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How to Update Robot Config Files

Getting Config Files

Open the Device Configuration app.


Select your configured robot and tap Edit.


Insert a FAT32 USB drive with at least 2GB of available storage into the IPC.

Tap ​Start Transfer​.


Wait for the transfer to finish​, then remove the USB drive.

Preparing for File Transfer

  • Switch the Yaskawa pendant key to TEACH.

  • Boot in Maintenance mode.
info

For steps on how to enter Maintenance mode, check out this.

  • Enter Safety mode.
info

For steps on how to change to Safety mode, check out this.

Loading the Driver File

Follow these steps to load the Forge MotoPlus APL.

  • Insert the USB drive with the ForgeOS config files into the Yaskawa pendant.

  • From the Main Menu, tap MotoPlus APL, then tap FOLDER to select the folder to load files from.

  • Tap the forge-os folder to open it, then tap to open the yaskawa folder. At the top of the screen, the TARGET FOLDER should be yaskawa.

  • From the Main Menu, tap MotoPlus APL, then tap LOAD (USER APPLICATION).

  • Highlight the MotoPlusYRC1....out file on the USB drive and press the SELECT button.

  • Verify that a small black star icon appears to the left of the file name and press the ENTER button on the pendant keypad.

  • At the Load? prompt, tap YES. If asked to overwrite an existing file, select YES.

Rebooting in Online Mode

  • Reboot in Online mode.
info

For steps on how to enter Online mode, check out this.

  • Enter Safety mode.
info

For steps on how to change to Safety mode, check out this.

Deleting Jobs

With the Yaskawa pendant key still turned fully counter-clockwise to TEACH, delete existing ForgeOS jobs:

  • Go to Main Menu > JOB > SELECT JOB.

  • Tap the JOB tab in the upper left toolbar and choose DELETE JOB.

  • Select the job to delete. Delete each job that starts with "RR".

tip

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 push button in the top-center of the Yaskawa pendant.
  2. Press RESET.

Adding Jobs

  • From the Main Menu, tap EX. MEMORY, then tap FOLDER to select the folder to load files from.

  • Tap the forge-os folder to open it, then tap to open the yaskawa folder. At the top of the screen, the TARGET FOLDER should be yaskawa.

  • From the Main Menu, tap EX. MEMORY and then tap LOAD.

  • Highlight JOB and press the SELECT button.

  • Highlight each file and press the SELECT button on the keypad so that it is marked with a star.

  • Press ENTER on the keypad.

  • At the Load? prompt, tap YES.

Loading the CIO Program

  • From 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.

Rebooting in Maintenance Mode

  • Reboot in Maintenance Mode.
info

For steps on how to enter Maintenance mode, check out this.

  • Enter Safety mode.
info

For steps on how to change to Safety mode, check out this.

Resetting the Safety Board

Save settings to the Safety I/O board:

  • From the Main Menu, tap FILE, then tap INITIALIZE.

  • Highlight Safety Board FLASH Reset and press the SELECT button.

  • At the Reset? prompt, tap YES. Wait for the flash reset to complete and the pendant to beep.
tip

This process takes up to 60 seconds to complete. The arrow buttons are disabled until the reset completes.

Save settings to the PFL board (collaborative robots only):

  • Highlight PFL Board FLASH Reset and press the SELECT button.

  • At the Reset? prompt, tap YES.

  • Wait for the flash reset to complete and the pendant to beep.

tip

This process takes up to two minutes to complete. The arrow buttons are disabled until the reset completes.

Rebooting in Online Mode

  • Reboot in Online mode.
info

For steps on how to enter Online mode, check out this.

  • Turn the Yaskawa pendant key to REMOTE.

note

Leave the USB in the back of the Yaskawa pendant, as this is where we update/store information (such as the tool file). If you do not leave the USB in the back of the Yaskawa pendant, you may later run into issues resolving a "Tool Mismatch" error.

note

If you see a "Tool Mismatch" error, follow this.