Missing INFORM Commands

Introduction

New INFORM commands can be added to Yaskawa Controllers by enabling parameters as well as when some controller software versions are updated.  There are rare cases where the new commands fail to appear in the INFORM list on the programming pendant.

Explanation

New INFORM commands may become available only when a newer version of controller software is loaded.  For Example, the SETLOAD command did not become available and will not appear unless software version YAS 5.26 (YBS 4.13 for YRC1000micro) or newer is loaded.

Still other INFORM commands require not only the correct software versions but are also only available once a control parameter is set.  One such command is SMOOTH (Manipulator Motion Filter Setting Function).  SMOOTH became available in YAS 4.13 (YBS 2.49 for YRC1000micro) or newer but will still not be initially available.

For SMOOTH to become available in the INFORM list parameter S2C1596 must be changed to a 1.

There are circumstances when all the correct conditions are set for an INFORM command to be available, yet it will fail to appear in the INFORM list on the programming pendant.

Solution

It is first necessary to confirm that the LANGUAGE LEVEL is set to EXPANDED.  If the setting is STANDARD some higher-level commands will not be available.  Navigate to the MAIN MENU -> SETUP -> TEACHING COND.

And confirm or change the LANGUAGE LEVEL to EXPANDED.

Select DATA and then press the RESET INSTRUCTION button to rebuild the selectable INFORM command lists.