ROBOT MANAGER

MANUAL
FOR YRC1000, YRC1000micro, DX200, DX100, FS100 OR NX100

Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and
retain for future reference.

MOTOMAN INSTRUCTIONS
CONTROLLER MANIPULATOR MANUAL
CONTROLLER OPERATOR’S MANUAL
CONTROLLER MAINTENANCE MANUAL

MANUAL NO.

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Robot Manager

Copyright © 2020, 2019, 2017, 2016, YASKAWA America, Inc.

Terms of Use and Copyright Notice

All rights reserved. This manual is freely available as a service to
YASKAWA customers to assist in the operation of Motoman robots,
related equipment and software This manual is copyrighted property of
YASKAWA and may not be sold or redistributed in any way. You are
welcome to copy this document to your computer or mobile device for
easy access but you may not copy the PDF files to another website, blog,
cloud storage site or any other means of storing or distributing online
content.

Printed in the United States of America

First Printing, 2016

YASKAWA America, Inc.

Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200

www.motoman.com

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Robot Manager

DANGER
• This manual explains the Robot Manager. Read this manual
carefully and be sure to understand its contents before handling the
controller.
• General items related to safety are listed in Section 1: Safety of the
YRC1000, YRC1000micro, DX200, DX100, FS100, or NX100
CONTROLLER MANUAL. To ensure correct and safe operation,
carefully read the YRC1000, YRC1000micro, DX200, DX100,
FS100, or NX100 CONTROLLER MANUALS before reading this
manual.

CAUTION
• Some drawings in this manual are shown with the protective covers
or shields removed for clarity. Be sure all covers and shields are
replaced before operating this product.

• The drawings and photos in this manual are representative

examples and differences may exist between them and the
delivered product.

• YASKAWA may modify this model without notice when necessary

due to product improvements, modifications, or changes in
specifications. If such modification is made, the manual number will
also be revised.

• If your copy of the manual is damaged or lost, contact a YASKAWA

representative to order a new copy. The representatives are listed
on the back cover. Be sure to tell the representative the manual
number listed on the front cover.

• YASKAWA is not responsible for incidents arising from

unauthorized modification of its products. Unauthorized modification
voids your product’s warranty.

NOTICE
This instruction manual is applicable to both FS100 (a controller for
small-sized manipulators) and FS100L (controller for large and
medium-sized manipulators).
The description of “FS100” refers to both FS100” and “FS100L” in this
manual unless otherwise specified.

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Robot Manager

We suggest that you obtain and review a copy of the ANSI/RIA National
Safety Standard for Industrial Robots and Robot Systems (ANSI/RIA
R15.06-2012). You can obtain this document from the Robotic Industries
Association (RIA) at the following address:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
www.roboticsonline.com
Ultimately, well-trained personnel are the best safeguard against
accidents and damage that can result from improper operation of the
equipment. The customer is responsible for providing adequately trained
personnel to operate, program, and maintain the equipment. NEVER
ALLOW UNTRAINED PERSONNEL TO OPERATE, PROGRAM, OR
REPAIR THE EQUIPMENT!
We recommend approved YASKAWA training courses for all personnel
involved with the operation, programming, or repair of the equipment.
This equipment has been tested and found to comply with the limits for a
Class A digital device, pursuant to part 15 of the FCC rules. These limits
are designed to provide reasonable protection against harmful
interference when the equipment is operated in a commercial
environment. This equipment generates, uses, and can radiate radio
frequency energy and, if not installed and used in accordance with the
instruction manual, may cause harmful interference to radio
communications.

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Robot Manager Notes for Safe Operation

Notes for Safe Operation

Read this manual carefully before maintenance or inspection of the
YRC1000, YRC1000micro, DX200, DX100, FS100, or NX100 Controller.
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.

Indicates a potentially hazardous

WARNING situation which, if not avoided, will
result in death or serious injury.

Indicates a hazardous situation,

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

NOTICE is the preferred signal word

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

Even items described as “CAUTION” may result in a serious accident in

some situations. At any rate, be sure to follow these important items.
NOTICE
To ensure safe and efficient operation at all times, be sure to follow all
instructions, even if not designated as “DANGER”, “WARNING” and
“CAUTION”.

