MOTOMAN Controller Generations
When you look up a manual, alarm code or spare part, the first thing to know is which controller drives the robot. Alarm numbers, menu paths, board names and even brake voltages differ between generations.
Generations at a glance
| Controller | Notes |
|---|---|
| ERC, MRC, XRC | Older generations. Motor brakes run on 90 V. |
| NX100 | Brakes on 24 V from this generation onward. |
| DX100 | 24 V brakes. |
| FS100 | Compact controller used with small robots (e.g. MH5S, MPP3). |
| DX200 | Successor to DX100. |
| YRC1000 | Current mainstream controller (see specifications). |
| YRC1000micro | Compact sibling of the YRC1000 for small and collaborative robots (e.g. HC10 series, GP4/GP7/GP8). |
Manuals often state which controllers they apply to – for example a maintenance tool may support "XRC/NX100/DX100/DX200/FS100", while a function manual is written for one controller only.
Example: brake diagnosis device
A service tool for checking motor brake wear illustrates the generation split well. The base unit runs on 100 VAC (about 420 × 365 × 205 mm, 6.9 kg) and supports ERC through DX100 directly, while DX200, FS100 and YRC1000 each need their own adapter. A separate PC software option allows one person to run the brake diagnosis alone. Note that the device does not carry RoHS/UL/CE certification, so check local rules before using it abroad.
Alarm numbers change between generations too
The same alarm number can mean different things on different generations. For example, a Japanese XRC-generation document lists alarm 1325 as an encoder absolute data error, whereas on the YRC1000, 1325 is an encoder communication error. When you look up an alarm, always use the alarm code list for your own controller.
Tips for identifying your controller
- The model name is printed on the cabinet front and rating label.
- The pendant start-up screen shows the system software version.
- The manipulator and controller should carry the same order number on their labels – mismatches require home position calibration.
Source: Based on YASKAWA manuals SIBPC02030300C, RE-CHO-A114 and HW0480296.