YASKAWA YRC1000micro Instructions Manual
  1. Manuals
  2. Brands
  3. YASKAWA Manuals
  4. Controller
  5. YRC1000micro
  6. Instructions manual

YASKAWA YRC1000micro Instructions Manual

For new language environment motoplus
Hide thumbs Also See for YRC1000micro:
Table of Contents

Advertisement

Quick Links

YRC1000micro OPTIONS
INSTRUCTIONS
User's Manual For New Language Environment MotoPlus
Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.
MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000micro INSTRUCTIONS
YRC1000micro OPERATOR'S MANUAL
YRC1000micro MAINTENANCE MANUAL
YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
The YRC1000micro alarm codes above consists of "MAJOR ALARMS" and "MINOR ALARMS".
181269-1CD
1
MANUAL NO.
HW1484528
1
1/77

Advertisement

Table of Contents
loading
Need help?

Need help?

Do you have a question about the YRC1000micro and is the answer not in the manual?

Questions and answers

Related Manuals for YASKAWA YRC1000micro

Summary of Contents for YASKAWA YRC1000micro

  • Page 1 MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS YRC1000micro INSTRUCTIONS YRC1000micro OPERATOR’S MANUAL YRC1000micro MAINTENANCE MANUAL YRC1000micro ALARM CODES (MAJOR ALARMS) (MINOR ALARMS) The YRC1000micro alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”. 181269-1CD MANUAL NO. HW1484528 1/77...
  • Page 2 If such modification is made, the manual number will also be revised. • If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover.
  • Page 3 HW1484528 Notes for Safe Operation Read this manual carefully before installation, operation, maintenance, or inspection of the YRC1000micro. In this manual, the Notes for Safe Operation are classified as “DANGER”, “WARNING”, “CAUTION”, or “NOTICE”. Indicates an imminently hazardous DANGER situation which, if not avoided, will result in death or serious injury.
  • Page 4 Confirm that no person is present in the manipulator's operating range and that the operator is in a safe location before: – Turning ON the YRC1000micro power – Moving the manipulator by using the programming pendant – Running the system in the check mode –...
  • Page 5 5-15 pin of the Safety connector (Safety). • Upon shipment of the YRC1000micro, this signal is connected by a jumper cable in the dummy connector. To use the signal, make sure to supply a new connector, and then input it.
  • Page 6 HW1484528 Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the YRC1000micro controller, manipulator cables, the YRC1000micro programming pendant (optional), and the YRC1000micro programming pendant dummy connector (optional).
  • Page 7 HW1484528 Description of the Operation Procedure In the explanation of the operation procedure, the expression "Select • • • " means that the cursor is moved to the object item and [SELECT] is pressed, or that the item is directly selected by touching the screen. Registered Trademark In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or...

  • Page 8: Table Of Contents

    3.5 MotoPlus Library Files ....................... 3-5 3.6 Program Build (Compile/Link) .................... 3-5 3.7 Changing Build Settings..................... 3-6 3.8 How to Use the DX200 Projects on YRC1000micro ............3-7 3.8.1 Difference Points of the API.................. 3-7 4 Valid/Invalid Setting of MotoPlus Function..................4-1 5 Installation and Start-up of Application Program................
  • Page 9 7.2 Connecting YRC1000micro with PC.................. 7-2 7.3 Debugging via Telnet Communication................7-4 7.3.1 Operation Procedure .................... 7-4 7.3.2 Example Usage of Printf() ..................7-7 7.4 Debugging by User Variables of YRC1000micro............... 7-8 8 Development Support Tool ......................8-1 8.1 Outline ..........................8-1 8.1.1 Introduction......................8-1 8.1.2 Overview of Functions ..................
  • Page 10 HW1484528 Contents 8.6.3 How to Mount the Application ................8-13 8.6.4 Debug Port APIs ....................8-14 8.7 Copy Protection ....................... 8-18 8.7.1 Protection Activation (MotoPlusIDE)..............8-18 8.7.2 Acquiring the Serial File (MotoPlus Monitor) ............8-19 8.7.3 Generating the Protection Key (MotoPlusIDE) ........... 8-19 8.7.4 Loading the Protection Key (MotoPlus Monitor) ..........