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Robot Manager Notes for Safe Operation

YRC1000, DX200, DX100 OR NX100:

WARNING
• Before operating the manipulator, check that servo power is turned
off when the Emergency Stop button is pressed.
When the servo power is turned off, the SERVO ON LED on the
Programing Pendant is turned off.
Injury or damage to machinery may result if the E-stop circuit cannot
stop the manipulator during an emergency. The manipulator should not
be used if the Emergency Stop button does not function.
Fig. : Emergency Stop Button

• Once the Emergency Stop Button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop Button
TURN

• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the
manipulator:
– Be sure to use a lockout device to the safeguarding when going
inside.
Also, display the sign that the operation is being performed inside
the safeguarding and make sure no one closes the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Keep in mind the emergency response measures against the
manipulator’s unexpected motion toward you.
– Ensure there is a safe place to retreat in case of emergency.
Improper or unintended manipulator operation may result in injury.
• Confirm that no person is present in the P-point maximum envelope
of the manipulator and that you are in a safe location before:
– Turning on the power for the Controller.
– Moving the manipulator with the Programming Pendant.
– Running the system in check mode.
– Performing automatic operations.
Injury may result if anyone enters the working envelope of the
manipulator during operation. Always press an Emergency Stop Button
immediately if there are problems.

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Robot Manager Notes for Safe Operation

FS100 AND YRC1000micro:

WARNING
• Before operating the manipulator, check that servo power is turned
off when the Emergency Stop button on the programing pendant is
pressed.
When the servo power is turned off, the SERVO ON LED on the
programing pendant is turned off.
Injury or damage to machinery may result if the E-stop circuit cannot
stop the manipulator during an emergency. The manipulator should not
be used if the Emergency Stop button does not function.
Fig. : Emergency Stop Button

• In the case of not using the programming pendant, be sure to

supply the Emergency Stop button on the equipment. Then before
operating the manipulator, check to be sure that the servo power is
turned OFF by pressing the Emergency Stop button.
Connect the external Emergency Stop button to the 5-6 pin and
16-17 pin of the robot system signal connector (CN2).

• Upon shipment of the Robot Controller, this signal is connected by a

jumper cable in the safety signal short circuit connector. To use the
signal, make sure to prepare a new connector, and then input it.
If the signal is input with the jumper cable connected, it does not
function, which may result in personal injury or equipment damage.

• Once the Emergency Stop button is released, clear the cell of all
items which could interfere with the operation of the manipulator.
Then turn the servo power ON.
Injury may result from unintentional or unexpected manipulator motion.
Fig. : Release of Emergency Stop Button
TURN

• Observe the following precautions when performing teaching

operations within the P-point maximum envelope of the
manipulator:
– Be sure to use a lockout device to the safeguarding when going
inside. Also, display the sign that the operation is being
performed inside the safeguarding and make sure no one closes
the safeguarding.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Ensure that you have a safe place to retreat in case of
emergency.
Improper or unintended manipulator operation may result in injury.

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Robot Manager Safeguarding Tips

CAUTION
• Perform the following inspection procedures prior to
conducting manipulator teaching. If problems are found, repair
them immediately, and be sure that all other necessary
processing has been performed.
-Check for problems in manipulator movement.
-Check for damage to insulation and sheathing of external wires.

• Always return the Programming Pendant to the hook on the

Controller Cabinet after use.
The Programming Pendant can be damaged if it is left in the P-point
maximum envelope of the manipulator, on the floor, or near fixtures.

• Read and understand the Explanation of Warning Labels in the

CONTROLLER MANUAL before operating the manipulator.

Safeguarding Tips
All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. General
safeguarding tips are as follows:
• Improper operation can result in personal injury and/or damage to
the equipment. Only trained personnel familiar with the operation of
this equipment, the operator's manuals, the system equipment, and
options and accessories should be permitted to operate this
equipment.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.
• The system must be placed in Emergency Stop (E-Stop) mode
whenever it is not in use.
• In accordance with ANSI/RIA R15.06-2012, section 4.2.5, Sources of
Energy, use lockout/tagout procedures during equipment
maintenance. Refer also to Section 1910.147 (29CFR, Part 1910),
Occupational Safety and Health Standards for General Industry
(OSHA).

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Robot Manager Mechanical Safety Devices

Mechanical Safety Devices

The safe operation of this equipment is ultimately the users responsibility.
The conditions under which the equipment will be operated safely should
be reviewed by the user. The user must be aware of the various national
codes, ANSI/RIA R15.06-2012 safety standards, and other local codes
that may pertain to the installation and use of this equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location.
Check all safety equipment frequently for proper operation. Repair or
replace any non-functioning safety equipment immediately.

