XRC Controller

PMT Function
Manual
for UP/SKX-Series Robots
Part Number 143066-1

May 15, 1999

MOTOMAN
805 Liberty Lane
West Carrollton, OH 45449
TEL: (937) 847-6200 FAX: (937) 847-6277
24-HOUR SERVICE HOTLINE: (937) 847-3200

The information contained within this document is the proprietary property of Motoman,
Inc., and may not be copied, reproduced or transmitted to other parties without the
expressed written authorization of Motoman, Inc.

©1999 by MOTOMAN
All Rights Reserved

Because we are constantly improving our products, we reserve the right to change specifications
without notice. MOTOMAN is a registered trademark of YASKAWA Electric Manufacturing.
 TABLE OF CONTENTS
Section Page
1 INTRODUCTION
1.1 About this Document .................................................................................................... 1-1
1.2 Reference to Other Documentation................................................................................ 1-1
1.3 Customer Service Information ...................................................................................... 1-1
2 SAFETY
2.1 Introduction .................................................................................................................. 2-1
2.2 Standard Conventions .................................................................................................. 2-2
2.3 General Safeguarding Tips............................................................................................ 2-4
2.4 Mechanical Safety Devices ........................................................................................... 2-4
2.5 Installation Safety ......................................................................................................... 2-5
2.6 Programming Safety ..................................................................................................... 2-5
2.7 Operation Safety ........................................................................................................... 2-6
2.8 Maintenance Safety....................................................................................................... 2-7
3 PMT FUNCTION
1 PMT Function ................................................................................................................. 1-1
2 Operating Methods ....................................................................................................... 2-1

MOTOMAN i PMT Function

 NOTES

PMT Function ii MOTOMAN

 SECTION 1
INTRODUCTION
1.1 About this Document
This manual provides instructions for PMT Function and contains the following
sections:
SECTION 1 – INTRODUCTION
General information about this manual, a list of reference documents, and
customer service information.
SECTION 2 – SAFETY
Provides information for the safe use and operation of Motoman products.
SECTION 3 – PMT FUNCTION
Provides detailed instructions to utilize the PMT Function.

1.2 Reference to Other Documentation

For additional information refer to the following:
• Concurrent I/O Parameters Manual (P/N 142102-1)
• Operator’s Manual for General Purpose (P/N 142099-1)
• Operator’s Manual for Handling (P/N 142100-1)
• Operator’s Manual for Spot Welding (P/N 142101-1)
• Operator’s Manual for Arc Welding (P/N 142098-1)
• Motoman UP6, XRC Manipulator Manual (P/N 142104-1)
• Motoman SK16X, XRC Manipulator Manual (P/N 142105-1)
• Motoman SK45X, XRC Manipulator Manual (P/N 142106-1)
• Motoman UP130, XRC Manipulator Manual (P/N 142107-1)

1.3 Customer Service Information

If you are in need of technical assistance, contact the Motoman service staff at
(937) 847-3200. Please have the following information ready before you call:
• Robot Type (UP6, SK16X, etc.)
• Application Type (welding, handling, etc.)
• Robot Serial Number (located on the back side of the robot arm)
• Robot Sales Order Number (located on back side of XRC controller)

MOTOMAN 1-1 PMT Function

INTRODUCTION

NOTES

PMT Function 1-2 MOTOMAN

 SECTION 2
SAFETY
2.1 Introduction
.

It is the purchaser's responsibility to ensure that all local, county,

state, and national codes, regulations, rules, or laws relating to
safety and safe operating conditions for each installation are met
and followed.