  • Page 11: Outline

    This function is used to develop customer specific applications that operate on the main CPU board (ACP30 circuit board) of the YRC1000micro. The function name MotoPlus is an abbreviation of Motoman Professional Programming Language for Superior Use. MotoPlus is a programming IDE (integrated development environment) for professionals, with which the application program developed on the PC using C language runs as a task of the robot controller.

  • Page 12: What Motoplus Can Do

    HW1484528 Outline What MotoPlus Can Do What MotoPlus Can Do Users can use the C language, a general programming language, and the C language and MotoPlus libraries to develop a customer specific application program in which various types of resources are used, e.g., the Ethernet communication port and the programming pendant of the robot controller.

  • Page 13: Supported Services

    HW1484528 Outline Supported Services Supported Services MotoPlus provides users with a variety of services as follows: 1. Application task control Application task start/stop, data transmission between application programs by the mailbox and semaphore, exclusive control and execution synchronization 2. Robot control Robot control from the application program 3.
  • Page 14 HW1484528 Outline Supported Services (1) Integrated development environment (MotoPlus IDE) for source file project management, program editor, and compiler and linker (2) Installation of the MotoPlus application from the SD/USB memory in the programming pendant (3) Debugging by printf() via Telnet HW1484528 14/77...

  • Page 15: Application Program Development Environment

    Application Program Development Environment A MotoPlus application program is written in C language on a PC and debugged on the YRC1000micro controller. Use the text editor of MotoPlus IDE to write the application program, then compile and link it to create the execution object.

  • Page 16: Development Environment Component

    Windows Notepad can also be used.) Compiler Converts the source program into the machine language of the Provided by target CPU. YASKAWA Integrated in MotoPlus IDE, and can be executed from the menu. Linker/library Links the C language library provided by GNU with the...

  • Page 17: Application Program Execution Environment

    HW1484528 Outline Application Program Development Environment 1.5.3 Application Program Execution Environment The application program developed in the above-mentioned program development environment is stored in the SD on the main CPU (ACP31) of the robot controller, as shown in fig. 1-3 “Program Execution Environment”...

  • Page 18: Development Flow

    <3.2 Creating MotoPlus Project> Modify the program the source program (e.g. abc.c) and Use GNU C compiler provided create an application program by YASKAWA (included in (e.g. abc.o). MotoPlus IDE). No compile error? <3.2 Creating MotoPlus Project> Link the above-mentioned object Use GNU linker and library.

  • Page 19: Notes

    4. When using the SHELL debugging function of the controller OS which becomes available by connecting with the YRC1000micro via Telnet, a system alarm may occur due to insufficient processing time for robot operation. Do NOT use the SHELL debugging function.

  • Page 20: Development Environment Setup

    HW1484528 Development Environment Setup DVD Contents Development Environment Setup DVD Contents The DVD contains the following items. Folder Contents Remarks Root MotoPlus IDE installer Manual MotoPlus user’s manual MotoPlus outline, (Japanese/ installation procedure English) of the development environment, and development procedure MotoPlus programmer’s manual Programming...

  • Page 21: Installation Of Development Environment Software

    HW1484528 Development Environment Setup Installation of Development Environment Software Installation of Development Environment Software Install MotoPlus IDE as indicated in the following procedure. 1. Insert the MotoPlusIDE installation DVD in the DVD slot on the PC. If AutoRun is enabled, the installation starts. If not, run “setup.exe”...
  • Page 22 HW1484528 Development Environment Setup Installation of Development Environment Software 4. Click 〔Next>〕. The following confirmation window for installation appears. 5. Click 〔Next>〕. The progress of the installation appears. When the installation is completed properly, the following window appears. Upon completing the installation, shortcuts of MotoPlusIDE are added on the desktop and in the Programs folder of the Start menu.

  • Page 23: Installation Of Telnet Connection Utility

    Installation of TELNET Connection Utility Installation of TELNET Connection Utility To debug the MotoPlus application, connect the YRC1000micro and the PC via TELNET and describe using printf() in the application program. Thus, the TELNET connection utility is prepared. Install it by following the procedure below.

  • Page 24: Creating Application Software

    MotoPlus is included. 3. The application entry point is the function which is called from the system software when the YRC1000micro is started. This function must be described as: void mpUsrRoot (int arg1, int arg2, int arg3, int arg4, int arg5, int arg6,...
  • Page 25 NOTE HOLD button may freeze. Thus, as the sample program (refer to “Chap.17.3 Task Control Sample Program” in “YRC1000micro OPTIONS INSTRUCTIONS Program- mer’s Manual For New Language Environment MotoPlus (HW1484526)”, make sure to complete the task “mpUsr- Root” after starting up another application or creating a semaphore.