Programming, Operation, and Maintenance Safety

All operators, programmers, maintenance personnel, supervisors, and
anyone working near the system must become familiar with the operation
of this equipment. Improper operation can result in personal injury and/or
damage to the equipment. Only trained personnel familiar with the
operation, manuals, electrical design, and equipment interconnections of
this equipment should be permitted to program, or maintain the system.
All personnel involved with the operation of the equipment must
understand potential dangers of operation.
• Inspect the equipment to be sure no potentially hazardous conditions
exist. Be sure the area is clean and free of water, oil, debris, etc.
• Be sure that all safeguards are in place. Check all safety equipment
for proper operation. Repair or replace any non-functioning safety
equipment immediately.
• Check the E-Stop button on the operator station for proper operation
before programming. The equipment must be placed in Emergency
Stop (E-Stop) mode whenever it is not in use.
• Back up all programs and jobs onto suitable media before program
changes are made. To avoid loss of information, programs, or jobs, a
backup must always be made before any service procedures are
done and before any changes are made to options, accessories, or
equipment.
• Any modifications to the controller unit can cause severe personal
injury or death, as well as damage to the robot! Do not make any
modifications to the controller unit. Making any changes without the
written permission from YASKAWA will void the warranty.
• Some operations require standard passwords and some require
special passwords.
• The equipment allows modifications of the software for maximum
performance. Care must be taken when making these modifications.
All modifications made to the software will change the way the
equipment operates and can cause severe personal injury or death,
as well as damage parts of the system. Double check all
modifications under every mode of operation to ensure that the
changes have not created hazards or dangerous situations.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller and other
equipment. Disconnect and lockout/tagout all electrical circuits
before making any modifications or connections.

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Robot Manager Summary of Warning Information

• Do not perform any maintenance procedures before reading and

understanding the proper procedures in the appropriate manual.
• Use proper replacement parts.
• Improper connections can damage the equipment. All connections
must be made within the standard voltage and current ratings of the
equipment.

Summary of Warning Information

This manual is provided to help users establish safe conditions for
operating the equipment. Specific considerations and precautions are also
described in the manual, but appear in the form of Dangers, Warnings,
Cautions, and Notices.
It is important that users operate the equipment in accordance with this
instruction manual and any additional information which may be provided
by YASKAWA. Address any questions regarding the safe and proper
operation of the equipment to a YASKAWA representative.

Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.

Definition of Terms Used In this Manual

The MOTOMAN manipulator is a YASKAWA industrial robot product.
The MOTOMAN usually consists of a Controller, Programming Pendant,
and manipulator cables.
In this manual, the equipment is designated as follows.

Equipment Manual Designation

YRC1000, YRC1000micro, DX200, DX100, Controller

FS100 or NX100 Controller

YRC1000, YRC1000micro, DX200, DX100, Programming Pendant

FS100 or NX100 Programming Pendant

Cable between the manipulator and the manipulator cable

controller

FS100, YRC1000micro programming pendant safety signal short circuit

safety signal short circuit connector connector

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Robot Manager Description of the Operation Procedure

Descriptions of the Programming Pendant keys, buttons, and displays are

shown as follows:

Equipment Manual Designation

Programming Character The keys which have characters printed on

Pendant Keys them are denoted with [ ].
ex. [ENTER]

Symbol Keys The keys which have a symbol printed on

them are not denoted with [ ] but depicted
with a small picture.
GO
BACK

ex. page key PAGE

The cursor key is an exception, and a picture

is not shown.

Axis Keys “Axis Keys” and “Numeric Keys” are generic

Numeric names for the keys for axis operation and
Keys number input.

Keys When two keys are to be pressed

pressed simultaneously, the keys are shown with a “+”
simultaneou sign between them, ex. [SHIFT]+[COORD]
sly

Displays The menu displayed in the programming

pendant is denoted with { }.
ex. {JOB}

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 the SELECT key is
pressed, or the item is directly selected by touching the screen.

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Robot Manager Customer Support Information

Customer Support Information

The following information is for a YASKAWA representative in America, for
other locations refer to the back cover.

(937) 847-3200

For routine technical inquiries, you can also contact a YASKAWA

representative at the following e-mail address:

[email protected]

When using e-mail to contact a YASKAWA representative, please provide

a detailed description of your issue, along with complete contact
information. Please allow approximately 24 to 36 hours for a response to
your inquiry.

NOTICE
Please use e-mail for routine inquiries only. If you have an urgent or
emergency need for service, replacement parts, or information, you
must contact a YASKAWA representative at the telephone number
shown above or on the back cover.

