YRC1000 OPTIONS

INSTRUCTIONS
FOR INTERRUPT JOB FUNCTION

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

MOTOMAN INSTRUCTIONS
MOTOMAN- INSTRUCTIONS
YRC1000 INSTRUCTIONS
YRC1000 OPERATOR’S MANUAL (GENERAL) (SUBJECT SPECIFIC)
YRC1000 MAINTENANCE MANUAL
YRC1000 ALARM CODES (MAJOR ALARMS) (MINOR ALARMS)
The YRC1000 operator’s manual above corresponds to specific usage. Be sure to use the appropriate manual.
The YRC1000 operator’s manual above consists of “GENERAL” and “SUBJECT SPECIFIC”.
The YRC1000 alarm codes above consists of “MAJOR ALARMS” and “MINOR ALARMS”.

178676-1CD
0

MANUAL NO.

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DANGER
• This manual explains the interrupt job function of the YRC1000
system. Read this manual carefully and be sure to understand its
contents before handling the YRC1000. Any matter not described
in this manual must be regarded as “prohibited” or “improper”.
• General information related to safety are described in “Chapter 1.
Safety” of the YRC1000 INSTRUCTIONS. To ensure correct and
safe operation, carefully read “Chapter 1. Safety” of the YRC1000
INSTRUCTIONS.

CAUTION
• In some drawings in this manual, the protective covers or shields
are removed to show details. Make sure to install all the covers and
shields in place before operating this product.
• YASKAWA is not responsible for incidents arising from
unauthorized modification of its products. Unauthorized
modification voids the product warranty.

NOTICE
• 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
representative 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.

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Notes for Safe Operation

Read this manual carefully before installation, operation, maintenance, or
inspection of the YRC1000.
In this manual, the Notes for Safe Operation are classified as “DANGER”,
“WARNING”, “CAUTION”, or “NOTICE”.

Indicates an imminently hazardous

DANGER situation which, if not avoided, will
result in death or serious injury.
Safety Signs identified by the signal
word DANGER should be used
sparingly and only for those
situations presenting the most
serious hazards.

Indicates a potentially hazardous

WARNING situation which, if not avoided, will
result in death or serious injury.
Hazards identified by the signal
word WARNING present a lesser
degree of risk of injury or death than
those identified by the signal word
DANGER.

Indicates a hazardous situation,

CAUTION which if not avoided, could result in
minor or moderate injury. It may
also be used without the safety alert
symbol as an alternative to
“NOTICE”.

NOTICE is the preferred signal word

NOTICE to address practices not related to
personal injury. The safety alert
symbol should not be used with this
signal word. As an alternative to
“NOTICE”, the word “CAUTION”
without the safety alert symbol may
be used to indicate a message not
related to personal injury.

Even items described as “CAUTION” may result in a serious accident in

some situations.
At any rate, be sure to follow these important items.

To ensure safe and efficient operation at all times, be sure

NOTE to follow all instructions, even if not designated as
“DANGER”, “WARNING” and “CAUTION”.

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DANGER
• Before operating the manipulator, make sure the servo power is
turned OFF by performing the following operations. When the servo
power is turned OFF, the SERVO ON LED on the programming
pendant is turned OFF.
– Press the emergency stop buttons on the front door of the
YRC1000, on the programming pendant, on the external control
device, etc.
– Disconnect the safety plug of the safety fence.
(when in the play mode or in the remote mode).
If operation of the manipulator cannot be stopped in an emergency,
personal injury and/or equipment damage may result.
Fig. : Emergency Stop Button

• Before releasing the emergency stop, make sure to remove the

obstacle or error caused the emergency stop, if any, and then turn
the servo power ON.
Failure to observe this instruction may cause unintended movement of
the manipulator, which may result in personal injury.
Fig. : Release of Emergency Stop
TURN

• Observe the following precautions when performing a teaching

operation within the manipulator's operating range:
– Be sure to perform lockout by putting a lockout device on the
safety fence when going into the area enclosed by the safety
fence. In addition, the operator of the teaching operation must
display the sign that the operation is being performed so that no
other person closes the safety fence.
– View the manipulator from the front whenever possible.
– Always follow the predetermined operating procedure.
– Always keep in mind emergency response measures against the
manipulator’s unexpected movement toward a person.
– Ensure a safe place to retreat in case of emergency.
Failure to observe this instruction may cause improper or unintended
movement of the manipulator, which may result in personal injury.
• Confirm that no person is present in the manipulator's operating
range and that the operator is in a safe location before:
– Turning ON the YRC1000 power
– Moving the manipulator by using the programming pendant
– Running the system in the check mode
– Performing automatic operations
Personal injury may result if a person enters the manipulator's
operating range during operation. Immediately press an emergency
stop button whenever there is a problem. The emergency stop buttons
are located on the front panel of the YRC1000 and on the right of the
programming pendant.
• Read and understand the Explanation of the Warning Labels before
operating the manipulator.

