Preparation

On Controller

1. Boot the controller into Maintenance Mode.
2. Set the security level to Management or Safety.
3. Touch {System} > {Setup}.
4. Select {Option Functions}.
5. Cursor down to {MotoPlus Func} and set it to ENABLE.
6. Cursor down to {Motoman Driver} and set it to ENABLE.

On PC

1. Move the MotoPlus application executable (.out file) to a USB flash drive or SD card.
   
2. Insert the USB flash drive or SD card into the programming pendant.

YRC1000/YRC1000micro Procedure

1. Boot the controller into Maintenance Mode.
   • Hold the [MAIN MENU] button while turning on the main power switch to the controller.
2. Set the security level to Management or Safety.
3. Select {DEVICE}.
   
4. Select the storage media that is inserted that the MotoPlus application is stored on.
   
5. Select {MotoPlus APL.} from the main menu.
6. Select {LOAD (USER APPLICATION)}.
   
7. Use the cursor to navigate to the application you want to load.
8. Pressing the [SELECT] button will mark the application with a star.
   
9. Press the [ENTER] button.
10. Select {YES} to finish loading the selected application.
    

Troubleshooting

ERROR 3640 “Limit of file number” when loading the .out file.

• The maximum number MotoPlus files have already been loaded onto the controller. Touch {MotoPlus APL} > {Delete} to select and remove any unnecessary applications.
• If you wish to increase the limit, it is controlled by parameter S1D305. It is not recommended to increase this beyond a value of 3. However, there are limited occasions where more than 3 MotoPlus applications are required. In these cases, S1D305 may be increased to 5.
  
  Note: When increasing S1D305, it is recommended to also increase S1D307 to 25.