How to Update
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      How to Update: YASKAWA

      Overview

      After you update ForgeOS on the READY Pendant, follow these steps to update the robot driver files on the robot controller.

      Getting Robot Driver Files from ForgeOS

      Transferring Robot Driver Files to the Robot Controller

       

       

      Getting Robot Driver Files From ForgeOS

      Open the Device Configuration app.

      device_config_icon_5x

       

      Select your configured robot and tap Edit.

      select-robot-to-edit

      Insert a USB drive into the Forge IPC.

      usb-20211105-jlh-001

      Tap ​Start Transfer​.

      config files start transfer

      Wait for the transfer to finish.​​

      config files done 

      Transferring Robot Driver Files

      Insert the USB drive into the Yaskawa pendant.

       

      Switch the Yaskawa pendant key to TEACH.

       

      In the Yaskawa pendant Main Menu, select SYSTEM INFO, then select CPU RESET.

       
      Select the START MODE dropdown, then choose MAINTENANCE MODE. Press RESET or the ENTER button and confirm to restart. Wait for the system to restart.

       

      If the CPU RESET option isn't available to you:  

      1. Power off the robot controller.
      2. While pressing the MAIN MENU button, power the controller back on. 
      3. Hold down the MAIN MENU button for 5 seconds (or until you hear a beep). 
       
      In the Main Menu, select SYSTEM, then select SECURITY.
       
      Tap the field next to MODE and choose SAFETY MODE. Enter the Safety mode password. 

      For non-collaborative robots, the default Safety mode password is "5555 5555 5555 5555" (without spaces). ​

       

      For ​collaborative​ robots, refer to the 16-digit password in the ​Collaborative Robot Password Agreement​.

      In the Main Menu, select MotoPlus APL., then select FOLDER. 

       
      Tap the forge-os folder, then tap the yaskawa folder. At the top of the screen, the "TARGET FOLDER" should be "YASKAWA".
       
      In the Main Menu, select MotoPlus APL., then select LOAD (USER APPLICATION). 
       
      Highlight the .out file on the USB drive and press SELECT, then press ENTER. Tap YES to confirm.
       
      In the Yaskawa pendant Main Menu, select SYSTEM INFO, then select CPU RESET.

      Select the START MODE dropdown, then choose ONLINE MODE. Press RESET or the ENTER button and confirm to restart. Wait for the system to restart.   
       

      If the CPU RESET option isn't available to you:  

      1. Power off the robot controller.
      2. Power the controller back on (WITHOUT pressing any buttons on the Yaskawa pendant).

       

      In the Main Menu, select SYSTEM INFO, then select SECURITY.

       
      Tap the field next to MODE and choose SAFETY MODE. Enter the Safety mode password. 

      For non-collaborative robots, the default Safety mode password is "5555 5555 5555 5555" (without spaces). ​

       

      For ​collaborative​ robots, refer to the 16-digit password in the ​Collaborative Robot Password Agreement​.

       

      In the Main Menu, tap JOB, then tap SELECT JOB. 

      Tap the JOB tab in the upper left toolbar, then select DELETE JOB. Select a job to delete. Do this for each job that starts with "RR."

      If tapping the top-left JOB tab doesn't open the JOB menu, check if there is an error that you need to clear first. If you see a red circle in the top-right status bar, do these steps:

      1. Press the large green button in the top-center of the pendant.

      2. Press "RESET".

       

      In the Main Menu, select EX. MEMORY, then select FOLDER. 

       
      Tap the forge-os folder, then tap the yaskawa folder. At the top of the screen, the "TARGET FOLDER" should be "YASKAWA".  
       

      In the Main Menu, select EX. MEMORY, then select LOAD. 

      Select JOB. Highlight each "RR" file and press SELECT. When all the files are selected, press ENTER. 

      At the Load? prompt tap YES.

       

      In the Main Menu, tap EX. MEMORY, then tap LOAD.

      Highlight I/O DATA and press the SELECT button.

      Highlight and press the SELECT button on C.IO PRGM (CIOPRG.LST).

      Press the ENTER button on the pendant keypad.

      At the Load? prompt, tap YES.

       

      Are you updating from a version earlier than Forge/OS 5.3?

      If you are updating to ForgeOS 5.3 or later from an earlier version, you will need to change parameters on the Yaskawa pendant.

      From the Main Menu, find and select PARAMETER. Select the S2C or S4C options to make the following changes:

      • Set S2C0425 to 0.

      • Set S2C0430 to 4.

      Instead of scrolling, highlight any parameter name, press SELECT, type a value (such as "425") in the "Jump to" field, then press Enter.

      The above parameters improve the performance of circle moves.

      • Set S4C0287 to 511 for the YRC1000 and YRC100micro (no PFL) controllers, or 507 for the YRC100micro with PFL controller.

      • Set all parameters S4C0288 through S4C0295 to 0.

      • Set S2C0701 to 1.

      The above parameters allow all robot motion to instantaneously reflect speed changes.

      If you are updating a YRC1000micro controller with PFL to ForgeOS 5.3, S4C0287 should be 509 instead of 507. The parameter value got changed to 507 in ForgeOS 5.4.

       

      Switch the Yaskawa pendant key to REMOTE.

       

      Restart in Online Mode.

      In the Yaskawa pendant Main Menu, select SYSTEM, then select CPU RESET.

      Select the START MODE dropdown, then choose ONLINE MODE. Press RESET or the ENTER button and confirm to restart. Wait for the system to restart.  
       

      If the CPU RESET option isn't available to you:  

      1. Power off the robot controller.
      2. Power the controller back on (WITHOUT pressing any buttons on the Yaskawa pendant).

       

      Tap the DEVICE STATUS button in the Toolbar to expand the Device Status Panel. 

      Check for robot errors. Tap ​RESET ​to try to recover from the error(s). 

      If you can't ​RESET​ the error(s): 

      • Tap ​MORE ​to get more details and instructions.

      • Hold the READY pendant enabling switch while tapping RESET.

      • Try disabling and re-enabling the device in Device Configuration.

      • Restart the Yaskawa controller.

       

      If you keep getting a "Tooling Mismatch" error, follow this guide: https://portal.ready-robotics.com/knowledge/yaskawa-troubleshooting-tool-mismatch