Programming / Controllers / Controller Functions

Maximize your robotic investment

Yaskawa controllers have the richest standard function set in the industry, with software that maximizes your robotic investment. Explore controller software functions designed to make complex programming easier, allow your robot to communicate with other equipment and provide safe and efficient tools to streamline your programming and maintenance activities.

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Networking Communication

Learn the options, uses and benefits of the various Yaskawa-compatible networking communication protocols.







Data Communications (DCI)

Provides communication with host BSC-compatible protocol. Performs statements that are described in a robot job to perform data transfers with a host computer. Use for job transmission (load, save, and delete jobs) and variable transmission (load and save variables).

Provides job transmission to a host computer.


Ethernet FTP

FTP client and server is supported. As a client the controller can access files on an FTP server. Files can be saved and loaded. As a server controller files can be accessed from an FTP client.

Extends file access to a PC on the network.


Fieldbus Communication

Allows the controller to support and communicate utilizing industrial fieldbus protocols like Ethernet IP, DeviceNet, and ProfiNet. Commonly used to communicate to PLCs and other industrial devices. This communication is robust and deterministic.

Easier to configure and use when compared to other communication options.



Enables ladder programming through add-on instructions within Studio 5000® (RSLogix™)

Simplified PLC integration of robots. Faster learning curve on robot programming for Rockwell shops.


Remote Pendant

Enables remote communication with controller from a networked PC.

Programming, monitoring & troubleshooting one or more robots from remote or centralized location.


Robot Manager

PC-based monitoring and editing of robot jobs, I/Os and variables. PC software which can communicate to multiple robot controllers providing the features above plus the ability to automatically back up the robot controller based upon a schedule defined by the user.

Real-time remote troubleshooting and debugging for faster issue resolution. Automatic backup saves users time and provides a central location for controller files.


Coordinated Motion






Arm Interference

Enables robots to be calibrated together to help avoid robot to robot collisions. Must be on the same controller, DR2C, TR3C, QR4C

Helps keep robots from crashing into each other, saving in maintenance costs.


Coordinated Function

Controls the relative interpolation operation and the relative speed between two robots, or between the robot and jig.

Improved weld quality, reduced tact time. Reduced teaching time and I/O setup.


Coordinated Motion

Controls a maximum of 8 robots and 24 positioners through a single controller with precise coordinated motion. The "station coordinated function" enables the station to hold the workpiece while the robot holds the tool; both can work cooperatively. Coordinated motion with the station (SMOV) allows linear, circular or spline motion to be taught for part geometry. Robot and station motion will be coordinated together to follow the programmed path. Robot to station calibration is easy with just a few programmed points. The "jigless system" enables the first robot to hold the workpiece while a second robot holds the torch; both work cooperatively (concept is the same as station-coordinated).

Easy to program multiple devices to keep part in optimum welding position. Multi-robot, robot with station, or multi-robot with station are compatible.


Independent Control

Allows two robots or robot and jig to operate independently with different programs, in parallel, from a single controller.

Multiple robots run independent jobs under a single Master Job.


Multiple Robot Control

Allows multiple robot arms to be controlled from single teach pendant

Provides arm interference checking and coordinated motion between manipulators. Improved safety for robots in close proximity to each other.


Station Coordinated Motion

Coordinates robot position in relation to station holding the workpiece.

Enables "jigless" system to be set up from a single controller.


Twin Coordinated Motion

Enables two robots to simultaneously control the interpolation operation and speed relative to a single station.

Improved weld quality, reduced tact time. Reduced teaching time and I/O setup.


Twin/Triple/Quad Coordinated Motion

System by which 2-, 3-, or 4-unit manipulators perform operation in coordination with a single station.

Multiple robots run coordinated jobs under a single Master Job.


External Axis






Group Change

Enables tool change for end effector or external axis in a single command.

Reduces changeover time and complexity.


I/O Jog Operation in Play Mode

Operate external axes using the general input signal. Enables speed & directional control of external axes while robot is in play mode.

Make quality adjustments without stopping production.


Servo Power Supply Control

Servo on/servo off control for external axis without affecting robot servo mode.

Operator can set / remove workpieces without interrupting robot cycle.


Twin Drive

Enables operation of twin motor drives running simultaneously as a single unit.

Space-saving options for customers to get required capacity and torque from a smaller external axis unit.








3D Shift

Takes an original position and compares it to a new position and finds and shifts in 3D. Much like relative job but uses pulse count positional data. Uses INVMAT and MULMAT along with SFTON3D and SFTOF3D INFORM instructions. Executes a shift command which modifies a programmed position in 3D space.

3D shift uses pulse count positional data instead of cartesian TCP data. This will help with rotation and arm posture. Provides complete 6DOF shifting instead of traditional parallel shifting.