We suggest that you obtain and review a copy of the ANSI/RIA National Safety
Standard for Industrial Robots and Robot Systems. This information can be
obtained from the Robotic Industries Association by requesting ANSI/RIA
R15.06. The address is as follows:
Robotic Industries Association
900 Victors Way
P.O. Box 3724
Ann Arbor, Michigan 48106
TEL: (734) 994-6088
FAX: (734) 994-3338
Ultimately, the best safeguard is trained personnel. The user is responsible for
providing personnel who are adequately trained to operate, program, and maintain
the robot cell. The robot must not be operated by personnel who have not been
trained!
We recommend that all personnel who intend to operate, program, repair, or use
the robot system be trained in an approved Motoman training course and become
familiar with the proper operation of the system.
This safety section addresses the following:
• Standard Conventions (Section 2.2)
• General Safeguarding Tips (Section 2.3)
• Mechanical Safety Devices (Section 2.4)
• Installation Safety (Section 2.5)
• Programming Safety (Section 2.6)
• Operation Safety (Section 2.7)
• Maintenance Safety (Section 2.8)

MOTOMAN 2-1 PMT Function

SAFETY

2.2 Standard Conventions

This manual includes information essential to the safety of personnel and
equipment. As you read through this manual, be alert to the four signal words:
• DANGER
• WARNING
• CAUTION
• NOTE
Pay particular attention to the information provided under these headings which
are defined below (in descending order of severity).

DANGER!
Information appearing under the DANGER caption concerns the
protection of personnel from the immediate and imminent hazards
that, if not avoided, will result in immediate, serious personal injury
or loss of life in addition to equipment damage.

WARNING!
Information appearing under the WARNING caption concerns the
protection of personnel and equipment from potential hazards that
can result in personal injury or loss of life in addition to equipment
damage.

CAUTION!
Information appearing under the CAUTION caption concerns the
protection of personnel and equipment, software, and data from
hazards that can result in minor personal injury or equipment
damage.
NOTE: Information appearing in a NOTE caption provides additional information which is helpful in
understanding the item being explained.

PMT Function 2-2 MOTOMAN

 SAFETY

2.3 General Safeguarding Tips

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot 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 robot,
the operator's manuals, the system equipment, and options and accessories
should be permitted to operate this robot system.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the robot cell.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs and
Outputs).
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• In accordance with ANSI/RIA R15.06, section 6.13.4 and 6.13.5, 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).

2.4 Mechanical Safety Devices

The safe operation of the robot, positioner, auxiliary equipment, and system is
ultimately the user's 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 safety standards, and other local
codes that may pertain to the installation and use of industrial equipment.
Additional safety measures for personnel and equipment may be required
depending on system installation, operation, and/or location. The following safety
measures are available:
• Safety fences and barriers
• Light curtains
• Door interlocks
• Safety mats
• Floor markings
• Warning lights
Check all safety equipment frequently for proper operation. Repair or replace any
non-functioning safety equipment immediately.

MOTOMAN 2-3 PMT Function

SAFETY

2.5 Installation Safety

Safe installation is essential for protection of people and equipment. The
following suggestions are intended to supplement, but not replace, existing federal,
local, and state laws and regulations. Additional safety measures for personnel and
equipment may be required depending on system installation, operation, and/or
location. Installation tips are as follows:
• Be sure that only qualified personnel familiar with national codes, local
codes, and ANSI/RIA R15.06 safety standards are permitted to install the
equipment.
• Identify the work envelope of each robot with floor markings, signs, and
barriers.
• Position all controllers outside the robot work envelope.
• Whenever possible, install safety fences to protect against unauthorized entry
into the work envelope.
• Eliminate areas where personnel might get trapped between a moving robot
and other equipment (pinch points).
• Provide sufficient room inside the workcell to permit safe teaching and
maintenance procedures.

2.6 Programming Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Programming tips are
as follows:
• Any modifications to PART 1 of the MRC controller PLC can cause severe
personal injury or death, as well as damage to the robot! Do not make any
modifications to PART 1. Making any changes without the written
permission of Motoman will VOID YOUR WARRANTY!
• Some operations require standard passwords and some require special
passwords. Special passwords are for Motoman use only. YOUR
WARRANTY WILL BE VOID if you use these special passwords.
• Back up all programs and jobs onto a floppy disk whenever 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.
• The concurrent I/O (Input and Output) function allows the customer to
modify the internal ladder inputs and outputs for maximum robot
performance. Great care must be taken when making these modifications.
Double-check all modifications under every mode of robot operation to
ensure that you have not created hazards or dangerous situations that may
damage the robot or other parts of the system.
• 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 robot should be
permitted to operate the system.