  • Page 26: Creating Motoplus Project

    MotoPlus application which can be executed as a task of the YRC1000micro. 2. MotoPlus library file: Creates a static library file (*.yrcmLib). This type of library cannot be executed on the YRC1000micro but can be called from MotoPlus application. Thus, import it from another project file to use it.

  • Page 27: Outline Of Motoplus Ide

    HW1484528 Creating Application Software Outline of MotoPlus IDE Outline of MotoPlus IDE The left pane of MotoPlus IDE contains the project tree. This lists all source files, header files, and library files that will be compiled when the project is built. To edit a file that is in the project tree, double-click the filename, then the contents of the file appears as a new tab in the source editor window.

  • Page 28: Text Search

    HW1484528 Creating Application Software Text Search Text Search To search for text, go to the top menu bar and click Edit > Find and Replace (shortcut is Ctrl + f). Then, the “Find” dialog appears. When “Find All” is selected, the cursor will not immediately go to the next searched text.

  • Page 29: Changing Build Settings

    The sample program in the DVD is created in the default installation folder (C:Program Files\Yaskawa\MotoPlusIDE_YRCmicro). Thus, when it is installed in another folder, the build settings must be initialized. To initialize the build settings, check “Edit Enable/Disable” and click on the button “Restore factory defaults”.

  • Page 30: How To Use The Dx200 Projects On Yrc1000Micro

    The return value for the mpGetRtc ( ) is int type for the DX200 and FS100, however, for the YRC1000micro, the value is the float type. In the YRC1000micro, mpGetRtc ( ) returns the value less than 1. Correct the return value of the mpGetRtc ( ) to the float type.

  • Page 31: Valid/Invalid Setting Of Motoplus Function

    Valid/Invalid Setting of MotoPlus Function The following is the procedure to set the MotoPlus function to valid. 1. Start the YRC1000micro in MAINTENANCE MODE, and change to the “MANAGEMENT MODE” in the security mode. 2. Select {SYSTEM} under the main menu, then select {SETTING}.
  • Page 32 HW1484528 Valid/Invalid Setting of MotoPlus Function 4. Select “USED”. – The confirmation dialog appears. 5. Select “YES” on the confirmation dialog. – The SRAMDRV.DAT initialization confirmation dialog appears. 6. Select “YES” on the SRAMDRV.DAT initialization confirmation dialog. – The MotoPlus function becomes valid. HW1484528 32/77...
  • Page 33 Valid/Invalid Setting of MotoPlus Function The following is the procedure to set the MotoPlus function to invalid. 1. Start the YRC1000micro in MAINTENANCE MODE, and change to the “MANAGEMENT MODE” in the security mode. 2. Select {SYSTEM} under the main menu, then select {SETUP}.
  • Page 34 HW1484528 Valid/Invalid Setting of MotoPlus Function 4. Select “NOT USED”. – The setting change confirmation dialog appears. 5. Select “YES” on the confirmation dialog. – The MotoPlus function becomes invalid. HW1484528 34/77...

  • Page 35: Installation And Start-Up Of Application Program

    HW1484528 Installation and Start-up of Application Program Installation of Application Program in Maintenance Mode Installation and Start-up of Application Program Installation of Application Program in Maintenance Mode 1. Load function Load the application program and install it by following the instructions below.
  • Page 36 • Press [ENTER], then the following confirmation dialog box appears. • When {YES} is selected and the selected application file contains the file which already exists in the YRC1000micro, the following confirmation dialog box appears. Select “YES” to load. HW1484528...
  • Page 37 Installation of Application Program in Maintenance Mode 2. List Select the submenu {FILE LIST}. Then, the list of the application files which already exist in the YRC1000micro appears. 3. Deletion of application program By the submenu {DELETE}, the application file which already exists in the YRC1000micro can be deleted.
  • Page 38 HW1484528 Installation and Start-up of Application Program Installation of Application Program in Maintenance Mode 4. MotoPlus function setting When selecting “MotoPlus FUNC. SETTING”, the following windows appear to enable or disable the autostart of the MotoPlus application program. For the detailed usage methods, refer to chapter 5.2 “Start- up of Application Program”...
  • Page 39 HW1484528 Installation and Start-up of Application Program Installation of Application Program in Maintenance Mode (3) Select {YES}. –When {YES} is selected on the confirmation dialog box, the parameter is set automatically, and then it returns to the MotoPlus setting window. HW1484528 39/77...

