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Driver Setup - Yaskawa smart teach pendant



  • A Yaskawa MotoPlus-enabled robot controller.
  • Windows PC to run the virtual Yaskawa Software Pendant.
  • Management Mode and Editing Mode passwords are the default or known.


Currently, the drag&bot Yaskawa driver was only tested with the YRC1000 controller.


The required controller files can be downloaded from here: Downloads


  • For the smart pendant, a software pendant (virtual normal pendent) is used in order to download MotoPlus applications into the controller. This documentation describes how to install and connect the SOFTWARE PENDANT to the Yaskawa controller.

Setup: Controller-Side

The drag&bot runtime requires the installation of drag&bot's motoplus application DragAndBot.out in the robot controller. Therefore the following steps should be followed in exact order:

  • STEP-01 Installation of Yaskawa Software Pendant, configuration of your Windows PC and connection with the controller in Maintenance Mode.
  • STEP-02 Log in in Management Mode.
  • STEP-03 Check the MotoPlus configuration and change it if required. This is necessary to activate the MotoPlus functionality and to make the DragAndBot driver load at the controller startup
  • STEP-04 Install the DragAndBot controller driver.
  • STEP-05 Reset the Controller into the normal operation mode.

STEP-01 : Yaskawa Software Pendant


You need to download and install the Software Pendant. It can be downloaded from the smart teach pendant itself. For further details, please check chapter 12.0 of YRC1000/YRC1000micro INSTRUCTIONS FOR Smart Pendant Manual No. HW1485509.

  1. Uncompress the downloaded zip file, then run the setup.exe file and follow the instructions to install the Yaskawa software pendant.

  2. Connect your windows PC to the controller using an Ethernet connection. Use a static IP in your PC in the same range of the Yaskawa controller IP for the mask.

  3. Allow the application to connect through the firewall. E.g. in a Windows 10 PC, from the Control Panel open the Windows Defender Firewall, then from the left side click on Allow a program or feature through Windows Firewall.


  4. You will find the Yaskawa Software Pendant under the name YRC 1000 YppMain Win32 MFC Application and YRC 1000 Ypp Win32 MFC Application, ensure you give to the software access to all types of networks (private, public, etc). Sometimes the Yaskawa Software Application is displayed with a different name based on the installed version. Anyhow the name always contains Ypp.


  5. Turn on the controller and turn the pendant mode key into the Remote Mode.


  6. Run the Yaskawa Software Pendant software in your PC.


  7. When the safety precautions message is shown, click on agree.


  8. Wait untill the controller finishes booting, then click on the Special Mode tap.


  9. Click on the Maintenance Mode.


  10. In case of the error message displayed below, then check if your PC has an IP in the same range of the controller IP, check your Ethernet connection with the controller, restart the Yaskawa Software Pendant and try again.


  11. The screen below will be shown in case you have more than one connected network interfaces.


  12. Select the PC network Interface which is connected to the controller and click Select.


  13. The next screen will show the available Yaskawa controllers on the network. If your targeted controller is not shown then click Search.


  14. Select your targeted controller and click Connect.


  15. Your controller will restart automatically to boot into the maintenance mode. When the controller boot is finished, your Yaskawa Software Pendant will be opened.



The terms SELECT KEY and ENTER KEY refer to the the following buttons on the pendant keyboard.


STEP-02 : Login into Management Mode

  1. Click on SYSTEM icon and select SECURITY.


  2. Click on the MODE field and select MANAGEMENT MODE.


  3. Enter the management mode password and then click enter.


STEP-03 : MotoPlus Configuration

  1. Click on the SYSTEM icon, then select SETUP.


  2. Select OPTION FUNCTION and press the ENTER KEY button.


  3. Be sure that the MotoPlus FUNC. option is selected as USED.


  4. Click on the MotoPlus APL. icon, then select MotoPlus FUNC. SETTING.


  5. Ensure that APPLI. AUTOSTART AT POWER ON is enabled.


STEP-04 : Load DragAndBot Controller Driver

  • Download and unzip the correct drag&bot Yaskawa controller program files from here.


Only one “.out” file can be loaded at the controller startup. Thus, please install only one application. If two or more applications are installed, the alarm 1020: “MOTOPLUS APPLICATION LOAD ERROR [1]” occurs by controller startup.

Memory Connection

Connection location Type File Format Storage size
Normal Pendant SD memory card or USB flash drive FAT16 or FAT32 Unlimited
Smart Pendant USB flash drive FAT32 Unlimited
CPU borad USB flash drive FAT16 or FAT32 4 GB
  1. Download and copy the DragAndBot.out file into a USB flash drive.

  2. Connect the USB flash drive that contains the DragAndBot.out file to the controller CN102 USB Port. (NOTE: Controller USB Slot no./location can be different depending on the controller model. Please check your controller's manual).


  3. Click on the MotoPlus APL. icon, then select DEVICE.


  4. Choose the connected drive where the driver is copied (USB1:Controller), then click the 'ENTER KEY' button.


  5. Now click on the MotoPlus APL. icon, then select LOAD (USER APPLICATION).


  6. Select the DragAndBot.out file.


  7. Press the SELECT KEY button, a star symbol will be displayed besides the file. Press the ENTER KEY button to load the file.


  8. When the Load? message is shown, please click yes.


  9. In case of updating your DragAndBot existing driver a message Overwrite file? DragAndBot.out will be shown, please click yes.


  10. To verify that the DragAndBot driver is correctly copied to the controller, click on the MotoPlus APL. icon, then select FILE LIST.


  11. The DragAndBot.out file should be listed.


Now the DragAndBot driver is installed and its the time to restart the controller.

STEP-05 : Reset the controller

  1. Click on SYSTEM and select CPU RESET to reboot into the normal controller operation mode.


  2. Click on RESET.


  3. Click on YES.


Now you can close and disconnect the Yaskawa Software Pendant.