PMT Function 2-4 MOTOMAN

 SAFETY
• Inspect the robot and work envelope 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 the E-STOP button on the teach pendant for proper operation before
programming.
• Carry the teach pendant with you when you enter the workcell.
• Be sure that only the person holding the teach pendant enters the workcell.
• Test any new or modified program at low speed for at least one full cycle.

2.7 Operation Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Operation tips are as
follows:
• Be sure that only trained personnel familiar with the operation of this robot,
the operator's manuals, the system equipment, and options and accessories
are permitted to operate this robot system.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• Inspect the robot and work envelope to ensure no potentially hazardous
conditions exist. Be sure the area is clean and free of water, oil, debris, etc.
• Ensure that all safeguards are in place.
• 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 robot should be
permitted to operate the system.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the cell.
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder parts 1 and 2, and I/O
(Input and Output) modifications. Check and test all changes at slow speed.

MOTOMAN 2-5 PMT Function

SAFETY

2.8 Maintenance Safety

All operators, programmers, plant and tooling engineers, maintenance personnel,
supervisors, and anyone working near the robot must become familiar with the
operation of this equipment. All personnel involved with the operation of the
equipment must understand potential dangers of operation. Maintenance tips are
as follows:
• Do not perform any maintenance procedures before reading and
understanding the proper procedures in the appropriate manual.
• Check all safety equipment for proper operation. Repair or replace any non-
functioning safety equipment immediately.
• 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 robot should be
permitted to operate the system.
• Back up all your programs and jobs onto a floppy disk whenever program
changes are made. A backup must always be made before any servicing or
changes are made to options, accessories, or equipment to avoid loss of
information, programs, or jobs.
• Do not enter the robot cell while it is in automatic operation. Programmers
must have the teach pendant when they enter the cell.
• The robot must be placed in Emergency Stop (E-STOP) mode whenever it is
not in use.
• Be sure all safeguards are in place.
• Use proper replacement parts.
• This equipment has multiple sources of electrical supply. Electrical
interconnections are made between the controller, external servo box, and
other equipment. Disconnect and lockout/tagout all electrical circuits before
making any modifications or connections.
• All modifications made to the controller will change the way the robot
operates and can cause severe personal injury or death, as well as damage the
robot. This includes controller parameters, ladder parts 1 and 2, and I/O
(Input and Output) modifications. Check and test all changes at slow speed.
• Improper connections can damage the robot. All connections must be made
within the standard voltage and current ratings of the robot I/O (Inputs and
Outputs).

PMT Function 2-6 MOTOMAN

 YASKAWA

YASNAC XRC OPTIONS

INSTRUCTIONS
PMT FUNCTION

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

MOTOMAN INSTRUCTIONS
MOTOMAN SETUP MANUAL
MOTOMAN-¨¨¨ INSTRUCTIONS
YASNAC XRC INSTRUCTIONS
YASNAC XRC OPERATOR’S MANUAL
YASNAC XRC OPERATOR’S MANUAL for BEGINNERS
The YASNAC XRC operator’s manuals above correspond to specific usage.
Be sure to use the appropriate manual.

YASKAWA MANUAL NO. RE-CKI-A425

 MANDATORY
• This manual explains the PMT function (position modification function
for tool deformation) of YASNAC XRC. Read this manual carefully and be
sure to understand its contents before handling the YASNAC XRC.

• General items related to safety are listed in Section 1: Safety of the

Setup Manual. To ensure correct and safe operation, carefully read the
Setup Manual 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 rep-

resentative 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 prod-
uct’s warranty.

ii
NOTES FOR SAFE OPERATION
Read this manual carefully before installation, operation, maintenance, or inspection of the
YASNAC XRC.
In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”,
“MANDATORY”,or ”PROHIBITED”.

Indicates a potentially hazardous situation which, if not avoided,

WARNING could result in death or serious injury to personnel.

