Start-Up Of Application Program; To Temporarily Prevent Motoplus Application From Starting - YASKAWA YRC1000micro Instructions Manual

5 Installation and Start-up of Application Program
5.2

Start-up of Application Program

5.2 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. If two or more applications are installed, the alarm 1020:
"MOTOPLUS APPLICATION LOAD ERROR [1]" occurs on loading.
The error status can be checked by reading $B051 from the job.
• The loadable memory size is up to 2 Mbyte as the total of the code
area and the static memory area. If it is more than 2 Mbyte, the
start-up fails and the alarm 1020: "MOTOPLUS APPLICATION
LOAD ERROR [4]" occurs on loading. The error status can be
checked by reading $B051 from the job.
$B051 0: The application is loaded successfully on start-up.
1: The number of files exceeds the limit.
2: The memory is insufficient. (Available memory area is
3: APPLICATION folder cannot be found in the SD.
4: The size of the MotoPlus application exceeds the limit.
5.3

To Temporarily Prevent MotoPlus Application from Starting

Due to a problem of the application program, the system may hang up
during robot operation, and then the YRC1000micro may not start
normally. For recovery, it is necessary to start the YRC1000micro
normally while preventing the application program from operating. In this
case, it is necessary to start the YRC1000micro in the MAINTENANCE
mode, make the settings so that the application program does not
operate, start the YRC1000micro normally, and operate the robot. Follow
one of the following two procedures:
1. Start the YRC1000micro in the MAINTENANCE mode, set the security
mode to the MANAGEMENT MODE. Select "MotoPlus APL.", then
"DELETE" to delete the application.
2. Start the YRC1000micro in the MAINTENANCE mode, set the security
mode to the MANAGEMENT MODE. Select "MotoPlus APL.", then
"MotoPlus FUNC. SETTING" to show the setting window. Then set
"APPLI. AUTOSTART AT POWER ON" to "DISABLE".
If the above problem occurs during robot operation, choose the procedure
2. The above problem during robot operation may be caused by a specific
condition. If the MotoPlus application is deleted with the procedure 1,
after the specific condition is cleared, the MotoPlus application must be
loaded again in the SD for recovery. In this case, if the application to be
loaded does not exist there, the application cannot operate and the
system cannot recover.
less than 3 Mbyte.)
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