  • Page 40: Start-Up Of Application Program

    Installation and Start-up of Application Program Start-up of Application Program Start-up of Application Program When the YRC1000micro is turned ON, the application program is loaded automatically and started. <Limitations> • Only one “*.out” file can be loaded. Thus, install only one applica- tion.

  • Page 41: User Defined File

    HW1484528 User Defined File Saving in and Reading from External Memory User Defined File With MotoPlus, user defined files can be created, read, written, deleted, etc. from an application by using the file control. These files can be saved in or read from external memory (SD or USB) by using the programming pendant.
  • Page 42 HW1484528 User Defined File Saving in and Reading from External Memory 3. Select a file to be saved in external memory or to be loaded from external memory to the controller. appears on the left of the selected file. Multiple files can also be selected.

  • Page 43: Initialization Of User Defined File

    HW1484528 User Defined File Initialization of User Defined File Initialization of User Defined File 1. Start the controller in the maintenance mode. Then, select {Main Menu}, {FILE}, then {INITIALIZE}. 2. Select “USER DEFINED FILE”. 3. Select “SRAM RAM DRIVE SRAMDRV .DAT”. HW1484528 43/77...
  • Page 44 HW1484528 User Defined File Initialization of User Defined File appears as shown below. 5. Press [ENTER], then the following window appears. Select {YES}. HW1484528 44/77...

  • Page 45: Setting Of File Control Task Priority Limit

    HW1484528 User Defined File Setting of File Control Task Priority Limit Setting of File Control Task Priority Limit Only the normal priority (MP_PRI_TIME_NORMAL) is used as the task priority for the file control API. When the file control API is used from the task with higher priority, the operation differs depending on the setting of the parameter S2C1101 as shown in the following table.
  • Page 46 HW1484528 User Defined File Setting of File Control Task Priority Limit 3. Press [ENTER], then select {YES} in the “Modify?” window to complete the setting. HW1484528 46/77...

  • Page 47: Debugging

    When using the SHELL debugging function of the controller OS which becomes available by connecting with the NOTE YRC1000micro via Telnet, a system alarm may occur due to insufficient processing time for robot operation. Do NOT use the SHELL debugging function.

  • Page 48: Connecting Yrc1000Micro With Pc

    Telnet. As shown below, connect an Ethernet cable (shielded twisted-pair, CAT 5 or greater) to the LAN connector CN106 (LAN2) that is mounted on the front of the APW30 circuit board in the CPU rack of the YRC1000micro controller. 選　択...
  • Page 49 HW1484528 Debugging Connecting YRC1000micro with PC Use the LAN port on the front face of the APW30 board. NOTE HW1484528 49/77...

  • Page 50: Debugging Via Telnet Communication

    If the Telnet function is enabled, an alarm such as “0500: SEGMENT PROC NOT READY” may occur when the YRC1000micro is started. This is because the Telnet task of the YRC1000micro side is NOTE performed with a high priority, so processing of other sys- tem tasks are not performed normally.
  • Page 51 Ensure the PC IP address is on the same subnet as the YRC1000micro. In the case of the setting for the following YRC1000micro, the set- ting for PC is as follows. IP adrress:192.168.255.xx (xx: 0-255, decimal number, different from YRC1000micro value), Subnet mask: 255.255.255.0...
  • Page 52 Debugging via Telnet Communication 3. Restrictions on communication ports: For the Ethernet function of the YRC1000micro, the system occupies the specified ports for UDP and TCP. Thus, the port numbers less than 10500 cannot be used for MotoPlus applications. Also, the ports to be used by the system may be added or changed depending on the YRC1000micro software version.

  • Page 53: Example Usage Of Printf()

    1. Create the following “sample.c” with MotoPlus IDE to create “sample.out”. motoPlus 2. Install “sample.out” to the YRC1000micro. (Refer to chapter 5 “Installation and Start-up of Application Program” .) 3. Install the created “MotoPlusApl.out” to the YRC1000micro. (Refer to chapter 5 “Installation and Start-up of Application Program” .) 4.

