TECHNOCRAFT INSTITUTE OF ROBOTICS TECHNOLOGIES, Nigdi, Pune-44

3.0 YRC1000 PENDANT SCREEN

The initial YRC1000 pendant screen has five display areas. Four of these areas
can be made “active” either by touch or by the use of the AREA key. Once active,
(indicated by blue background) the cursor can be moved to individual items of the
area either by touch or by the cursor keys. With the cursor on the individual item, the
SELECT key can open the item for change. The Status Display area is for display
only and cannot be an active area.

Status area

General-Purpose
Display area

Human Interface area

Figure 3-1 Screen Areas

3.1 Main Menu Area

The Main Menu area contains the top level selections of display categories. The
number of Main Menu icons is dependant on the Security level.

Figure 3-2 Main Menu Area

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The Main Menu icons may be concealed or re-displayed by pressing the MAIN
MENU key, or by touching the screen’s Main Menu softkey.

Selecting an icon causes a slide-out menu to be displayed as a sub-menu.

The sub-menu selection is displayed in the General-Purpose Display area.

Figure 3-3 Sub-menu Screen

NOTE: The sub-menu choices differ based on TEACH/PLAY and security level.

3.2 General-Purpose Display Area

The General-Purpose Display area is where the content of the currently selected
Main/sub-menu choice is displayed. Every screen shows a title-bar description.

Figure 3-4 JOB LIST

To access a desired item from the General-Purpose Display area, if a list of choices
is shown, use the cursor keys, then press the SELECT key. Alternatively, touch and
drag up/down, left/right, and tap the choice.

To edit an item in the General-Purpose Display area, highlight the item and then press
SELECT or touch to highlight then tap the item.

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For programming within a JOB CONTENT, the MOTION TYPE key, or the
INFORM LIST key is used.

Figure 3-5 JOB CONTENT

NOTE: The figure above has the Main Menu concealed, thereby displaying the
General-Purpose Display area of the active JOB CONTENT across the entire
screen.

3.3 Menu Area

The Menu Area at the top of the screen is a permanent display that changes according
to the active General-Purpose Display on the screen.

The items and drop-down choices are accessible by touch or by using the AREA, UP/
DOWN, LEFT/RIGHT cursor keys, and the SELECT key.

Figure 3-6 Default Menu Area

The figure above is the default Menu area for all cases of Main/sub-menu selections
in the General-Purpose Display area except for jobs.

When a JOB CONTENT is displayed, the Menu area has the selections as shown in
the figure below.

Figure 3-7 Job Content Menu Area

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3.4 Human Interface Display Area

3.4.1 Edit Buffer Line
The Edit Buffer Line (white background) appears when a JOB CONTENT is

displayed in EDITING MODE, MANAGEMENT MODE, or

SAFETY MODE. It is used for temporary display and editing of the selected
instruction prior to insertion into the job.

Figure 3-8 Edit Buffer Line [white background]

3.4.2 Message Line

Prompts for operating or editing are displayed on the Message Line with the
information icon; such as Turn on servo power .

An ERROR message, takes precedence over all other messages and must be
cleared by pressing the CANCEL key on the pendant or by touching CANCEL in the
Dialog box on the screen.

Multiple messages are indicated with the 2-page icon. Selecting the message area
and using the cursor UP/DOWN sequences the messages.

Figure 3-9 Message Line with 2-page Icon

Any E-Stop Cautions, “ Robot is stopped by ... emergency stop” takes priority
over information and question type messages. If a message is too long
to display on a single line, the screen automatically scrolls to the left, repeatedly
displaying the entire message.
NOTE: The message “Memory battery weak” will appear on the Message Line of the
Pendant display when the YRC1000 controller battery needs to be replaced.
The message “Encoder battery weak.” will appear on the Message Line of the
Pendant display when the robot battery needs to be replaced.

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3.5 Status Display Area

The Status Display area shows the current controller condition and pendant settings.
The cursor cannot access this display; changes are made via the appropriate keys.

WARNING! The status line should always be referenced before operating the
system in TEACH. Always set the Control Group, Coordinate System,
and appropriate Manual Speed before jogging any component!
T

M. Saving Data
A. Group operation axis
L. Touch operation disable
B. Operation coordinate system
K. Weak battery
C. Manual speed
J. Multi Mode
D. Security mode
E. Operation cycle I. Page
H. Tool number
G. Mode
F. State under execution

A. Control Group B. Coordinate Systems C. Manual Speed

to : Robot Axes
: Joint Coordinates : Inching
: Cartesian Coordinates
: Low Speed
to : Base Axes : Cylindrical Coordinates
: Medium Speed
: Tool Coordinates
to : Station Axes
: User Coordinates : High Speed

D. Security Mode E. Operation Cycle F. State Under Execution

: Operation Mode
: Step : Stop Status

: Edit Mode : Hold Status

: Cycle : Emergency Stop Status

: Management Mode : Alarm Status

: Continuous : Operating Status
: Safety Mode

G. Mode H. Tool Num I. Page J. Multi-Window K. Weak Battery

: Teach mode
From to
: Play mode

L. Touch Panel Disable M. Saving Data N. Remote Pendant

OR OR

Figure 3-10 Status Display Icons

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3.6 Main Menu Selections

The number of available icons in the Main Menu depends on the current security
level. With the Main Menu open, SECURITY settings are available under the
SYSTEM INFO selection.