Please have the following information ready before calling a YASKAWA

representative:

• System Robot Manager

• Robots

• Primary Application

• Controller
YRC1000, YRC1000micro, DX200, DX100, FS100, or
NX100

• Software Version
Access this information on the Programming
Pendant’s LCD display screen by selecting {MAIN
MENU} - {SYSTEM INFO} - {VERSION}

• Robot Serial Number

Located on the robot data plate

• Robot Sales Order Number

Located on the YRC1000, YRC1000micro, DX200,
DX100, FS100, or NX100 controller data plate

• Warranty ID:
Located on Controller

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Robot Manager Table of Contents

Table of Contents

1 Introduction ..................................................................................................................................... 1-1

2 Installation....................................................................................................................................... 2-1

2.1 Components ...................................................................................................................... 2-1

2.1.1 System Requirements .......................................................................................... 2-1

2.1.2 Installation ............................................................................................................ 2-1

2.1.3 Uninstall................................................................................................................ 2-1

3 Setup .............................................................................................................................................. 3-1

3.1 Network Requirements ...................................................................................................... 3-2

3.1.1 NX100 Robot Controller Ports .............................................................................. 3-2

3.1.2 DX100 and Newer Robot Controller Ports............................................................ 3-2

4 Robot Configuration ........................................................................................................................ 4-1

4.1 Command Remote............................................................................................................. 4-1

5 Password Management .................................................................................................................. 5-1

5.1 Changing Password........................................................................................................... 5-1

5.2 Logging In .......................................................................................................................... 5-1

6 Robot Manager Functions............................................................................................................... 6-1

6.1 Robot Manager .................................................................................................................. 6-1

6.2 Status ................................................................................................................................ 6-2

6.3 Job Information .................................................................................................................. 6-2

6.4 Files Tab ............................................................................................................................ 6-3

6.4.1 Files List ............................................................................................................... 6-3

6.4.2 File Editor ............................................................................................................. 6-5

6.5 Live Monitor Tab ................................................................................................................ 6-6

6.6 I/O Tab............................................................................................................................... 6-8

6.7 Variables Tab..................................................................................................................... 6-9

6.8 Alarm History Tab ............................................................................................................ 6-10

6.9 Backup Tab ..................................................................................................................... 6-11

6.9.1 Backup Set ......................................................................................................... 6-11

6.9.2 What to Backup .................................................................................................. 6-12

6.9.3 When to Backup ................................................................................................. 6-13

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Robot Manager Table of Contents

6.9.4 Where to Backup ................................................................................................ 6-14

6.9.5 Backup Now button............................................................................................. 6-15

6.9.6 View Backup Status............................................................................................ 6-16

6.10 Restore Tab ................................................................................................................... 6-17

6.11 Job Info Tab ................................................................................................................... 6-18

7 Troubleshooting .............................................................................................................................. 7-1

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Robot Manager 1 Introduction

1 Introduction
Robot Manager is a PC application designed to communicate with a range
of YASKAWA Robot controllers.
Robot Manager gives the ability to:
• View, download, and edit robot files (editing requires password
access).
• Monitor live changes to a specific selection of I/O and variables
(editing requires password access)
• View all robot I/O as well as force Network Inputs (forcing requires
password access)
• View and edit robot variables (editing requires password access)
• View and reset current and past alarms/errors (reset requires
password access)
• Create backup sets that run autonomously under the Windows Task
Scheduler (backup creation requires password access)
• Restore files from previous backups (requires password access)
• View real time job execution

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Robot Manager 2 Installation

2.1 Components

2 Installation

2.1 Components
The Robot Manager package consists of the following:
• Installation Program
• Hardware Key
• User Manual

2.1.1 System Requirements

Robot Manager is compatible with:
• Operating System:
– Windows 7
– Windows 10
• Controller:
– NX100 (with Ethernet Server function)
– DX100 controllers with system software version DS2.07.00A-00 and
above
– FS100
– DX200
– YRC1000
– YRC1000micro
• The user account used to load and operate Robot Manager must
have administrator privileges.
Additional controller models that support Robot Manager may be released
in the future.

2.1.2 Installation
To install Robot Manager, run the install application provided. The
installation program will determine the particular version of the application
required, 32 bit or 64 bit, and install the hardware key driver.

2.1.3 Uninstall
To uninstall the application follow the standard Windows uninstall process.

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Robot Manager 3 Setup

3 Setup
Robot Manager requires the High-Speed Ethernet function enabled
on the Robot Controller. Most robots have this enabled by default. If
the High-Speed Ethernet function is not enabled it must be enabled
by YASKAWA. (If using a NX100 the regular Ethernet Server function
needs enabled.)