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WARNING
• Perform the following inspection procedures prior to conducting
manipulator teaching. If there is any problem, immediately take
necessary steps to solve it, such as maintenance and repair.
– Check for a problem in manipulator movement.
– Check for damage to insulation and sheathing of external wires.
• Always return the programming pendant to the hook on the
YRC1000 cabinet after use.
If the programming pendant is left unattended on the manipulator, on a
fixture, or on the floor, etc., the Enable Switch may be activated due to
surface irregularities of where it is left, and the servo power may be
turned ON. In addition, in case the operation of the manipulator starts,
the manipulator or the tool may hit the programming pendant left
unattended, which may result in personal injury and/or equipment
damage.

Definition of Terms Used Often in This Manual

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and manipulator cables.
In this manual, the equipment is designated as follows:

Equipment Manual Designation

YRC1000 Controller YRC1000
YRC1000 Programming Pendant Programming Pendant
Cable between the manipulator and the Manipulator Cable
controller

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Descriptions of the programming pendant keys, buttons, and displays are

shown as follows:
Equipment Manual Designation
Programming Character Keys The keys which have characters or its
Pendant /Symbol Keys symbol printed on them are denoted with [ ].
ex. [ENTER]
Axis Keys [Axis Key] and [Numeric Key] are generic
/Numeric Keys names 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}

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 [SELECT] is
pressed, or that the item is directly selected by touching the screen.

Registered Trademark
In this manual, names of companies, corporations, or products are
trademarks, registered trademarks, or brand names for each company or
corporation. The indications of (R) and TM are omitted.

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Contents

1 What is the Interrupt Job Function? ................................................................................................ 1-1

2 Setting of the Interrupt Job Function............................................................................................... 2-1

2.1 Interruption Table Display.................................................................................................. 2-1

2.2 Setting of Interruption Table .............................................................................................. 2-3

2.2.1 Setting of Signals ................................................................................................. 2-3

2.2.2 Setting of Job Names ........................................................................................... 2-4

2.3 Setting of Interruption Levels ............................................................................................. 2-5

3 Registration of Instructions ............................................................................................................. 3-1

3.1 EI (Enable Interruption) Instruction .................................................................................... 3-1

3.2 DI (Disable Interruption) Instruction ................................................................................... 3-3

4 Execution of an Interrupt Job .......................................................................................................... 4-1

4.1 Interruption Signal Detection ............................................................................................. 4-1

4.2 Timing for Interrupt Job Execution..................................................................................... 4-1

4.3 Deceleration Before Interrupt Job Execution ..................................................................... 4-1

4.4 Interruption Signal Entered During Another Interrupt Job.................................................. 4-1

4.5 Output Signal of “Interrupt Job in Execution”..................................................................... 4-2

4.6 Automatic Interruption Disabled Status ............................................................................. 4-2

4.7 Job Call Stack.................................................................................................................... 4-2

4.8 If an interrupt job cannot be executed ............................................................................... 4-2

5 Application Examples...................................................................................................................... 5-1

5.1 Interruption During Timer Instruction ................................................................................. 5-1

5.2 Interruption During Move Instruction.................................................................................. 5-1

5.3 Interruption During Move Instruction with NWAIT.............................................................. 5-2

5.4 Interruption During Circular Interpolation Move Instruction (MOVC) ................................ 5-3

6 System with Independent Control ................................................................................................... 6-1

7 Instruction List................................................................................................................................. 7-1

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1 What is the Interrupt Job Function?

1 What is the Interrupt Job Function?

The interrupt job function is a kind of call job. When a signal to interrupt
the job is sent from a peripheral device or another system, this function
momentarily suspends a job in progress, and executes the job
corresponding to the signal.
This function is useful when an error occurs in a peripheral device or in
another system, or when the manipulator should be withdrawn in an
emergency.