Analog Output

As the speed of the manipulator fluctuates, the value of an analog signal is instantly changed to reflect this change in speed. This is useful for applications where the output of the process (ie. painting, dispensing, MIG welding) is dependent on robot travel speed. The ARATION instruction is used to set the relationship between the robot's operating speed to the analog voltage. The ARATIOF instruction fixes the analog voltage to the last measured value, so the analog voltage no longer changes if robot operating speed is changed.

Teaching effort is reduced Output possibilities: Analog (additional analog output extension board required) and/or digital 16-bit signal. By using a filter process, the output signal can be close to the manipulator’s actual speed


Automatic Backup

The system data can be collectively backed up so that the data can be immediately loaded and the system restored in case of an unexpected error. This function saves the internally stored data in advance for the smooth restoration from unexpected problems. Backups can be stored on a memory card of the programming pendant or internal memory area (accessible through high-speed Eserver). Available as cycle backup, backup when switching modes, backup on controller start-up, and backup when inputting specified signals.

System data backed up in a single file. Designed for unexpected error recovery.


Edit Job during Play

Allows the operator to create new or edit existing jobs and conditions files while the robot is running. All job logic and conditions except robot motion can be edited during playback. Any job can be edited during playback, but modifications can only be finalized on jobs not actively being used by the controller.

Reduces downtime for maintenance. Conditions can be changed without stopping production.


External Reference Point

Enables teaching and playback, utilizing one external reference point in space as the control point for the manipulator. Specifically, the point is used in cases where stationary glue dispensers are used in spot welding with a stationary tool is perfomed. During playback, interpolation is performed by controlling the relative speed and relative position between the external reference point and the workpiece.

Improves quality, even for work pieces supporting work with a fixed tool (part to process); reduces programming time; use for up to 63 tools with their own reference point.


Form Cutting

Operates the robot in the specified 2D shape by executing one dedicated instruction (FORMCUT/CUT instruction) according to the condition set in the form cut setting file. This function can be used for cutting the workpiece to a 2D shape using a laser cutter or other cutter tool. Supports circles, rectangle, ellipse, pentagon, hexagon.

Improves path accuracy and reduces teaching time.


High-Speed Search

Allows robot to adapt to changing part locations and deviations. Allows for faster search speeds when compared to the normal search function. Controller utilizes the motor breaks to stop the manipulator faster than the normal search function.

Improves weld quality and consistency. Find multiple types of objects faster than the normal search function. Improves cycle time.


Interface Panel (IF Panel)

A virtual operation panel that can be set and viewed on the programming pendant. Allows viewing and interacting with IO, and up to 10 panels can be created. Supported components include circle indicators and push buttons, square indicators and push buttons, selector switches, counters and preset counters.

HMI-type display and control without the expense and expertise required. No additional hardware required.


Job Interrupt

Call job that uses a signal from a peripheral device or another system, to momentarily suspend the job in progress and execute the interrupt job corresponding to the signal. Useful when an error occurs in a peripheral device or in another system, or when the manipulator should be withdrawn in an emergency. Interruptions are possible during move instructions as well as timer instructions.

Reduce cycle times or increase safety when other devices are being used in conjunction with the manipulator.


Macro Job

Used to create, register, and execute a single instruction which contains multiple lines of INFORM commands. An argument tag is used to pass specific data into the macro and can be edited in the detail edit screen, similar to other commands.

Create customized functions and routines from INFORM commands.


Macro Job - 16 char names

Allows the use of up to 16 characters when creating and loading macro jobs.

More freedom to name macro jobs. Needs to be enabled to load most standard Motoman Macro Jobs.


Macro Job (64 robot)

Enables up to 64 macro jobs to be registered instead of 32

Increased amount of macro jobs. Should be turned on when macro jobs are used as we have a standard macro.dat file for up to 4 robots.


Multiple Tool Path

Enables the tool to be moved along the track that was taught using another tool. When moving multiple tools along the same track, only one path is required to be taught. Precise tracking of both tools.

Reduce programming time for when multiple tools are being used.


No Stop Search

Allows the manipulator to locate objects using a non-contact sensor while in motion without stopping the manipulator.

More accurate results than normal search. However, applying this type of search is limited to the application.


Pause Weaving \ Hover Weave

The standard configuration of a robot program when using weaving motion requires the start and end locations or any adjacent positions to be taught at different locations relative to each other. Those robot locations are created by either moving the manipulator or by moving a coordinated external axis/positioner. For those applications where either (1) robot positions must be the same or (2) there is no coordinated positioner, hover weave must be used.

Use weaving function for processes where the robot itself is not performing the weave or other movement. Works also with Comarc sensor.