The following table shows the additional parameters that need to be set
for Robot Manager.
Parameter Description Setting
RS000 Port Protocol 2
RS004 Automatic backup function destination 21
RAMDISK (Required for CMOS)
RS005 Host Control 1
RS006 Data Transmission 1
RS007 Allow actions outside of REMOTE mode 0 = None
1 = Read
2 = Read/Write
RS022 Instance 0 permitted 1
RS029 Variable access during job execution 1
RS034 Reply timeout 200
RS035 End-of-text timeout 200
RS214 Allow job overwrite during operation 2
S2C541 Permission to write I/O and variables 0
during PLAY
S2C542 Permission to write I/O and variables 0
during EDIT-LOCK
S2C680 Permission to use batch data backup 1
function
S2C737 Automatic backup function extension 1
(Required for CMOS)

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Robot Manager 3 Setup

3.1 Network Requirements

3.1 Network Requirements

The following ports are used for communication between the Robot
Manager and the Robot Controller. These ports may need to be opened
for the Robot Manager to work through a firewall or VPN connection.

3.1.1 NX100 Robot Controller Ports

• TCP 80
• TCP 20
• TCP 21

3.1.2 DX100 and Newer Robot Controller Ports

• UDP 10040
• UDP 10041

NOTICE
If the connection fails, the Robot Manager attempts to establish a
backup connection using the NX100 ports.

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Robot Manager 4 Robot Configuration
4.1 Command Remote

4 Robot Configuration

4.1 Command Remote

To enable full functionality of Robot Manager the robot control needs to be
in Command Remote mode. Command Remote mode is a combination of
enabling the special pseudo-input signals and placing the Robot in remote
mode by turning the pendant key switch to “Remote”.
To set the command remote signal select {IN/OUT} from the pendant Main
Menu.
Select {PSEUDO INPUT SIG}. Activate the “CMD REMOTE SEL” by
selecting the line and pressing [INTERLOCK] + [SELECT] to activate.

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Robot Manager 5 Password Management

5.1 Changing Password

5 Password Management
By default, all data in Robot Manager is read-only. Enable write access by
entering the password. The default password is “yaskawa”.

5.1 Changing Password

To access the password management form select {Security}, {Change
Password} from the Main Menu.

The default password on installation is “yaskawa”.

Passwords are case sensitive and must be at least five characters long.

5.2 Logging In
Access the login form by selecting {Security}, {Log In} from the Main Menu

The user will remain logged in until manually logging out by selecting
{Security}, {Log Out} from the Main Menu.

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Robot Manager 6 Robot Manager Functions
6.1 Robot Manager

6 Robot Manager Functions

6.1 Robot Manager

The top panel gives the ability to see if the data is read-only or write
enabled for a particular robot.

6.1.0.1 Robot drop down box

The {Robot} drop down box allows the ability to make a selection between
connected robots.

6.1.0.2 READ ONLY/READ WRITE button

The [READ ONLY/READ WRITE] button indicates whether data in Robot
Manager is writable. The default status is read-only. To enable write
access press the [READ ONLY] button and refer to section 5.2 “Logging
In” on page 5-1.

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Robot Manager 6 Robot Manager Functions

6.2 Status

6.2 Status
The “Status” panel indicates the current real time status of the selected
robot control.

6.3 Job Information

The “Job Info” panel displays the current job and line number at
application startup. To update the job info display, click the [Refresh]
button.

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Robot Manager 6 Robot Manager Functions
6.4 Files Tab

6.4 Files Tab

6.4.1 Files List

The “Files” tab allows access to all the various types of files contained in
the robot control. Select the file type on the left using the radio buttons.

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Robot Manager 6 Robot Manager Functions

6.4 Files Tab

6.4.1.1 Refresh button

Selecting the “Files” tab updates the files list. To get the current file list
from the robot control while staying on the “Files” tab, clicking [Refresh]
will force the current list to be pulled from the robot control.

6.4.1.2 Save Local button

Clicking [Save Local] button will present the user with a folder save dialog
allowing the user to save a local copy of the selected file.

6.4.1.3 Delete button

Clicking the [Delete] button will present the user with a delete confirmation
message. Clicking [Yes] will delete the file from the robot control.

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Robot Manager 6 Robot Manager Functions
6.4 Files Tab

6.4.2 File Editor

Clicking any file in the file list will load the chosen file into the “File Editor”.

6.4.2.1 Load As button (JBI Files)

To create a new file based on an existing file, enter a new name in the text
box, and click the [Load As] button. The updating of the internal name
updates automatically. This option is only available for robot jobs (*.JBI).