Indicates a potentially hazardous situation which, if not avoided,

CAUTION could result in minor or moderate injury to personnel and dam-
age to equipment. It may also be used to alert against unsafe
practices.

Always be sure to follow explicitly the items listed under this

M A N D A T O R Y heading.

PROHIBITED Must never be performed.

Even items described as “CAUTION” may result in a serious accident in some situations. At
any rate, be sure to follow these important items.

N OT E To ensure safe and efficient operation at all times, be sure to follow all instructions, even if
not designated as “CAUTION” and “WARNING”.

iii
 WARNING
• Before operating the manipulator, check that servo power is turned off
when the emergency stop buttons on the playback panel or program-
ming pendant are pressed.
When the servo power is turned off, the SERVO ON READY lamp on the
playback panel and the SERVO ON LED on the programming pendant are
turned off.

Injury or damage to machinery may result if the emergency stop circuit cannot stop the
manipulator during an emergency. The manipulator should not be used if the emergency
stop buttons do not function.

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.

TURN

Release of Emergency Stop

• Always set the Teach Lock before entering the robot work envelope to
teach a job.

Operator injury can occur if the Teach Lock is not set and the manipulator is started from
the playback panel.

• Observe the following precautions when performing teaching operations

within the working envelope of the manipulator :
- 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.

• Confirm that no persons are present in the manipulator’s work envelope

and that you are in a safe location before:
- Turning on the YASNAC XRC power
- Moving the manipulator with the programming pendant
- Running check operations
- Performing automatic operations

Injury may result if anyone enters the working envelope of the manipulator during opera-
tion. Always press an emergency stop button immediately if there are problems.The
emergency stop button is located on the right side of both the YASNAC XRC playback
panel and programming pendant.

iv
 CAUTION
• Perform the following inspection procedures prior to conducting manip-
ulator 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 XRC cabinet
after use.

The programming pendant can be damaged if it is left in the manipulator’s work area, on
the floor, or near fixtures.

• Read and understand the Explanation of the Alarm Display in the setup
manual before operating the manipulator.

Definition of Terms Used Often in This Manual

The MOTOMAN manipulator is the YASKAWA industrial robot product.
The manipulator usually consists of the controller, the playback panel, the programming pen-
dant, and supply cables.
The MOTOMAN manipulator is the YASKAWA industrial robot product.
In this manual, the equipment is designated as follows.

Equipment Manual Designation

YASNAC XRC Controller XRC

YASNAC XRC Playback Panel Playback Panel

YASNAC XRC Programming Pendant Programming Pendant

v
Descriptions of the programming pendant and playback panel keys, buttons, and displays are
shown as follows:

Equipment Manual Designation

Programming Character Keys The keys which have characters printed on them are
Pendant 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.

ex. page key

The cursor key is an exception, and a picture is not
shown.

Axis Keys “Axis Keys” and “Number Keys” are generic names
Number Keys for the keys for axis operation and number input.

Keys pressed When two keys are to be pressed simultaneously,

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

Displays The menu displayed in the programming pendant is

denoted with { }.
ex. {JOB}

Playback Panel Buttons Playback panel buttons are enclosed in brackets.

ex. [TEACH] on the playback panel

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.

vi
1 PMT Function

2 Operating Methods

vii
viii
1 PMT Function

The PMT function corrects the position data when the tool is deformed during operation (PMT
: Position Modification for Tool Deformation). When a tool inadvertently collides with periph-
eral jigs or walls during operation and is deformed, the tool center point will be dislocated and
the taught position of the job which has been set up is shifted: A great deal of time and effort
will be needed for the correction. In such a case, the PMT function can be used to correct the
position data easily and accurately.
By specifying the desired job, the position data of the taught tool dimensions before deforma-
tion are converted automatically to the position data of the tool dimensions after deformation.
In the PMT function, the tool before deformation is called the original tool and the tool after
deformation is called the orientation tool.

0016 MOVJ
Position data of the step taught by
0017 WAIT IN#(1)=0
the original tool is converted.
0018 MOVL V=70

• For a job in which teaching is performed by using several types of tools, only the position
N OT E data obtained by the specified original tool is converted.
• The position variables are not converted in the PMT function.