The levels of SECURITY are as follows:

• OPERATION MODE (no password ID number required)

• EDITING MODE (4 to 16-digit ID number = 0000000000000000 factory

default)

• MANAGEMENT MODE (4 to 16-digit ID number)

• SAFETY MODE (9 to 16-digit ID number)

NOTE: This training manual is based on the EDITING MODE security level.

The Main Menu selections are as follows:

• JOB
• GENERAL
• VARIABLE

• IN/OUT (Additional items in or higher mode)

• ROBOT (Additional items in or higher mode)

• SYSTEM INFO (Additional items in or higher mode)

• EX. MEMORY (SAVE all levels; LOAD restrictions except in

or higher)

• SETUP (Not Available in ; additional items in mode or

higher)
• SAFETY FUNC. (Additional items based on hardware)

• PM (Additional items in mode or higher)

• DISPLAY SETUP
• REMOTE PENDANT

NOTE: The Main Menu icons and the choices available will vary depending on the
SECURITY level, as well as the controller’s application.

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3.6.1 JOB
The JOB menu accesses selections for the active JOB, the MASTER JOB, the
SELECT JOB list, CYCLE Selection, as well as JOB CAPACITY.
In TEACH mode, the CREATE NEW JOB selection becomes available when in
EDITING MODE, MANAGEMENT MODE, or SAFETY MODE.
3.6.2 GENERAL
The second Main Menu selection is labeled with the application for which the
YRC1000 has been initialized. This menu provides access to application specific
information.
3.6.3 VARIABLE
The VARIABLE menu accesses the four kinds of Arithmetic variable files used for
number storage, the Position variable file(s) used for Robot (Station/Base) position
and shift data storage, the String variable file for text storage, the Timer variable used
as a clock, the Flag variable used as a Boolean flag, and the Timer Flag variable.
3.6.4 IN/OUT
The IN/OUT menu offers access to the simple and detail monitor screens for viewing
I/O status and forcing General Purpose Outputs ON/OFF.
3.6.5 ROBOT
The ROBOT menu allows the display of the robot’s status including CURRENT
POSITION and SECOND HOME POS. Also, the function for setting TOOL data and
USER COORDINATE data is accessed through this menu.
3.6.6 SYSTEM INFO
The SYSTEM INFO menu provides SECURITY selection, VERSION information on
hardware and software, an ALARM HISTORY, and MONITORING TIME for power
on, servo on, job play, robot travel time, and device/tool operating time.
3.6.7 EX. MEMORY
The EX. MEMORY menu provides selections for functions using the external
memory device medium.
3.6.8 SETUP
The SETUP menu allows the user to customize TEACHING CONDITION settings
and other features involving the pendant operation and editing shortcuts.
3.6.9 SAFETY FUNC.
The SAFETY FUNC. menu allow the user to create safety logic circuits on the
programming pendant, such as stopping the manipulator and turning off the servo ON
signal.
3.6.10 PM
The PM menu provides information on the duration of life for the speed reducer and
will inform when an inspection is due.

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3.6.11 DISPLAY SETUP

The DISPLAY SETUP menu allows the user to customize the General-Purpose
Display area font size and Main Menu, Menu, and INFORM LIST button sizes.
The INITIALIZE LAYOUT will set the font and button sizes back to the factory
default. Up to seven different Window Pattern selections for split screen viewing are
available. Also, customizing of navigation, on-screen keypad and error recovery are
available.

In the Main Menu area under the DISPLAY SETUP icon, the five options given are as
follows: CHANGE FONT, CHANGE BUTTON, INITIALIZE LAYOUT, CHANGE
WINDOW PATTERN, and TOUCH OPE. SETTING.

The CHANGE FONT selection allows the user to customize the font size and style
within the General-Purpose Display area. There are four different font sizes available,
from very large to very small. Any available size can be made bold.

Figure 3-11 Font Size Selections

Figure 3-12 Default Font Size Setting & Large Font Size

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The CHANGE BUTTON selection allows the user to customize the font style and
size of the buttons within three areas: the Main Menu area, the Menu area, and the
INFORM LIST area. This figure shows all three areas with the font enlarged and
boldfaced.