Interrupt job Job in progress

NOP NOP

Interruption

END END

An interruption table defines the relation among the interruption levels

(priority of an interruption signal), the interruption signals, and the
interrupting jobs.
Sending a user input signal specified in the table calls, a job
corresponding to that signal. When interrupt job is completed, the
suspended job is restarted from the instruction line where the cursor was
at the time of interruption.

If an interruption signal is received while the manipulator is in

NOTE the “step” cycle, the manipulator stops at once, and then the
next starting operation starts the interrupt job.

Interruption table
INTERRUPT
INTERRUPT JOB
JOB Interrupt job
LEVEL SIGNAL JOB NAME "JIG STOP" Job in progress
NOP NOP
Interruption Interruption
signal IN#01 IN#01 JIG STOP
END END

The smaller the interruption level number becomes, the higher the priority
of the processing becomes.
Since the YRC1000 determines which interrupt job is to be executed
according to this interruption table, make sure the settings for this table
are correct. The system engineer sets up this interruption table.

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1 What is the Interrupt Job Function?

An interrupt job can be executed when the start lamp is ON

NOTE and between the execution of the EI (enable interruption)
instruction and the DI (disable interruption) instruction.
A different interruption level can be specified for both EI and
DI.

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2 Setting of the Interrupt Job Function

2.1 Interruption Table Display

2 Setting of the Interrupt Job Function

2.1 Interruption Table Display

1. Select {JOB} under the main menu.
2. Select {INTERRUPT JOB} in the sub menu.

1
2

4 5 6 7

TABLE NO. (Initial value: 1)

OUTPUT SIGNAL (Initial value: no setting)

A user output signal that is turned ON during the execution of an inter-
rupt job.

LEVEL
The interruption level indicates the priority of the interruption signal.
The smaller the interruption level number becomes, the higher the prior-
ity of the processing becomes. Eight levels from 0 to 7 can be set.

SIGNAL (Initial value: no setting)

A user input signal serves as an interruption signal.

JOB NAME (Initial value: no setting)

A job name corresponding to an interruption signal

PERMIT
Interruption enabled or disabled status (for diagnosis)
(Enabled): Interruption enabled by the execution of the EI instruction
(Disabled): Interruption disabled

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2 Setting of the Interrupt Job Function
2.1 Interruption Table Display

EXEC
(ON): Interrupting job in progress
(OFF): Interrupting job not in progress

“Exec” turns ON when an interruption signal is received and the inter-

rupt job is called, and turns OFF when the job is completed.

“Exec” turns OFF in the following cases:

• An interrupt job is completed and the suspended job is restarted.
• Another job is called.
• CLEAR STACK instruction is executed.

NOTE {INTERRUPT JOB} appears when the security mode is the

edit mode or management mode.

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2 Setting of the Interrupt Job Function

2.2 Setting of Interruption Table

2.2 Setting of Interruption Table

In a system where an independent control is used simultaneously with the
interrupt job function, an interrupt job can be set and executed for each
task.
When using four tasks (16 tasks maximum) for the independent control:
Pressing the [PAGE] changes the table No. in this order : “1” → “2” → “3”
→ “4” → “1.”
Pressing [SHIFT] + [PAGE] changes the table No. in the reverse order :
“4” → “3” → “2” → “1” → “4.”

2.2.1 Setting of Signals

1. Move the cursor to the item to be selected, and press [SELECT].

2. Enter a numerical value using the Numeric keys.

NOTE Entering “0” in SIGNAL clears the set signal No. and job
name.

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2 Setting of the Interrupt Job Function
2.2 Setting of Interruption Table

2.2.2 Setting of Job Names

1. Move the cursor to the item to be selected, and press [SELECT].

2. Select a job in the JOB LIST window.

3. Press [ENTER].

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2 Setting of the Interrupt Job Function

2.3 Setting of Interruption Levels

2.3 Setting of Interruption Levels

To specify the levels where interruptions can be enabled or disabled by
the EI and DI instructions respectively, set the bits corresponding to the
levels to “1.”
d7 d6 d5 d4 d3 d2 d1 d0

LEVEL7 LEVEL6 LEVEL5 LEVEL4 LEVEL3 LEVEL2 LEVEL1 LEVEL0

The set values for

128 64 32 16 8 4 2 1
the EI/DI instructions

For example, the set value of level 0 is “1” and the set value of level 2 is
“4,” with a total set value of “5.” Therefore, to permit levels 0 and 2, set the
EI instruction to “5.”
EI
LEVEL=5

d7 d6 d5 d4 d3 d2 d1 d0
0 0 0 0 0 1 0 1

4 + 1 5

The status of other interruption levels remains unchanged.