  • Page 54: Debugging By User Variables Of Yrc1000Micro

    MP_PRI_IP_CLK_TAKE, or MP_TIME_CRITICAL, or the task “mpUsrRoot”) may cause insufficient processing time for the robot operation control task. Thus, use the user variables of the YRC1000micro (B variable, I variable, D variable, and R variable) to debug. In this case, use the API for writing to the variable “mpPutVarData()” in the MotoPlus application to describe debug information, then debug while checking the data in the VARIABLE window on the programming pendant.

  • Page 55: Development Support Tool

    HW1484528 Development Support Tool Outline Development Support Tool Outline 8.1.1 Introduction This chapter explains the functions of the tool to support development of the MotoPlus application (hereafter referred to as "the application"). To use the development support tool, the optional Ethernet function is required.

  • Page 56: Using The Support Tool

    HW1484528 Development Support Tool Using the Support Tool Using the Support Tool The application development support tool can be used by MotoPlusIDE and the programming pendant (MotoPlus Monitor). (MotoPlusIDE) Each function is available from the "Debug" menu in MotoPlusIDE. Fig. 8-1: MotoPlusIDE (MotoPlus Monitor) On the programming pendant, select Main Menu, {MotoPlus APL.}, and then select {MotoPlus MONITOR} to use the functions.

  • Page 57: Support For The Functions

    HW1484528 Development Support Tool Using the Support Tool 8.2.1 Support for the Functions Some functions cannot be used with MotoPlus Monitor. The following table shows which functions can be used. Function MotoPlusIDE MotoPlus Monitor Online Download  Application Property List ...

  • Page 58: Basic Settings

    Basic Settings Basic Settings 8.3.1 Connecting a PC with the YRC1000micro Connect PC with the YRC1000micro by using the Ethernet cable as shown in chapter 7.2 “Connecting YRC1000micro with PC” . 8.3.2 Communication Settings The MotoPlusIDE enables functions to be used individually for all controllers connected with a PC.

  • Page 59: Online Download

    HW1484528 Development Support Tool Online Download Online Download A function which downloads the application from MotoPlusIDE to the robot controller. Loading the application is usually performed in the maintenance mode, however, this function allows the application to load in the online mode. Since this function omits the time and effort required for restarting the maintenance mode, the operating time can be reduced when debugging the application.

  • Page 60: Operating Procedure

    HW1484528 Development Support Tool Online Download Fig. 8-6: Location of the USB on the Board 8.4.3 Operating Procedure Select the "Debug" menu in MotoPlusIDE, and then select "Download". 1. Select the controller to receive the download. 2. Select the application file (.out file) to download. When downloading the application file of a project which is currently open, select the "Download Out file of this project"...

  • Page 61: Application Property List

    HW1484528 Development Support Tool Application Property List Application Property List Acquires and displays the application properties. The following properties can be displayed. • Application name • Application version • Application file size • Task name • Task executing priority 8.5.1 Operating Procedure If using MotoPlusIDE, select the "Debug"...

  • Page 62: How To Set Application Information

    HW1484528 Development Support Tool Application Property List 8.5.2 How to Set Application Information For the application name, the version, and the task name, the contents which are set by MotoPlus API are displayed. Fig. 8-9: Setting the Application Information HW1484528 62/77...

  • Page 63: Setting Procedures

    HW1484528 Development Support Tool Application Property List 8.5.3 Setting Procedures 1. Set the application name and the version by using mpApplicationInfoNotify(). For using mpApplicationInfoNotify(), confirm the MotoPlus reference manual. 2. Set the task name by using mpTaskPropNameSet(). mpTaskPropNameSet Set the task name to be displayed in MotoPlus IDE. ...

  • Page 64: Port Debug

    HW1484528 Development Support Tool Port Debug Port Debug By executing the API for the port debug, the executing time for the task or the routine can be measured. Name Details Time Division Shows the unit [ms/div] of the time axis (the horizontal axis).

  • Page 65: Measuring Procedures

    HW1484528 Development Support Tool Port Debug 8.6.1 Measuring Procedures Select the "Debug" menu, and then select "Port Debug" when using the MotoPlusIDE. Select {Port Debug} when using MotoPlus Monitor. 1. When using MotoPlusIDE, select the controller to connect with. 2. Set the measuring conditions. Time Range Sets the displaying time [ms] for measuring data.

