Every way to enter Maintenance Mode on the YRC1000

On the YRC1000, there are 3 different ways to enter maintenance mode which will be described here

1. [Standard pendant only]
   1. Hold down the MAIN MENU button on the standard pendant keypad at the beginning of cycling power/booting the controller.
   2. When the controller boots, it will be in maintenance mode.
2. [Standard pendant and smart pendant] (does not work if HC robot is enabled) power cycle from online mode UI
   1. Standard pendant procedure (does not work if HC robot is enabled)
      1. From the Main Menu, click SYSTEM INFO > CPU RESET
      2. Select MAINTENANCE MODE in the dropdown menu
         
      3. Hit ENTER on the keypad or RESET on the screen
      4. Click YES to reboot into maintenance mode
         
   2. Smart pendant procedure (does not work if HC robot is enabled)
      1. From the menu, navigate to System Settings > Controller
         
      2. Check the “With Maintenance Mode” checkbox near the top right
      3. Press  “RESTART CONTROLLER"
         
      4. The following modal will appear – Click “RESTART”
         
      5. After some time you will get the following screen. Press “Connect” or Special Mode > Connect (it doesn’t matter which one)
         
3. [Standard pendant and smart pendant]
   1. Turn off the robot, follow appropriate lockout-tagout procedures, deenergize the robot, and open the controller cabinet
   2. Locate the rotary switch (S1) on the CPU board (See image below)
      
   3. Turn the rotary switch inside controller to 7 (see image below)
      
   4. Safely restore power to the controller and turn it on
   5. When it boots it will be in maintenance mode
      1. On smart pendant, during the boot procedure you will get the following screen. Hit “Connect” or Special Mode > Connect (it doesn’t matter which one)
         
   6. When you want to return to online mode you must
      1. Turn off the robot, follow appropriate lockout-tagout procedures, deenergize the robot, and open the controller cabinet
      2. Switch the rotary dial (S1) back to 0
      3. Safely restore power to the controller and turn it on