6.4.2.2 Load button (Upload contents of “File Editor” to robot]

Files are loaded into the robot controller by clicking the [Load] button,
overwriting the existing file. The “File Editor” does not contain any syntax
checking. It is recommended that editing be done by only experienced
personnel.
Trying to load a file that has a syntax error will not result in the loss of the
original file. If the file will not load, the user will receive a message alerting
them to that fact without any changes to the original file.

NOTICE
Incorrectly editing files may result in unintended changes to the robot
control. It is the responsibility of the user to verify the loaded files are
correct and suitable for use

6.4.2.3 Load button (Upload file from PC to Robot)

To upload a file from the local PC to the robot controller, click the [Load]
button and select the robot file from the PC. If a file already exists, the new
uploaded file overwrites the existing.

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Robot Manager 6 Robot Manager Functions

6.5 Live Monitor Tab

6.5 Live Monitor Tab

The “Live Monitor” tab will allow the user to monitor a specific selection
robot data in real time. From this screen, the user can monitor robot
variables (B, I, D, R, P), I/O signals, and register data. This screen allows
monitored item values to be changed.

NOTICE
• I/O signals: only Network Inputs are write enabled.
• M registers: only M000 - M500 are write enabled.

6.5.0.1 Item to monitor

Use this drop-down to select the type of variable or I/O signal to monitor.

6.5.0.2 Item index/address

Use this box to type the address of the item to monitor.
For I/O bits, this value must be the full 5-digit relay address. For example,
OT#9 has an address of 10020.
For I/O groups, this value must be the first four digits of a relay address.
For example, OG#2 has an address of 1002.

6.5.0.3 Assigned Name

If the variable or I/O point has a name assigned to it on the pendant, it will
display to the right of the {Item index/address}. Names do not update in
real time. These names are loaded when connecting to the robot.

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6.5 Live Monitor Tab

6.5.0.4 Value
This box shows the value of the monitored item. If data is typed into this
box, the value will stop being updated in real time until either the [Set
Value] or [Cancel Change] button is pressed. The background color of the
box will change to indicate that the user has modified the value.

6.5.0.5 Robot Position Variable Detail - {Variable Index}

The {Variable Index} drop-downs are used to select a robot position
variable to monitor. Only robot position variables are available; base
position and external-axis position variables are not available on this
screen.
If data is typed into these boxes, the value will stop being updated in real
time until either the [Set Value] or [Cancel Change] button is pressed.

NOTICE
Only axes values are editable. The position variable attributes (frame,
tool, posture/figure) can only be modified on the Programming
Pendant.

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6.6 I/O Tab

6.6 I/O Tab

The “I/O” tab will present the user with a table of the selected I/O words
with bit status shown at the time of selecting type using radio buttons.

6.6.0.1 I/O Word window

Clicking any I/O word will show that word in the right side display making it
easier to view the individual bit status.
Network inputs are the only values forcible by clicking the corresponding
“0” or “1”

Universal Input and Modify Network

Output Names Inputs

Clicking of a “Universal Input” or “Universal Output” will display the I/O

Name associated with that I/O point on the right side.
Names that exceed the display box length are viewable by hovering the
pointer over the box, the full name then displays in the tool tip.

6.6.0.2 Refresh button

The [Refresh] button updates the display with the current values.

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6.7 Variables Tab

6.7 Variables Tab

Clicking the “Variables” tab will display the variable display table. Select
the available variable types by clicking the appropriate radio button on the
left side.

6.7.0.1 Update button

The user can also modify a Variable value from this screen. Choose a
Variable index from the list box. The selected variable displays on the
bottom. Edit the value and click [Update] button to modify the robot value.
When editing a Position Variable, note that only the axes values are
editable. The position variable attributes (frame, tool, posture/figure) can
only be modified on the Programming Pendant.

6.7.0.2 Refresh button

The [Refresh] button updates the display with the current values.

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6.8 Alarm History Tab

6.8 Alarm History Tab

The “Alarm History” tab allows the user to view, reset and clear alarms
and errors. Select the category of interest with the “Alarm Selection” drop
down box.

Clicking any alarm will display any associated subcode information in the
“Subcode Detail” text box.

NOTICE
Subcode information is not available when connected to an NX100
controller.

6.8.0.1 Alarm Reset button

The [Alarm Reset] button will attempt to reset any active alarm(s) on the
pendant. Note that Major alarms cannot be reset remotely.

6.8.0.2 Error Clear button

The [Error Clear] button will attempt to clear any active error displayed on
the pendant.

