL DURING INITIAL STEP PROGRAMMING 11-19
SELECTING A USER FRAME FOR JOGGING 19-4
SERVO ENABLE SWITCH 2-5
SERVO ON/READY BUTTON 2-4
SET INSTRUCTION 15-5
SETTING JOB LIST ORDER BY NAME OR BY DATE 10-5
SETUP 3-7
SETUP SPECIAL RUN IN PLAY MODE A-1
SETUP SPECIAL RUN IN TEACH MODE A-3
SHIFT KEYS 2-8

YRC1000 Basic Programming Training Manual Index 4 © YASKAWA ACADEMY

SIMPLE MENU KEY 3-16
SPEED LIMIT A-2
SPEED OVERRIDE B-2
SPLINE MOTION TYPE (MOVS) 8-8
START BUTTON 2-4
STATUS DISPLAY AREA 3-5
STEP ONLY CHANGING FOR EDIT LOCK JOBS 20-2
SUPERVISORY, CONCURRENT JOB SOFTWARE OPTION 7-6
SYSTEM INFO 3-7

T
TEACH MODE 2-3
TIMER INSTRUCTION 14-10
TOOL CALIBRATION UTILITY 21-4
TOOL COORDINATES 4-6
TOOL LIST & SELECTION 21-1
TOOL LOAD AND CENTERS OF GRAVITY 21-7
TOOL NO. SWITCH 21-1
TOOL SELECTION FOR JOG OPERATION IN XYZ TYPE COORDINATES 4-3
TRAVERSE RUN TIME (TRT) B-1
TURNING OFF POWER TO THE YRC1000 CONTROLLER 1-3

U
UNDELETE JOB 10-3
UNDO FEATURE 11-2
USE OF THE *LABEL INSTRUCTION 14-8
USE OF THE RET INSTRUCTION 14-4
USER FRAMES 4-7
USING THE INFORM LIST KEY 13-1

V
VARIABLE 3-7

W
W. GRAV. POS MEASURE UTILITY 21-7
WAIT INSTRUCTION 17-4
WEAVE PROHIBIT IN TEACH A-3

Y
YRC1000 CONTROLLER HARDWARE 1-1

YRC1000 Basic Programming Training Manual Index 5 © YASKAWA ACADEMY

YRC1000 Basic Programming Training Manual Index 6 © YASKAWA ACADEMY