General
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1.6 About this manual
• This manual explains the various components of the robot controller and the general
operating functions. Be sure to read and understand this instruction manual thoroughly
before installing and operating the robot controller.
• To ensure correct and safe operation, read the robot controller operating instructions
(Basic Information, Installation and Wiring and System Setup).
• In order to illustrate details clearly, some drawings are shown with the protective covers
or shields removed. All protective covers and shields must be mounted before the robot
is operated.
• The drawings and figures in this manual are representative illustrations. They may differ
from the product delivered.
• YEU-R reserves the right to make technical changes. These changes may include
product improvements, modifications or changes in specifications
• If your copy of the operating and maintenance instructions is damaged or lost, please
contact the local YASKAWA branch office to order a new copy. The official branch
offices are listed on the last page. Please mention the manual number in your order.
• YASKAWA Europe GmbH is not responsible for damage caused due to unauthorized
modification of the system. If any impermissible modifications are made to the system
and to the robot, all warranty and liability claims as well as the declaration of
incorporation will expire.
Descriptions of the programming pendant, buttons, and displays are shown as
follows:
Programming pendant Manual designation
Character keys The keys which have characters printed on them are
denoted with [ ], e. g. [ENTER]
Symbol keys The keys which have a symbol printed on them are il-
lustrated with a small picture.
e. g. There is no picture for the cursor key.
Mode selection switch Three kinds of modes that can be selected by the mode
key are denoted as follows: REMOTE, PLAY and
TEACH
Keys There are three keys on the programming pendant,
which are referred to as follows: HOLD key; START
key; Emergency stop button
Axis keys Controlling the axes
Numeric keys Number input
Simultaneously pressed keys A plus sign between the keys indicates that it is neces-
sary to press two keys simultaneously.
e.g. [SHIFT] + [COORD] .
Display The menu displayed is denoted with { }.
e.g. {JOB}
SHIFT
TOOL SEL
COORD
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