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6.9 Backup Tab

6.9 Backup Tab

The “Backup” tab allows the user to create an unlimited number of
“backup sets”. A backup set is a collection of specified files, saved at a set
frequency, and to a specified location.
Saving a backup set will configure Windows Task Scheduler to launch
automatically the robot backup utility.

NOTICE
Windows Task Scheduler is ultimately responsible for triggering the
backup routine. Make sure power is on and connected to the network
with robot controller(s) to back up. The Robot Manager application
does not need to be running for the backup to complete.

6.9.1 Backup Set

An empty backup set is created when the robot is initially defined.

New button
Creation of an additional backup set is available by clicking the [New]
button.

6.9.1.1 Rename button

The user can change the name of a backup set when creating or by
clicking the [Rename] button.

6.9.1.2 Delete button

Clicking the [Delete] button will prompt the user for confirmation and if
approved, the selected backup deletes. Deleting a backup set does not
remove any existing backup files.

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6.9 Backup Tab

6.9.2 What to Backup

The file selection list populates when clicking the “Backup” tab.

6.9.2.1 Refresh button

Press the [Refresh] button to update the list with the current robot file
contents available.
Select files by checking the selection box next to each file. Wildcard group
of like files are selectable by checking the file type header for each group.
Deletions of backup files are not possible but are over writable with the
latest copy if not using dated folders. If adding new files to the robot
control and if selecting a wildcard file type, any new files of that type backs
up.
If a file no longer exists on the robot control, the previously backed up file
will remain in the backup location.
The exception to this rule is when using dated folders. Dated folders will
be deleted as outlined in section 6.9.4 “Where to Backup”.

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6.9 Backup Tab

6.9.3 When to Backup

The frequency selection drop down box allows the user to select between
minutes, hours, days and weeks for the frequency selection.

If minutes or hours are selected the interval selector is enabled and the
time and day selectors are disabled.
If selecting days, the interval selector is disabled and the day and time
selectors enable.
If weeks is selected the interval, time, and day selectors are enabled.
The “Random Delay” selection will schedule the backup with a random
start time within the specified time window. This may be useful when you
are backing up a large number of robots at the same time. By selecting a
random delay window, lessens the network traffic to the backup PC.

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6.9 Backup Tab

6.9.4 Where to Backup

The destination for the backup set is typed directly into the {Destination}
text box or alternately you can select a folder location by clicking the
[Select] button.

6.9.4.1 Destination is a Network Folder

If the destination folder exists on a network drive, then the backup service
needs the credentials of a user account that has access to this folder.
When saving this backup set, it prompts for the username and password
of an account with sufficient privileges to write to the destination folder.
The login information will immediately be registered with Windows Task
Scheduler. The username and password will not be saved in the Robot
Manager application files.

6.9.4.2 Create Dated SubFolders check box

Clicking the {Create Dated SubFolders} check box will create dated
folders in the destination location selected. You can specify how many
folders to keep with the numeric {Max Copies to Keep} option. When the
number of folders exceeds the max number the oldest folder and all the
files within it will be deleted.

6.9.4.3 Create File Type Folders check box

Checking the {Create File Type Folders} will create file type folders to
group the backed up files by type. For example all the job files would be
placed in a folder labeled “JBI”. This option can be used with or without
the dated folder option.

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6.9 Backup Tab

6.9.5 Backup Now button

This button will initiate the selected backup set immediately. The backup
set must be previously saved for this option to work

6.9.5.1 Run Scheduler Now button

This button will trigger the Windows Task Scheduler to run MotoBackup in
the background for the selected backup set. You may close Robot
Manager or continue to it for other tasks while this backup is running.

NOTICE
Backing up a CMOSBK.BIN file can take 15 - 30 minutes. Therefore it
is not recommended to use [Backup Now] for saving a CMOS.

6.9.5.2 Save button

Clicking this button will save the backup set and create the Windows Task
Manager entries required to perform the actual backup. It does not
perform a backup, it only schedules the backup using the selected
options.

NOTICE
Windows Task Scheduler is ultimately responsible for triggering the
backup routine. Make sure power is on and connected to the network
with robot controller(s) to back up. The Robot Manager application
does not need to be running for the backup to complete.

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6.9 Backup Tab

6.9.6 View Backup Status

Backups are completed in the background, invisible to the user. The
Windows Event Viewer can be used to see success or failure messages
related to the backup routine.
To view the log, open Windows “Event Viewer”. Select “Motoman Backup”
from the “Applications and Services Logs”.

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6.10 Restore Tab

6.10 Restore Tab

The “Restore” tab allows the user to load the selected files into the robot
control from a location on the computer.

