ETHERNET/IP CONFIGURATION

ROBOT AS ADAPTER
SUPPLEMENT
FOR CONTROLLOGIX/COMPACTLOGIC PLC, YRC1000

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

MOTOMAN INSTRUCTIONS
YRC1000 READ FIRST SAFETY REQUIREMENTS AND INSTRUCTIONS
YRC1000 OPERATOR’S MANUAL (for each purpose)
YRC1000 MAINTENANCE MANUAL
YRC1000 ETHERNET/IP COMMUNICATION, STD LAN PORT MANUAL
The YRC1000 operator’s manual above corresponds to specific usage. Make sure to use the appropriate manual.

Part Number: 181389-1CD

Revision: 0

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Ethernet/IP Configuration
Robot As Adapter

Copyright © 2017 YASKAWA America, Inc.

Terms of Use and Copyright Notice

All rights reserved. This manual is freely available as a service to
YASKAWA customers to assist in the operation of Motoman robots,
related equipment and software This manual is copyrighted property of
Yaskawa and may not be sold or redistributed in any way. You are
welcome to copy this document to your computer or mobile device for
easy access but you may not copy the PDF files to another website, blog,
cloud storage site or any other means of storing or distributing online
content.

Printed in the United States of America

First Printing, 2017

YASKAWA America, Inc.

Motoman Robotics Division
100 Automation Way
Miamisburg, OH 45342
Phone: 937-847-6200

www.motoman.com

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Ethernet/IP Configuration
Robot As Adapter

DANGER
• This instruction manual is intended to explain mainly the Ethernet/IP
Configuration Robot As Adapter for the application to the actual
operation. Be sure to read and understand this instruction manual
thoroughly before installing and operating the manipulator.
• General items related to safety are listed in Chapter 1: Safety of the
YRC1000 Instructions. To ensure correct and safe operation,
carefully read the YRC1000 Instructions before reading this manual.

CAUTION
• The 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 supplement 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
part number listed on the front cover.
• YASKAWA is not responsible for incidents arising from unauthorized
modification of its products. Unauthorized modification voids your
product's warranty.

DANGER
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your YASKAWA representative.
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the manipulator's arm.

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Ethernet/IP Configuration Definition of Terms Used Often in This Supplement

Robot As Adapter

Definition of Terms Used Often in This Supplement

The MOTOMAN is the YASKAWA industrial robot product.
The MOTOMAN usually consists of the manipulator, the controller, the
programming pendant, and supply cables.
In this supplement, 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

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

shown as follows:
Equipment Manual Designation
Programming Character Keys The keys which have characters printed on
Pendant them are 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.
GO BACK

ex. PAGE key PAGE

The Cursor is an exception, and a picture is

not shown.
Axis Keys “Axis Keys” and “Numeric Keys” 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.
TOOL SEL
COORD
ex. SHIFT key SHIFT
+COORD key
Mode Key Three kinds of modes that can be selected
by the mode key are denoted as follows:
REMOTE, PLAY, or TEACH
Button Three buttons on the upper side of the
programming pendant are denoted as
follows:
HOLD button
START button
EMERGENCY STOP button
Displays The menu displayed in the programming
pendant is denoted with { }.
ex. {JOB}
PC Keyboard The name of the key is denoted
ex. Ctrl key on the keyboard

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Ethernet/IP Configuration Registered Trademark
Robot As Adapter

Registered Trademark
In this supplement names of companies, corporations, or products are
trademarks, registered trademarks, or bland names for each company or
corporation. The indications of ® and TM are omitted.

Customer Support Information

If assistance is needed with any aspect of this supplement, please contact
YASKAWA Customer Support at the following 24-hour telephone number:

(937) 847-3200

YASKAWA Customer Support also has an e-mail address for routine

technical inquiries, to contact YASKAWA Customer Support through
e-mail use the following address:

techsupport@motoman.com

When using e-mail to contact YASKAWA Customer Support, please

provide a detailed description of the issue, along with complete contact
information. Please allow approximately 24 to 36 hours for a response to
the inquiry.