• If no interruption level is specified, all levels from 0 to 7

NOTE enable or disable interruption.
• If the interruption level is set to “0,” it is treated like an NOP
instruction where no operation is executed and proceeds to
the next instruction.

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3 Registration of Instructions
3.1 EI (Enable Interruption) Instruction

3 Registration of Instructions

3.1 EI (Enable Interruption) Instruction

Executing an EI instruction activates the specified interruption levels set in
the additional item.
To specify the levels where interruptions can be enabled, set the bits
corresponding to the levels to “1.” The status of the other interruption
levels remains unchanged.

EI
Interruption level
constants
0 to 255

Interruption level
variables Bxxx

Interruption level
variables LBxxx

1. Move the cursor to the address area.

2. Press [INFORM LIST].
3. Select {CONTROL}.
4. Move the cursor to “EI.”
– The EI instruction appears in the input buffer line with the previously
registered additional items.

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3 Registration of Instructions
3.1 EI (Enable Interruption) Instruction

5. Press [SELECT] twice to set an interruption level in the DETAIL EDIT

window.
– Enter the interruption level using the Numeric keys.

6. Press [ENTER] twice.

– Pressing [ENTER] once shows the set contents in the input buffer
line. Pressing [ENTER] again registers the set contents in the job.

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3 Registration of Instructions
3.2 DI (Disable Interruption) Instruction

3.2 DI (Disable Interruption) Instruction

Executing a DI instruction activates the specified interruption levels set in
the additional item.
To specify the levels where interruptions can be disabled, set the bits
corresponding to the levels to “1.” The status of the other interruption
levels remains unchanged.

DI
Interruption level
constants
0 to 255

Interruption level
variables Bxxx

Interruption level
variables LBxxx

1. Move the cursor to the address area.

2. Press [INFORM LIST].
3. Select {CONTROL}.
4. Move the cursor to “DI”.
– The DI instruction appears in the input buffer line with the previously
registered additional items.

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3 Registration of Instructions
3.2 DI (Disable Interruption) Instruction

5. Press [SELECT] twice to set an interruption level in the DETAIL EDIT

window.
– Enter the interruption level using the Numeric keys.

6. Enter the interruption level using the Numeric keys.

– Pressing [ENTER] once shows the set contents in the input buffer
line. Pressing [ENTER] again registers the set contents in the job.

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4 Execution of an Interrupt Job
4.1 Interruption Signal Detection

4 Execution of an Interrupt Job

4.1 Interruption Signal Detection

An interruption signal is detected at the rising edge of the signal.
If more than one interruption signal is detected at the same time, the job
for the level with higher priority is executed.

4.2 Timing for Interrupt Job Execution

The timing of executing an interrupt job depends on what instruction is
being executed when the interruption signal is received, and can be
divided into the following two types.
• Suspends the instruction being executed to do an interrupt job
The following instructions are suspended while executing an inter-
rupt job.

Move Instructions MOVJ MOVL MOVC IMOV

I/O Instruction WAIT

Control Instruction TIMER

• Executes an interrupt job after the completion of the instruction being

executed.
Any instructions other than those listed above are completed before
starting an interrupt job.

4.3 Deceleration Before Interrupt Job Execution

If the manipulator is moving at a high speed and the interrupt job is
executed immediately after the interruption signal is received, an
excessive shock to the manipulator may result.
To avoid this risk, the manipulator automatically decelerates upon receipt
of the interruption signal, and then the interrupt job is executed.

4.4 Interruption Signal Entered During Another Interrupt Job

All interruptions are automatically disabled during the execution of an
interrupt job. Therefore, if another interruption signal with a higher priority
is received, its corresponding job is not executed.
The new signal is ignored. When an interrupt job is completed, even if
any interruption signal is ON, the corresponding interrupt job is not
executed until the rising edge of the interruption signal is detected.

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4 Execution of an Interrupt Job

4.5 Output Signal of “Interrupt Job in Execution”

4.5 Output Signal of “Interrupt Job in Execution”

During execution of an interrupt job, the output signal turns ON to indicate
that the interrupt job is being executed. This output signal turns ON when
an interruption signal is received and the interrupt job is called, and turns
OFF when the interrupt job completes.

The output signal “Interrupt Job in Execution” turns OFF in the following
cases:
• The execution of an interrupt job completes and the suspended job is
restarted.
• Another job is called.
• The CLEAR STACK instruction is executed.