  • Page 66: Optional For Measuring

    HW1484528 Development Support Tool Port Debug 8.6.2 Optional for Measuring Trigger If the option is enabled, only the measuring data is displayed when the trigger conditions are satisfied. Set the port number and trigger conditions to apply the trigger. The trigger conditions are shown below. Detects the rising edge.

  • Page 67: How To Mount The Application

    HW1484528 Development Support Tool Port Debug Accumulate Accumulates the measuring data. When the option is enabled, all measuring data is drawn by overlapping. The example below shows when the option is enabled. (Trigger is Up.) The deviation of the timing when the port is turned to 0 is caused by the deviation of the position of the rising edge.

  • Page 68: Debug Port Apis

    HW1484528 Development Support Tool Port Debug 8.6.4 Debug Port APIs mpDebugPortInit Initializes the debug port for the port debug function of MotoPlusIDE. Before using the port, it is necessary to execute it once.  Syntax int mpDebugPortInit( int portNo, char* name ...
  • Page 69 HW1484528 Development Support Tool Port Debug mpDebugPortHigh Sets the output level of the debug port to High.  Syntax int mpDebugPortHigh( int portNo,  Argument [portNo] Specify the port number from 0 to 4.  Return value Normal end Error HW1484528 69/77 8-15...
  • Page 70 HW1484528 Development Support Tool Port Debug mpDebugPortLow Sets the output level of the debug port to Low.  Syntax int mpDebugPortLow( int portNo  Argument [portNo] Specify the port number from 0 to 4.  Return value Normal end Error HW1484528 70/77 8-16...
  • Page 71 HW1484528 Development Support Tool Port Debug mpDebugPortLevelSet Sets the output level of the debug port to a specified value.  Syntax int mpDebugPortLevelSet( int portNo, int level Argument  [portNo] Specify the port number from 0 to 4. [level] Specify the output level. The valid settable range is 0 to 100. ...

  • Page 72: Copy Protection

    HW1484528 Development Support Tool Copy Protection Copy Protection This function enables the application to only be started on the specified controller. The use of an illegally copied application is prevented by using a different controller. Copy protection procedures are shown below. 1.

  • Page 73: Acquiring The Serial File (Motoplus Monitor)

    HW1484528 Development Support Tool Copy Protection 8.7.2 Acquiring the Serial File (MotoPlus Monitor) Acquires the serial file from the controller. 1. Select {Protection Key} in MotoPlus Monitor. 2. Select the Memory Device to save the serial file. 3. Press {Save}. The serial file (MPSERIAL.DAT) is saved in the root folder of the selected memory device.

  • Page 74: Loading The Protection Key (Motoplus Monitor)

    HW1484528 Development Support Tool Copy Protection • The protection key cannot be generated if the project of the application does not exist. NOTE • The protection key cannot be generated if the project of the application is not built. 8.7.4 Loading the Protection Key (MotoPlus Monitor) Load the protection key to the controller.

  • Page 75: Useful Functions (Motopluside)

    HW1484528 Development Support Tool Copy Protection 8.7.5 Useful Functions (MotoPlusIDE) 8.7.5.1 Generate and Download the Protection Key MotoPlusIDE enables batch execution from acquiring the serial file to downloading the protection key. 1. Select "Protection Key" from the "Debug" menu. 2. Select the controller to use. 3.

  • Page 76: Alarm List

    HW1484528 Alarm List Alarm List Alarm Number Alarm Name Subcode Meaning 1020 MOTOPLUS APPLICATION The number of loaded files exceeds the limit. LOAD ERROR The memory is insufficient. (Available memory area is less than 3 Mbyte.) Failed to open the directory. Load failure (Failed to open the file.) Load failure (Undefined symbol) Load failure (Others: application overloaded)
  • Page 77 User’s Manual For New Language Environment MotoPlus HEAD OFFICE 2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan Phone +81-93-645-7703 Fax +81-93-645-7802 YASKAWA America Inc. (Motoman Robotics Division) 100 Automation Way, Miamisburg, OH 45342, U.S.A. Phone +1-937-847-6200 Fax +1-937-847-6277 YASKAWA Europe GmbH (Robotics Divsion )

Table of Contents

Save PDF