DANGER
• Maintenance and inspection must be performed by specified
personnel.
Failure to observe this caution may result in electric shock or injury.
• For disassembly or repair, contact your YASKAWA representative.
• Do not remove the motor, and do not release the brake.
Failure to observe these safety precautions may result in death or
serious injury from unexpected turning of the manipulator's arm.

NOTICE
Use e-mail for routine inquiries only. If there is an urgent or emergency
need for service, replacement parts, or information, contact YASKAWA
Customer Support at the telephone number shown above.

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Ethernet/IP Configuration Table of Contents

Robot As Adapter

Table of Contents

1 Introduction ..................................................................................................................................... 1-1

1.1 How to Enable EtherNet/IP? .............................................................................................. 1-1

1.2 YRC1000 Controller Software............................................................................................ 1-1

1.3 Manual References............................................................................................................ 1-1

2 Configure YRC1000 in Maintenance Mode..................................................................................... 2-1

2.1 How to Place Controller in Maintenance Mode.................................................................. 2-1

2.2 Logging into Management Mode while in Maintenance Mode........................................... 2-1

2.3 How to View LAN Interface Settings .................................................................................. 2-2

2.4 How to View EtherNet/IP (CPU Board) Settings................................................................ 2-5

2.4.1 How to Modify EtherNet/IP (CPU Board) Settings................................................ 2-9

2.5 Restarting Controller in Normal Operation Mode............................................................. 2-11

2.5.1 Power Reset ....................................................................................................... 2-11

2.5.2 CPU Reset.......................................................................................................... 2-11

3 Configuring PLC with RSLogix 5000 or Studio 5000 ...................................................................... 3-1

4 Configuration Testing ...................................................................................................................... 4-1

4.1 Checking PLC Software Functional Communication ......................................................... 4-1

4.2 Checking Robot Controller for Status Byte Communication Errors ................................... 4-2

4.3 EtherNet/IP Only Communication Standard Addresses .................................................... 4-3

4.4 Verifying Robot Controller Outputs with PLC Inputs .......................................................... 4-4

4.5 Verifying PLC Outputs with Robot Controller Inputs ......................................................... 4-5

Appendix A ........................................................................................................................................A-1

A.1 Notes on Configurations ....................................................................................................A-1

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Ethernet/IP Configuration 1 Introduction
Robot As Adapter 1.1 How to Enable EtherNet/IP?

1 Introduction
This supplement guides the user on how to establish EtherNet/IP
communication between the robot controller and a Rockwell PLC. The
robot controller is the adapter in this EtherNet/IP network. The
CompactLogix or ControlLogix PLC will be the scanner in the network
configuration. The robot controller and PLC software screen captures
provide a guide to the user for a successful configuration. This guide does
not address other PLC manufacturers though applying their concepts are
similar.

1.1 How to Enable EtherNet/IP?

There are no special hardware requirements when using EtherNet/IP
software. One of the following YASKAWA Motoman part numbers need
purchased before being able to use the EtherNet/IP software:.
Part Number Description
179298-1 ACCESSORY, ETHERNET/IP, STANDARD LAN PORT,
MASTER/SLAVE, YRC1000
181173-1 ACCESSORY, ETHERNET/IP SAFE, STANDARD LAN PORT,
ADAPTER ONLY, ALSO INCLUDES STANDARD
ETHERNET/IP LICENSE, YRC1000
Varies by package This option may be included by default with other integrated
solutions such as EtherNet/IP enabled welders.

NOTICE
YASKAWA must enable the accessory. After having the accessory
enabled the user is free to do any configuration in this supplement.

1.2 YRC1000 Controller Software

Any software version of YRC1000 firmware supports the EtherNet/IP
communication option after purchasing and having the option enabled.