Figure 3-13 Button Size Selections

Figure 3-14 Pendant Buttons Displayed In Large Format

The INITIALIZE LAYOUT selection converts all font changes and button sizes back
to the initial default status. This selection changes the screen layout back to standard
(default) size.

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The CHANGE WINDOW PATTERN function divides the General-Purpose Display

area from just 1 to 2, 3, or 4 windows to be shown simultaneously.

There are seven dividing patterns to be optionally chosen as desired.

Figure 3-15 Access to the Seven Different Window Patterns

The title of the active window is displayed in deep blue and the non-active are light
blue. The active window is the subject of key operation. Also, the Menu area or the
operational buttons under the General-Purpose Display area are displayed for the
operation of only the active window.

To toggle between Single/Multi Window, press + keys.

Pressing just the MULTI key while in Single-Window allows the previously set
Multi-Windows to appear individually as full screen in the order they were setup
(1 2 3 4 1 ).
NOTE: The content view of a window in multi-window mode may be different from the
same window when it is in single-window mode because of its limited size.
The content becomes normal when displayed in the single-window mode.

NOTE: Edit Buffer Line in JOB CONTENT displayed only when the window is active.

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The TOUCH OPE. SETTING selection allows the user to customize how the
navigation on the pendant can be performed.

Figure 3-16 Touch Ope. Setting

Screen Scroll
When Screen Scroll is disabled the screen/cursor can be moved vertically by cursor
UP/DOWN or SHIFT+cursor UP/DOWN until the top or bottom is reached. The
cursor can be moved left or right by cursoring left or right.

When Screen Scroll is enabled the screen can be changed by the above methods or
additionally by dragging the window. While touching the General-Purpose Display
area, move up, down, or sideways, and release.
Page Change
When Page Change is disabled the screen/cursor can be moved from page to page
by the PAGE key below the screen to go forward or SHIFT+PAGE to go backward.
The PAGE key on the screen will allow direct entry of a number. The cursor can be
moved left or right by cursoring left or right.

When Page Change is enabled, the screen can be changed the above methods or
additionally by touching the General-Purpose Display area. Drag to the left side and
release it to go forward or drag to the right side and release it to go backward.
Cursor Movement, non-JOB
A cursor is displayed on some screens in the General-Purpose Display area.

When Cursor Movement is disabled the screen/cursor can be moved vertically by

cursor UP/DOWN or SHIFT+cursor UP/DOWN until the top or bottom is reached.
The cursor can be moved left or right by cursoring left or right.

When Cursor Movement is enabled the cursor can be moved by touch. Touch the
position available for cursor in the General-Purpose Display area, and release.

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Job Cursor Movement

A cursor is displayed in the JOB CONTENT in the General-Purpose Display area. To
move the cursor by touch operation in the job window, there are three methods. All
are controlled by the setting of Job Cursor Movement.

Figure 3-17 Job Cursor Movement

When the Job Cursor Movement is set to INTERLOCK, the cursor is moved in the
job content by pressing and holding INTERLOCK, then touching to move the cursor.

When the Job Cursor Movement is set to DIALOG CONF., the cursor is moved in the
JOB CONTENT by touching to move the cursor. A dialog confirmation box will ask
before moving the cursor.

Figure 3-18 DIALOG CONF.

“Yes” will move the cursor to the line touched. “No” will not move the cursor.

When the Job Cursor Movement is set to NOT MOVE the cursor is moved in the job
content by cursor UP/DOWN or SHIFT+cursor UP/DOWN until the top or bottom is
reached.
Copy and paste of a character string
Character strings in the General-Purpose Display area can be copied by touch
operation. The copied character string can be pasted on the “Result” of the character
input keypad.
To copy a character string, perform the following procedure:
1. Touch and hold a character string in the General-Purpose Display area.
2. To change the length of the character string to be copied, touch and slide the
copy cursor.
3. Select “Copy” in the selection menu.

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To paste a character string, perform the following procedure:

1. Touch and hold the “Result” of the character input keypad.
2. Select “Paste” in the selection menu.
By using the character input keypad, cut or paste of the character string can be
undone by “UNDO”, and a character string within 8 characters can be registered by
“Regist”.
Zooming in/out of the window

To zoom in or out the General-Purpose Display area, perform the following.

1. Touch and hold the title of the General-Purpose Display area. The Zoom in/out
bar appears.
2. Touch and drag the cursor of the zoom in/out bar. Only the main area of the
General-Purpose Display area is zoomed in/out.
3. Touch anywhere outside the zoom in/out bar. The zoom in/out bar is closed, and
the entire General-Purpose Display area is zoomed in/out.

Note: Zooming in/out does not work when multiple screens are displayed in the
General-Purpose Display area, ie CHANGE WINDOW PATTERN.