1-1
1-2
2 Operating Methods

N OT E When the PMT function is used, the tool dimensions and the job taught position data are
overwritten. In order to secure the data, prepare the backup files beforehand.

Operation

Select {UTILITY} from the top menu in the job contents display in teach mode.*1 Select
{PMT}*2 Select NO. of the tool for conversion*3 Register and confirm tool dimen-
4 5
sions* Select the job for conversion* Select “EXEC”*6

Explanation
*1 From the Job Content display, select the PMT function.

JOB EDIT DISPLAY UTILITY

JOB CONTENT SETUP SPECIAL RUN
J:TEST S:000 PARALLEL SHIFT JOB
0000 NOP MIRROR SHIFT
PAM
0001 MOVJ VJ=12.50 PMT
0002 MOVJ VJ=50.00
0003 MOVJ VJ=12.50
0004 ARCON ASF#(1)
0005 MOVL V=50
0006 MOVL V=50
=> MOVJ VJ=100.00
!

*2 The PMT display is shown.

DATA EDIT DISPLAY UTILITY

L
PMT R1 C S
NO. NAME BACKUP
00 STANDARD TOOL
01
02
03
04
05
06
07
!

2-1
*3 The confirmation dialog to save the tool dimensions before deformation appears.
When the tool dimensions after deformation have been registered, select “NO”.
When the tool dimensions after deformation have not been registered, select “YES”.
After selecting either “YES” or “NO”, the display of *3 appears.

DATA EDIT DISPLAY UTILITY

L
PMT R1 C S
NO. NAME BACKUP
00 STANDARD TOOL When the tool dimensions before
01 deformation have been registered,
02 Backup data? " " is displayed.
03
04 YES NO
05
06
07
!

*4 Set the tool dimensions by inputting with the number keys or by selecting{TOOL CALI-
BRATION} of {UTILITY}.
For details of methods to set tool dimensions, refer to Section 3.9 “Tool Data Setting” of
the YASNAC XRC Instruction manual.
Confirm the tool dimensions before and after the PMT conversion (ORIGINAL TOOL
and ORIENTATION TOOL), then select “EXEC”.

DATA EDIT DIPLAY UTILITY

L
PMT R1 C S
TOOL NO. :00
ORIENTATION TOOL ← ORIGINAL TOOL
X 0.000 mm X 10.000mm
Y 0.000 mm Y 0.000mm
Z 400.000 mm Z 390.000mm
Rx 0.000 deg. Rx 0.000deg.
Ry 0.000 deg. Ry 0.000deg.
Rz 0.000 deg. Rz 0.000deg.
EXEC CANCEL
!

*5 The following three methods are available for selecting a job.

• Method 1 : SINGLE
When only the specified job is to be converted, select “SINGLE” from “CONVERSION
MODE”.
Select “JOB NAME”, and then the Job List is displayed. Select the job to be converted.
Selecting “EXEC” converts the selected job.

DATA EDIT DIPLAY UTILITY

L
PMT R1 C S
TOOL NO. :00
CONVERSION MODE :SINGLE
JOB NAME :********
EXEC CANCEL

2-2
 • Method 2 : RELATED
When the jobs related to the specified job are to be converted together, select
“RELATED” from “CONVERSION MODE”.
Select “JOB NAME”, and then the Job List is displayed. Select the job to be converted.
Selecting “EXEC” converts the selected job and the related jobs.

• Method 3 : ALL
When all the jobs registered in XRC are to be converted, select “ALL” from “CONVER-
SION MODE”.
Selecting “EXEC” converts all of the jobs.

*6 After conversion is complete, the display returns to the Job Content display.

• For a job after conversion, be sure to confirm the path after conversion by performing
N OT E NEXT/BACK operations.
• When steps out of the manipulator working envelope are created, “/0V” is displayed in the
corresponding step as shown in the following display. “/0V” will disappear by correcting
the positions.

