Yaskawa MotionWorks IEC Hardware - Manual (Page 8)

MotionWorks IEC Hardware Configuration – 2013-03-26 5
Process of going online with an MPiec Series Controller
It is not possible to go online with an offline Hardware Configuration that
includes hardware not physically connected to the controller. For example,
if the project's Configuration contains four servo axes but only one servo is
connected to the controller over the MECHATROLINK motion network, it
will not be possible to go online with the Hardware Configuration, however
the user can send a configuration with missing hardware to the controller
without going online.
1. Click the ‘Online' menu
2. Click the 'Controller Configuration Utilities' menu