Number Keypad
When the Number Keypad is disabled the programming pendant’s number keypad
needs to be used for entering numeric values. CANCEL will either remove the
number in the content’s box or close the content’s box. Enter will accept the value to
the content’s box.

Figure 3-19 Number Keypad DISABLE

When the Number Keypad is enabled entering numeric data has more options. The
programming pendant’s number keypad can still be used, as well as the number
keypad on the programming pendant’s screen.

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Figure 3-20 Number Keypad ENABLE

On some screens, such variables, the numbers can be entered in a decimal (Dec),
binary (Bin), or hexadecimal (Hex) format.

Figure 3-21 Hex, Dec, and Bin formats

Clear will remove the number in the content’s box. Back space will remove the
number immediately to the left of the cursor. Cancel will either remove the number
in the content’s box or close the content’s box. Enter will accept the value to the
content’s box.

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Error Dialog
When Error Dialog is disabled, if an error occurs, the error will be displayed on the
Message line in the Human Interface area.

Figure 3-22 Error Dialog DISABLED

When Error Dialog is enabled, if an error occurs, the error will be displayed as a
dialog box in the center of the pendant screen.

Figure 3-23 Error Dialog ENABLE

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3.6.12 REMOTE PENDANT

The REMOTE PENDANT allows the display of the programming pendant to be
viewed and controlled via a web browser. Thus, the display of the programming
pendant can be shown and the status of the YRC1000 can be checked from a remote
location.

3.7 Simple Menu Key

The SIMPLE MENU key is used as an alternate to Main Menu/sub-menu selections.
Shortcuts are created to simplify screen selections. Up to 8 pre-registered sub-menu
choices may be registered. The Simple Menu may be concealed or re-displayed by
toggling the SIMPLE MENU key, or by touching the screen’s Simple Menu softkey.

Figure 3-24 Simple Menu Screen

To register the currently displayed screen, perform the following:

1. Press and hold either SHIFT key. Press the SIMPLE MENU below the screen.
2. Choose “YES” to “Do you register a current layout?”.
or
1. Press the Simple Menu key on the screen.
2. Choose REGISTER.
3. Choose “YES” to “Do you register a current layout?”.

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Figure 3-25 Register Current Layout Screen

To display a screen from the Simple Menu, perform the following:

1. Press the Simple Menu key on the screen.
or
Press the SIMPLE MENU key below the screen.
2. Choose the desired icon.

Figure 3-26 Simple Menu with registered screen

To delete a registered screen, perform the following:

1. Press the Simple Menu key on the screen.
2. Choose EDIT.
3. Move the cursor to desired screen number to be deleted.
4. Press and hold a SHIFT key and press SELECT. A circle with appear to the left
of the selected screen number.

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Figure 3-27 Marked to Delete

5. Choose DATA in the Menu area.

6. Choose DELETE MENU in the drop-down.
7. Choose “YES” in the dialog box.

3.8 Character Screens

The character screens available for entering job names, comments, labels, I/O names,
etc., include a dual keyboard (CapsLock ON/OFF), SYMBOL, Space, Back Space for
deleting characters, and Cancel for clearing the entire [Result] line.

The [Result] line can be accessed by touch to put the cursor between characters for
individual removal to the left using Back Space. In addition, by dragging consecutive
characters may be highlighted and then removed simultaneously with one press of the
Back Space.

Figure 3-28 Character Screens (KEYBOARD)

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Figure 3-29 Character Screens (SYMBOL)

NOTE: SHIFT+cursor will also move the cursor within the [Result] line.

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NOTES

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4.0 CONTROL GROUP & JOGGING COORDINATE

Before jogging any component of the system, set or verify the active Control Group
and a desired jogging coordinate with appropriate manual speed.

4.1 Control Groups

The YRC1000 system can be configured with multiple robots, base axes, and station
axes; therefore, for jog operations, the appropriate group of axes to be controlled must
be selected by the operator. The active selection is displayed in the Status Display
area.

4.1.1 ROBOT Key

The ROBOT selection is active by default at power ON. Pressing the ROBOT key
chooses the desired robot, R1 to R8. The jogging axis keys on the pendant are labeled
for both single motor/link operation of the robot with (+/-) [SLURBT], and also for
manipulating a robot’s tool control point, TCP, in (+/-) X, Y, Z and rotating the tool’s
posture with the (+/-) Rx, Ry, & Rz keys.

4.1.2 EX. AXIS Key

Pressing the EX. AXIS key configures the axis keys to move the servo motors for
BASE track axes B1 to B8 or STATION axes S1 to S24. The setup uses the first pair
of keys, [-X/S] & [+X/S], for the first Base or Station motor, the second pair for the
second Base or Station motor, etc.
NOTE: Pressing SHIFT+ROBOT or SHIFT+EX. AXIS is required when the desired
control group for jogging is not identified in the selected job.

Figure 4-1 Robot, Base, and Station Axes

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