1.3 Manual References

The following table provides a list of manuals that may be required for
reference when configuring the EntherNet/IP communication option.
Part Number Description
179531-1CD YRC1000 Read First and Controller Instructions
Varies depending YRC1000 Operators Manual
on operations
178643-1CD YRC1000 Maintenance Manual
178651-1CD YRC1000 EtherNet/IP Communication for a Standard LAN
Port.

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Ethernet/IP Configuration 2 Configure YRC1000 in Maintenance Mode

Robot As Adapter 2.1 How to Place Controller in Maintenance Mode

2 Configure YRC1000 in Maintenance Mode

2.1 How to Place Controller in Maintenance Mode

1. Turn the power switch on the controller to [OFF] and wait five seconds.
2. Press and hold the [MAIN MENU] button on the pendant while
switching the controller Main Power switch to [ON].
a) Release the [MAIN MENU] button once the pendant beeps,
which occurs after the controller boot screen displays a
robot picture. (Approximately five seconds)
b) Wait for the controller to boot up and the pendant to display
the “Main Menu”.

2.2 Logging into Management Mode while in Maintenance

Mode
1. Complete section 2.1 “How to Place Controller in Maintenance Mode”
2. Select “SYSTEM” → “SECURITY”
3. Select “MODE” and change to “MANAGEMENT MODE”
4. Enter the “MANAGEMENT MODE” password.

NOTICE
MANAGEMENT MODE password is sixteen 9's if the password is still
set to the default password from the factory.

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Ethernet/IP Configuration 2 Configure YRC1000 in Maintenance Mode
Robot As Adapter 2.3 How to View LAN Interface Settings

2.3 How to View LAN Interface Settings

1. Complete section 2.2 “Logging into Management Mode while in
Maintenance Mode”.
2. Select: “SYSTEM” → “SETUP” on the pendant.

 

3. Select “OPTION FUNCTION” and pressing the [SELECT] on the

pendant.

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Ethernet/IP Configuration 2 Configure YRC1000 in Maintenance Mode

Robot As Adapter 2.3 How to View LAN Interface Settings

4. Highlight “DETAIL” for “LAN INTERFACE SETTING” and press

[SELECT] on the pendant.

5. Review the following information on the “LAN INTERFACE SETTING”

screen:
• Host Settings • IP Address Settings
• Domain Settings • Default Gateway Settings

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Ethernet/IP Configuration 2 Configure YRC1000 in Maintenance Mode
Robot As Adapter 2.3 How to View LAN Interface Settings

NOTICE
• IP address 192.168.1.31 is the default for the robot controller.
• Setting up connections between the robot controller and the
Program Logic Controller (PLC) requires the IP address.
• EtherNet/IP communications use IP ADDRESS SETTING(LAN2).
• If changing the IP address highlight the IP address, press
[SELECT], enter the new value and press [ENTER]. Once changing
the IP address a Modify prompt screen will display for confirming
the changes by pressing {YES}.

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Ethernet/IP Configuration 2 Configure YRC1000 in Maintenance Mode

Robot As Adapter 2.4 How to View EtherNet/IP (CPU Board) Settings

2.4 How to View EtherNet/IP (CPU Board) Settings

1. Complete section 2.2 “Logging into Management Mode while in
Maintenance Mode”.
2. Select: SYSTEM → SETUP using the touchscreen on the pendant.

 

3. Select “OPTION FUNCTION” and press the [SELECT] on the pendant.

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Ethernet/IP Configuration 2 Configure YRC1000 in Maintenance Mode
Robot As Adapter 2.4 How to View EtherNet/IP (CPU Board) Settings

4. While In the “OPTION FUNCTION” menu, select “EtherNet/IP (CPU

Board)” and press [SELECT].

5. With “DETAIL” of “Ethernet/IP(CPU Board)” highlighted, press

[SELECT].

