Yaskawa Controller Configuration
Supported Controllers
YRC1000
Controller
This is the YRC1000 controller used for Motoman robots.
Power: 380V-480V Volt Power Outlet
Network: Ethernet
Teach Pendant
This is the teach pendant associated with the YRC1000.
Things to note:
It has a key on the top left that designates the mode of operation.
A green light showing you if the robot is active
Computer Drive Enabled:
To enable the teach pendant to be controlled by RTR software.
Turn key clockwise to set mode to auto
Make sure estop is deactivated
Write down the IP address of the Ethernet port you are connected to. You can do this by the following steps in Check the IP address
Manual Drive Enabled:
To enable the robot to drive around manually
turn key to the central position to set to manual
Hold the pack dead-man switch half way
Push “Servo on ready” in the middle of the Teach Pendant
When the green light is enabled, you can drive the robot around.
If the robot is in Joint space:
The buttons in the center of the teach pendant allow you to move the robot
# | Joint Alias | IK movement |
|---|---|---|
Joint 0 | S | X |
Joint 1 | L | Y |
Joint 2 | U | Z |
Joint 3 | R | x- roll |
Joint 4 | B | y- pitch |
Joint 5 | T | z- yaw |
Whats my IP Address?
To check the IP address, please confirm your computer is connected via ethernet to either a router or computer with RTR’s software.
Select {SYSTEM INFO} under the main menu, and then select {NETWORK SERVICE} in the sub menu.
If you connected ethernet to the LAN2 port you will see something very similar to the following.
Controller Security Measures
To enable certain features in the controller, a user will have to enable “safety” mode in the security menu.
Select {SYSTEM INFO} under the main menu, and then select {SECURITY} in the sub menu.
{MODE} has the following configurations: {Operation Mode}, {Editing Mode}, {Management Mode}, and {Safety Mode}. Select {Safety Mode} as that allows for editing data.
The password is 5555555555555555, press {ENTER}