JOB EDIT DIPLAY UTILITY

L
JOB CONTENT R1 C S
J:TEST S:000 TOOL:0
0000 NOP
0001 JOB FOR TYPE A
0002 JUMP JOB:JOB-01
0003 MOVJ VJ=50.00
0004 MOVJ /OV VJ=50.00 In the step which is out of the
0005 MOVJ VJ=50.00 working envelope, "/0V" is
0006 JUMP JOB:JOB-02 displayed for a move instruction.
0007 MOVJ VJ=100.00
! Step exceeding operation range is made

2-3
2-4
YASNAC XRC OPTIONS
INSTRUCTIONS
PMT FUNCTION

TOKYO OFFICE
New Pier Takeshiba South Tower, 1-16-1, Kaigan, Minatoku, Tokyo 105-6891, Japan
Phone 81-3-5402-4511 Fax 81-3-5402-4580
MOTOMAN INC. HEADQUARTERS
805 Liberty Lane West Carrollton, OH 45449, U.S.A.
Phone 1-937-847-6200 Fax 1-937-847-6277
MOTOMAN INC. TROY FACILITY
1050 S. Dorset, Troy, OH 45373, U.S.A.
Phone 1-937-440-2600 Fax 1-937-440-2626
YASKAWA MOTOMAN CANADA LTD.
2280 ARGENTIA ROAD, MISSISSAUGA, ONTARIO, L5N 6H8, CANADA.
Phone 1-905-813-5901 Fax 1-905-813-5911
YASKAWA ELECTRIC EUROPE GmbH
Am Kronberger Hang 2, 65824 Schwalbach,Germany.
Phone 49-6196-569-300 Fax 49-6196-888-301
Motoman Robotics AB
Box 504 S38525 Torsås, Sweden
Phone 46-486-48800 Fax 46-486-41410
Motoman Robotec GmbH
Kammerfeldstraβe1,85391 Allershausen, Germany
Phone 49-8166-900 Fax 49-8166-9039
YASKAWA ELECTRIC KOREA CORPORATION
Kfpa Bldg #1201, 35-4 Youido-dong, Yeongdungpo-Ku, Seoul 150-010, Korea
Phone 82-2-784-7844 Fax 82-2-784-8495
YASKAWA ELECTRIC (SINGAPORE) PTE. LTD.
151 Lorong Chuan, #04-01, New Tech Park Singapore 556741, Singapore
Phone 65-282-3003 Fax 65-289-3003
YATEC ENGINEERING CORPORATION
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road, Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
BEIJING OFFICE
Room No. 301 Office Building of Beijing Intemational Club, 21 Jianguomenwai Avenue, Beijing 100020, China
Phone 86-10-6532-1850 Fax 86-10-6532-1851
SHANGHAI OFFICE
27 Hui He Road Shanghai 200437 China
Phone 86-21-6553-6600 Fax 86-21-6531-4242
YASKAWA JASON (HK) COMPANY LIMITED
Rm. 2909-10, Hong Kong Plaza, 186-191 Connaught Road West, Hong Kong
Phone 852-2803-2385 Fax 852-2547-5773
TAIPEI OFFICE
Shen Hsiang Tang Sung Chiang Building 10F 146 Sung Chiang Road,Taipei, Taiwan
Phone 886-2-2563-0010 Fax 886-2-2567-4677
BEIJING YASKAWA BEIKE AUTOMATION ENGINEERING CO.,LTD.
30 Xue Yuan Road, Haidian, B eijing P.R. China Post Code: 100083
Phone 86-10-6233-2782 Fax 86-10-6232-1536
SHOUGANG MOTOMAN ROBOT CO., LTD.
7,Yongchang-North Street, Beijing Economic Technological Investment & Development Area,
Beijing 100076, P.R. China
Phone 86-10-6788-0551 Fax 86-10-6788-2878

YASKAWA ELECTRIC CORPORATION

YASKAWA

Specifications are subject to change without notice MANUAL NO. RE-CKI-A425

for ongoing product modifications and improvements. C Printed in Japan February 1999 99-2