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Ethernet/IP Configuration 2 Configure YRC1000 in Maintenance Mode

Robot As Adapter 2.4 How to View EtherNet/IP (CPU Board) Settings

6. Confirm the EtherNet/IP(CPU Board) setting:

• EtherNet/IP(CPU Board) → = USED]

NOTICE
The settings are recommended defaults and normally are set when the
system arrives.

7. Confirm the ADAPTER settings. Highlight “DETAIL” next to ADAPTER

and press the [SELECT] key.

Suggested Default Settings:

• ADAPTER = ENABLE
• INPUT SIZE = 8 byte
• OUTPUT SIZE = 8 byte
• CONFIGURATION SIZE = 0 word
• INPUT INSTANCE = 50
• OUTPUT INSTANCE = 100
• CONFIGURATION INSTANCE = 150

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Ethernet/IP Configuration 2 Configure YRC1000 in Maintenance Mode
Robot As Adapter 2.4 How to View EtherNet/IP (CPU Board) Settings

8. Press [ENTER] to register the changes and return to the previous

screen.
9. Confirm that the EtherNet/IP (CPU Board) screen shows 8 bytes for
“IO SIZE (IN/OUT)”.

NOTICE
If configured with a SCANNER, the “IO SIZE(IN/OUT)” may show more
than 8 bytes. This supplement does not cover details concerning the
SCANNER.

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Ethernet/IP Configuration 2 Configure YRC1000 in Maintenance Mode

Robot As Adapter 2.4 How to View EtherNet/IP (CPU Board) Settings

2.4.1 How to Modify EtherNet/IP (CPU Board) Settings

1. Refer to section 2.4 “How to View EtherNet/IP (CPU Board) Settings”.
2. Select the item needing changed and press [SELECT].
3. Enter the new value and press [ENTER].
4. Confirm the changes by pressing {YES} on the Modify prompt screen.

5. Press the [ENTER] button observing the “IO MODULE” scenes until
the Modify prompt screen appears.

6. Confirm the changes by pressing {YES} on the Modify prompt screen.

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Ethernet/IP Configuration 2 Configure YRC1000 in Maintenance Mode
Robot As Adapter 2.4 How to View EtherNet/IP (CPU Board) Settings

7. Press and release the [ENTER] button on the pendant observing the
“EXTERNAL IO” scenes until the Modify prompt screen appears.

8. Confirm the changes by pressing {YES} on the Modify prompt screen.

NOTICE
EtherNet/IP communication will not operate in Maintenance Mode and
must be restarted in normal Operation Mode.

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Ethernet/IP Configuration 2 Configure YRC1000 in Maintenance Mode

Robot As Adapter 2.5 Restarting Controller in Normal Operation Mode

2.5 Restarting Controller in Normal Operation Mode

There are two ways to restart the robot controller in Normal Operation
Mode. The two ways to restart the controller in Normal Operation Mode
are through a power reset or a CPU reset.

2.5.1 Power Reset

1. Cycle the Main Disconnect from Off to back On

2.5.2 CPU Reset

1. Select: SYSTEM → CPU RESET

2. Press the {RESET} button.

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Ethernet/IP Configuration 2 Configure YRC1000 in Maintenance Mode
Robot As Adapter 2.5 Restarting Controller in Normal Operation Mode

3. Confirm the CPU RESET on the Execute CPU RESET prompt screen
by pressing {YES}.

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Ethernet/IP Configuration 3 Configuring PLC with RSLogix 5000 or Studio 5000

Robot As Adapter

3 Configuring PLC with RSLogix 5000 or Studio 5000

Before beginning to configure the PLC complete Chapter 2 “Configure
YRC1000 in Maintenance Mode”
1. Add an EtherNet card to the PLC by right clicking on the card and
selecting “Properties.”
2. Set the subnet to the same subnet as the robot controller.

NOTICE
This configuration uses the 1756-ENBT card and has the network set to
192.168.1.2.