4.6 Automatic Interruption Disabled Status

Only execution of the EI instruction enables interruptions. Even after the
main power supply turns OFF, the interruption enabled/disabled status is
kept.
However, when a job is called, all interruption levels are automatically
disabled for security.

4.7 Job Call Stack

Job calls made by interruptions are processed like other job calls. The
same job call stack is used for both kinds of job calls.
Therefore, adding an interrupt job to a job call stack filled to level 8 causes
the stack to overflow.

4.8 If an interrupt job cannot be executed

An interrupt job cannot be executed in any of the following cases:
• During 1 step-back operation caused by the dedicated input
#40090-#40097 " 1 step-back operation command”
• During return operation of a restart function for arcing application

If an interrupt job is attempted, "AL4525: Specified job not executable" is

displayed.

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5 Application Examples
5.1 Interruption During Timer Instruction

5 Application Examples

5.1 Interruption During Timer Instruction

Job in progress

0000 NOP
Interrupt job 0001 EI Interruption enabled
0002 MOVJ
0000 NOP 0003 MOVL
0001 MOVJ 0004 MOVL
0002 DOUT OG#(2) 5 Interruption during
0005 TIMER T=2.00 TIMER instruction
0003 RET 0006 DOUT OT#(1) ON
0004 END 0007 MOVJ
0008 DI Interruption disabled
After the RET instruction in the interrupt job is
executed, the suspended job is restarted from the
TIMER instruction on line 0005.
0025 END

5.2 Interruption During Move Instruction

Job in progress

0000 NOP
Interrupt job 0001 EI Interruption enabled
0002 MOVJ
0000 NOP 0003 MOVL
0001 MOVJ 0004 MOVL
0002 DOUT OG#(2) 5 0005 MOVL Interruption during move
0003 RET from Step 3 to Step 4
0006 DOUT OT#(1) ON
0004 END
0007 MOVJ
0008 DI Interruption disabled
After the RET instruction in the interrupt job is
executed, the suspended job is restarted from the
MOVL instruction on line 0005.
0025 END

Interrupt job
Step 1
Step 1

Step 5

Step2

Step 3 Step 4

A job interruption (with the cursor on line 0005)

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5 Application Examples
5.3 Interruption During Move Instruction with NWAIT

5.3 Interruption During Move Instruction with NWAIT

Job in progress
0000 NOP
Interrupt job 0001 EI Interruption enabled
0002 MOVJ
0000 NOP 0003 MOVL
0001 MOVJ 0004 MOVL Interruption during move from
0002 DOUT OG#(2) 5 0005 MOVL NWAIT Step 3 to Step 4 (while the
0003 RET 0006 TIMER T=2.00 TIMER instruction is executed
0004 END simultaneously by NWAIT)
0007 DOUT OT#(1) ON
0008 MOVJ
After the RET instruction in the interrupt job is
0009 DI Interruption disabled
executed, the suspended job is restarted from
the TIMER instruction on line 0006. However,
moving to Step 4 is skipped.
0025 END

Interrupt job After the interrupt job is completed,

Step 1 instructions on lines 0006 and 0007
Step 1 are executed at this position.
The manipulator moves to Step 5.

Step 5
Step 2

Step 3 Step 4

A job interruption (with the cursor on line 0006)

Moves while executing TIMER instruction.

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5 Application Examples
5.4 Interruption During Circular Interpolation Move Instruction (MOVC)

5.4 Interruption During Circular Interpolation Move

Instruction (MOVC)

Job in progress

0000 NOP
Interrupt job 0001 EI Interruption enabled
0002 MOVJ
0000 NOP
0003 MOVL
0001 MOVJ
0004 MOVC
0002 DOUT OG#(2) 5 Interruption during move
0005 MOVC
0003 RET from Step 3 to Step 4
0006 MOVC
0004 END 0007 MOVL
After the RET instruction in the interrupt job 0008 DOUT OT#(1) ON
is executed, the manipulator moves to Step 0009 MOVJ
4 with linear interpolation. The suspended 0010 DI Interruption disabled
job is restarted from MOVC instruction on
line 0005.
0025 END

Interrupt job
Step 1
Step 1
Step 6
Moves with linear
interpolation.

Step 2

Step 3 Step 4 Step 5

A job interruption (with the cursor on line 0005)

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6 System with Independent Control

6 System with Independent Control

In a system where an independent control is used simultaneously with the
interrupt job function, an interrupt job can be set and executed for each
task.