Power Save

When the robot is waiting for an input or parts to perform its task the controller can turn off the servos which saves power. Once the input is received the servos are automatically engaged and the robot will perform the task.

Power savings for applications that have long idle time.


Relative Job Shift

Create user coordinate system by changing definition points.

Enables repositioning of workpieces and use of vision.


Robot Monitoring Function

Set thresholds on torque value, external force value and axis speed. Can use this function to implement other jobs when torque value exceeds the threshold.

Trigger a job or event when a torque threshold is met or exceeded.


Structured Programming

Enables logic using structured language. IFTHEN, ELSEIF, ELSE, WHILE

Enables you to perform logic in a robot job in an easy to understand way.







Alarm Detail Display

View Alarm details on pendant to quickly determine cause & solution.

Reduces downtime and need for outside support.


High-Sensitivity Shock Detection

Detects workpiece interference faster.

Minimize damage and recovery time.


Job Monitor

View historical runtime data (playback time, operation time, IO stop time, energy saving time, load ratio of each axis for each job). Job diagnostic result screen displays each axis reducer's life, load factor, and maximum speed.

Modify jobs by monitoring results. Detect & diagnose issues.


Logging Function

Stores and displays modifications such as editing data of the robot controller program (job) and welding condition, and the history (log) of programming pendant operation such as job execution. Can be combined with user info with password function.

History of pendant operation can be monitored for diagnostics and troubleshooting.


Operation Status Monitor

Displays robot operating data (Operation time, IO waiting time, energy saving time, time for stopping by the alarm) in graphical format on pendant.

Manage production and detect issues.


Pendant Oscilloscope

A pendant application that allows monitoring of speed reference, torque reference, as well as of concurrent I/O signals of each robot axis from the pendant.

Allows monitoring from the robot pendant without additional equipment. Very useful in determining duty cycle of each axis.


Preventive Maintenance

Monitors and predicts the lifespan of hardware and speed reducer.

Maximize uptime. Avoid more costly repairs.


Program Upload & Automatic Backup

Jobs & CMOS data are backed up in case of data failure.

Prevents data loss and minimizes recovery time.


Robot Monitor

Set signals and thresholds on torque value, external force value and axis speeds.

Monitor jobs and set thresholds to prevent maintenance issues.








3D Graphic Display

View robot, work envelope and functional safety on pendant by 3D graphic on pendant.

Reduces programming time.


Logical Operation on Conditional Instruction

Use multiple conditions for logical operations or logical operations with one command.

Increases programming efficiency.



Command to realize maximum speed >1500 mm/sec in linear interpolation.

Safely maximize speed and cycle times.








Enhanced Password Protection

Sets individual access rights of controller for up to 100 users

Control user access by role. Meet traceability requirements.


Functional Safety

Sets range & speed limits, monitors robot arm and tool position.

Saves time and cost of integration. Space-saving.


Safety Logic Circuit

Used from the programming pendant to create powerful application safety settings, by logically combining safety inputs, safety outputs and Functional Safety Unit and Power and Force Limiting safety settings.

Reduces wiring by combination use of safety fieldbus signal and safety logic circuit.








CIO Ladder Editor

Ladder software is used to graphically display ladder programs with the concurrent I/O function as a signal connection diagram, or to edit ladder programs easily. The robot controller's concurrent I/O function processes I/O related control independently from the manipulator, and in parallel with the manipulator operation.

Make ladder changes from the robot pendant.


I/O Variable Name Alias

Enables you to reference IO by alias in a job, instead of input or output number.

Easier programming and INFORM editing.


Welding, Arc






Arc Start Condition File

Set the gas preflow, current, voltage, pause and robot speed routine for arc starts.

Enables process consistency. Reduces job programming time.


Graphical Arc Monitor

Displays welding condition and job information as a waveform and value on the pendant interface.

Enables operator to detect potential quality issues in real time. Enables compliance with traceability standards.



Function for faster teaching or multiple pass welding.

You can use original taught path to offset for multiple passes without teaching. Used with the Comarc function it can pass correction data from the original path to carry over to the additional passes.


Weaving Operation

Sets coordinates, parameters, torch angle and travel angle for setting up common weaving files and methods.

Weld consistency through standardizing weave methods and travel speeds.


Welding Line Management

Summarizes welding segments in a program and presents in table of welding points. Weld lengths and cycle times are displayed along with weld settings. Key data can be edited with proper security level.

Quickly check and modify welding conditions on a single screen.


Welding Path Shift Function

Offsets to weld segments can be defined in Arc Files to apply to the weld(s) that use that file. Offsets are defined in relation to the weld joint for easy weld wire reference. Shift can be toggled on/off by pendant keystroke and factored in when editing points.

Continues welding process without repositioning misaligned workpieces. Maintains quality without increasing cycle time.


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