3. Add the Robot Module to the EtherNet network.

a) Through Project Explorer on the left hand side right click on
the EtherNet card to see the menu below, then select “New
Module”. For example:

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Ethernet/IP Configuration 3 Configuring PLC with RSLogix 5000 or Studio 5000
Robot As Adapter

b) Select the [ETHERNET-MODULE] from the module list.

4. Set up the PLC module properties to match corresponding values

already set in the robot controller.
a) Enter a name for the PLC module being created. In this
example “YRC1000_Motoman_Robot” is used.
b) Set the “Comm Format” to “Data - SINT” - this will result in
an 8 bit (1 byte) data size. (This is the data size the robot
controller uses.)
c) Set the “Address” to the IP address of the robot controller.
See section 2.3 “How to View LAN Interface Settings” on
page 2-2.
d) Set the “Input Assembly Instance” equal to “OUTPUT
INSTANCE” in the robot controller.
e) Set the “Input Size” equal to the “OUTPUT SIZE” of the
robot controller.
f) Set the “Output Assembly Instance” equal to “INPUT
INSTANCE” in the robot controller.
g) Set the “Output Size” equal to the “INPUT SIZE” of the robot
controller.
h) Set the “Configuration Assembly Instance” equal to the
“CONFIGURATION INSTANCE” in the robot controller.
i) Set the “Configuration Size” to 0.

NOTICE
• Selecting something other than “Data - SINT” is a common error
when setting up this connection.
• Refer to section 2.4 “How to View EtherNet/IP (CPU Board)
Settings” on page 2-5 for more details concerning step d through
step h.
• The “Configuration Assembly Instance” must be greater than 0,
even though the “Configuration Size” is 0.

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Ethernet/IP Configuration 3 Configuring PLC with RSLogix 5000 or Studio 5000

Robot As Adapter

d e

f g
b
h i

5. Uncheck [Use Unicast Connection over EtherNet/IP] if using RSLogix

Version 18.00.00 or greater. If using Studio 5000 always uncheck this
option.

NOTICE
Versions earlier than 18.00.00 does not have “Unicast Connection over
the EtherNet/IP” and can be ignored.

6. Save all settings by selecting Save from the File Menu on the PLC
software.
7. Download the project to the controller.
8. Go online and verify that communication is occurring.

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Ethernet/IP Configuration 3 Configuring PLC with RSLogix 5000 or Studio 5000
Robot As Adapter

9. The data exchange will occur in the data structure

“YRC1000_Motoman_Robot” - which is the name defined in step 4
above. The input and output will be defined as arrays of eight elements
of SINTs.

INPUTS

OUTPUTS

10. The next section will help with testing the robot and PLC
communication.

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Ethernet/IP Configuration 4 Configuration Testing

Robot As Adapter 4.1 Checking PLC Software Functional Communication

4 Configuration Testing
Before beginning to testing the configurations make sure to complete
Chapter 3 “Configuring PLC with RSLogix 5000 or Studio 5000”.

4.1 Checking PLC Software Functional Communication

 OK
• The status light is solid. All devices and EtherNet/IP communication
is functioning per the definition in the project. This is a view from the
“Online” module within RSLogix 5000 or Studio 5000: (There will
also be an I/O LED on the PLC CPU hardware)

• No warning in the device tree.

 No Good
• If the status light is blinking, then something is not working, it could
be the robot communication or it could be some other equipment.
This indicator is for overall status, but will not necessarily identify
issues with EtherNet/IP. Below is a view from the “Online” module
within RSLogix 5000 or Studio 5000: (There will also be an I/O LED
on the PLC CPU hardware)

• The device tree shows warning triangles.

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Ethernet/IP Configuration 4 Configuration Testing
Robot As Adapter 4.2 Checking Robot Controller for Status Byte Communication Errors

4.2 Checking Robot Controller for Status Byte

Communication Errors
1. Select: “IN/OUT” → “EXTERNAL INPUT” on the pendant.
• #20060 is the start of a status byte.
– 0 = OK
– 1 = Error
Bit Description
#20064 Error in Adapter Communication
#20065 Error in Scanner Communication
#20066 Communication Status Failed
#20067 Board Status

• Communication OK. All zeros in status byte = success

Notice there are all 0’s

which means no errors

• In this example the EtherNet cable is disconnected between the PLC

and the robot controller to show a communication failure.