When using four tasks (sixteen tasks maximum) for the independent
control, the table No. indicates the type of task being displayed as follows:

Master task  Table No. 1

Subtask 1  Table No. 2
Subtask 2  Table No. 3
Subtask 3  Table No. 4

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6 System with Independent Control

• EI and DI instructions are valid only in each individual task.

NOTE For example, an EI instruction in subtask 1 does not affect
any interruption tables in the master task or in subtask 2.

• The following instructions are used for independent control.

PSTART
PWAIT
TSYNC

During execution of an independent control instruction

above, the interrupt job function can not be used. Program a
DI and an EI instruction before and after the independent
control instruction to disable interruptions.
<Job Example>
When a PSEND instruction is used

NOP

DI
PSTART JOB:R1 SUB1
EI

END

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7 Instruction List

7 Instruction List
< > indicates numerical or alphabetical data. If multiple items are
shown in one section, select one of the items.

EI Function Enables a specified interruption level.

Additional <Interruption level> 0 to 255 for constants.

Items B <Variable No.> When omitted, all levels are enabled.
LB <Variable No.>

Example EI LEVEL=1
EI LEVEL=B001
EI

DI Function Disables a specified interruption level.

Additional <Interruption level> 0 to 255 for constants

Items B <Variable No.> When omitted, all levels are disabled.
LB <Variable No.>

Example DI LEVEL=5
DI LEVEL=B001
DI

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YRC1000 OPTIONS
INSTRUCTIONS
FOR INTERRUPT JOB FUNCTION

HEAD OFFICE
2-1 Kurosakishiroishi, Yahatanishi-ku, Kitakyushu 806-0004, Japan
Phone +81-93-645-7703 Fax +81-93-645-7802

YASKAWA America Inc. (Motoman Robotics Division)

100 Automation Way, Miamisburg, OH 45342, U.S.A.
Phone +1-937-847-6200 Fax +1-937-847-6277

YASKAWA Europe GmbHRobotics Divsion )

Yaskawastrasse 1, 85391 Allershausen, Germany
Phone +49-8166-90-100 Fax +49-8166-90-103

YASKAWA Nordic AB
Verkstadsgatan 2, Box 504 ,SE-385 25 Torsas, Sweden
Phone +46-480-417-800 Fax +46-486-414-10

YASKAWA Electric (China) Co., Ltd.

22F, One Corporate Avenue, No.222, Hubin Road, Huangpu District, Shanghai 200021, China
Phone +86-21-5385-2200 Fax 㸩86-21-5385-3299
YASKAWA SHOUGANG ROBOT Co. Ltd.
No7 Yongchang North Road, Beijing E&T Development AreaChina 100176
Phone +86-10-6788-2858 Fax +86-10-6788-2878

YASKAWA India Private Ltd. (Robotics Division)

#426, Udyog Vihar, Phase- IV,Gurgaon, Haryana, India
Phone +91-124-475-8500 Fax +91-124-475-8542

YASKAWA Electric Korea Corporation

35F, Three IFC, 10 Gukjegeumyung-ro, Yeongdeungpo-gu, Seoul, Korea 07326
Phone +82-2-784-7844 Fax +82-2-784-8495

YASKAWA Electric Taiwan Corporation

12F, No.207, Sec. 3, Beishin Rd., Shindian District, New Taipei City 23143, Taiwan
Phone +886-2-8913-1333 Fax +886-2-8913-1513

YASKAWA Electric (Singapore) PTE Ltd.

151 Lorong Chuan, #04-02A, New Tech Park, Singapore 556741
Phone +65-6282-3003 Fax +65-6289-3003

YASKAWA Electric (Thailand) Co., Ltd.

59,1st-5th Floor, Flourish Building, Soi Ratchadapisek 18,Ratchadapisek Road,
Huaykwang, Bangkok 10310, THAILAND
Phone +66-2-017-0099 Fax +66-2-017-0199

PT. YASKAWA Electric Indonesia

Secure Building-Gedung B Lantai Dasar & Lantai 1 JI. Raya Protokol Halim Perdanakusuma,
Jakarta 13610, Indonesia
Phone +62-21-2982-6470 Fax +62-21-2982-6741

Specifications are subject to change without notice

for ongoing product modifications and improvements.

C Printed in Japan September 2016 16-09

MANUAL NO.

HW1483372 27/27