Click [Select Restore Source Location] to select the files and/or folders of
the files to restore. Click [Restore] and the files will be transmitted to the
robot control.
Restore operations must be done with the robot in “Remote” mode with
the servos off.

NOTICE
Not all file types can be restored through this utility. FD parameters,
safety and option files will not transfer successfully. If a file has been
modified and contains an illegal value or a formatting error it may not
load properly or it may save with unexpected changes. It is up to the
user to verify any uploaded files that are correct and safe to use.

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6.11 Job Info Tab

6.11 Job Info Tab

The “Job Info” tab will display the real time job execution status similar to
watching the job on the pendant.

Sub tasks may be monitored by using the radio buttons on the left.

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Robot Manager 7 Troubleshooting

7 Troubleshooting

Problem Solution
Some files can not be Not all file types can be restored through this
restored. utility. Some files exist on the control but are not
used. When restoring these files they may not be
accepted by the control if the current control
configuration does not require them. For
example: A Weave condition file is always
present but will not be accepted by a non-welding
configured control.
Missed backups Robot manager relies on UDP Ethernet
communications. Excessive traffic or multiple
concurrent backup operations could result in the
robot control missing a particular request.
Possible solutions include reducing overall
network traffic, creating a separate network for
backup communications, using managed
switches, or adjusting conflicting backups by
increasing the random delay value or staggering
backup times.

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ROBOT MANAGER
MANUAL
FOR YRC1000, YRC1000micro, DX200, DX100, FS100 OR NX100

For inquiries or after-sales service on this product, contact

your local YASKAWA representative as shown below.

YASKAWA ELECTRIC CORPORATION

2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu, 806-0004, Japan
Phone: +81-93-645-7703 Fax: +81-93-645-7802
http://www.yaskawa.co.jp
YASKAWA AMERICA, INC. (MOTOMAN ROBOTICS DIVISION)
100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone: +1-937-847-6200 Fax: +1-937-847-6277
http://www.motoman.com
YASKAWA EUROPE GmbH (ROBOTICS DIVISION)
Yaskawastrasse 1, 85391, Allershausen, Germany
Phone: +49-8166-90-100 Fax: +49-8166-90-103
http://www.yaskawa.eu.com
YASKAWA NORDIC AB
Verkstadsgatan 2, Box 504, SE-385 25 Torsas, Sweden
Phone: +46-480-417-800 Fax: +46-486-414-10
http://www.yaskawa.se
YASKAWA ELECTRIC (CHINA) CO., LTD.
22F, One Corporate Avenue, No.222 Hubin Road, Huangpu District, Shanghai 200021, China
Phone: +86-21-5385-2200 Fax: +86-21-5385-3299
http://www.yaskawa.com.cn
YASKAWA SHOUGANG ROBOT CO., LTD.
No.7 Yongchang North Road, Beijing E&T Development Area, Beijing 100076, China
Phone: +86-10-6788-2858 Fax: +86-10-6788-2878
http://www.ysr-motoman.cn
YASKAWA ELECTRIC KOREA CORPORATION
35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, 07326, Korea
Phone: +82-2-784-7844 Fax: +82-2-784-8495
http://www.yaskawa.co.kr
YASKAWA ELECTRIC TAIWAN CORPORATION
12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone: +886-2-8913-1333 Fax: +886-2-8913-1513
http://www.yaskawa.com.tw
YASKAWA ASIA PACIFIC PTE. LTD.
30A Kallang Place, #06-01, 339213, Singapore
Phone: +65-6282-3003 Fax: +65-6289-3003
http://www.yaskawa.com.sg
YASKAWA ELECTRIC (THAILAND) CO., LTD.
59, 1st-5th Floor, Flourish Building, Soi Ratchadapisek 18, Ratchadapisek Road, Huaykwang,
Bangkok 10310, Thailand
Phone: +66-2-017-0099 Fax: +66-2-017-0199
http://www.yaskawa.co.th
PT. YASKAWA ELECTRIC INDONESIA
Secure Building-Gedung B Lantai Dasar & Lantai 1 Jl. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone: +62-21-2982-6470 Fax: +62-21-2982-6471
http://www.yaskawa.co.id
YASKAWA INDIA PRIVATE LIMITED (ROBOTICS DIVISION)
#426, Udyog Vihar Phase-IV, Gurgaon, Haryana 122016, India
Phone: +91-124-475-8500 Fax: +91-124-475-8542
http://www.yaskawaindia.in

Specifications are subject to change without notice

for ongoing product modifications and improvements.

MANUAL NO.

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