Errors notice the 1 at

status bit 4 and 6

• #20064 = 1 = Error in Adapter Communication

• #20066 = 1 = Communication Status Failed

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Ethernet/IP Configuration 4 Configuration Testing

Robot As Adapter 4.3 EtherNet/IP Only Communication Standard Addresses

4.3 EtherNet/IP Only Communication Standard Addresses

When EtherNet/IP is the only communication option installed (no other
boards), it is known that the standard addresses correspond as follows:
Usage Size External Input or External Input or User I/O User I/O
(Bytes) Output Starting Output Ending Starting Ending
Address Address
Status Byte 1 #20060 #20067 IN 25 IN 32
Reserved 1 #30060 #30067 OUT 25 OUT 32
Inputs 8 #20070 #20147 IN 33 IN 96
Outputs 8 #30070 #30147 OUT 33 OUT 96

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Ethernet/IP Configuration 4 Configuration Testing
Robot As Adapter 4.4 Verifying Robot Controller Outputs with PLC Inputs

4.4 Verifying Robot Controller Outputs with PLC Inputs

1. Select: “IN/OUT” → “GENERAL PURPOSE INPUT” on the pendant.

 Robot Controller Outputs

Observe the first four outputs for the EtherNet/IP interface are turned on.
(The addresses and output numbers correspond to the table in section 4.3
“EtherNet/IP Only Communication Standard Addresses”.)

EtherNet/IP
Interface Output
Turned On

 PLC Inputs
Verify the first four inputs on the PLC are on.
• ON = 1 under “Value”
• OFF = 0 under “Value”

EtherNet/IP
Input Interface
Turned On

NOTICE
Confirm the outputs on the robot controller are equal to the inputs on
the PLC.

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Ethernet/IP Configuration 4 Configuration Testing

Robot As Adapter 4.5 Verifying PLC Outputs with Robot Controller Inputs

4.5 Verifying PLC Outputs with Robot Controller Inputs

 PLC Outputs
Set the first two outputs to off and the next four outputs on for the
EtherNet/IP interface.

EtherNet/IP
Output Interface
Turned Off

EtherNet/IP
Output Interface
Turned On

 Robot Controller Inputs

1. Select: “IN/OUT” → “GENERAL PURPOSE INPUT” on the pendant.
• Verify the first two inputs on the robot controller are off and the next
four inputs are on.

EtherNet/IP Input
Interface Turned Off

EtherNet/IP Input
Interface Turned On

NOTICE
Confirm the inputs on the robot controller are equal to the outputs on
the PLC.

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Ethernet/IP Configuration Appendix A
Robot As Adapter A.1 Notes on Configurations

Appendix A

A.1 Notes on Configurations

(1) The steps and parameters in this supplement are for a successful
EtherNet/IP integration and communication solution.
(2) This guide shows 8 bytes of input data and 8 bytes of output as a
starting point for data exchange. Some configurations require
smaller or larger quantities of input and output data. For those
circumstances make the appropriate adjustments to both the PLC
and Robot controller steps.
(3) When requiring an IP address outside the subnet 192.168.1.***
make the appropriate changes on the PLC, robot, or other
networking equipment.
(4) In addition to the status byte on the robot controller, it is typical to
add a “heart beat” between the robot and PLC to detect when
communication has failed. This logic is left to the end user.
(5) After establishing communication, it is often desirable to “map”
some specific input and output signals from the robot’s Concurrent
I/O (ladder) to the PLC. This guide does not cover these
operations, but various support groups at YASKAWA can assist.

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ETHERNET/IP CONFIGURATION
ROBOT AS ADAPTER
SUPPLEMENT
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.

MANUAL NO.

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