MotomanConnector

Connection to the Motoman Ethernet Server, available on some Yaskawa Motoman Controllers. Tested on DX200 and YRC1000.

Code

MotomanConnector(IP = "192.168.255.1", PORT=80, S_pulse = 1341.4, L_pulse = 1341.4, U_pulse = 1341.4, R_pulse = 1000, B_pulse = 1000, T_pulse = 622)

Initalize the Library

| Parameter | type | Default | Description | |-----------|--------|-----------------|-----------------------------------| | IP | string | "192.168.255.1" | Controller IP | | Port | int | 80 | Controller Port | | S_pulse | float | 1341.1 | No. Encoder Pulse per ° on Axis S | | L_pulse | float | 1341.1 | No. Encoder Pulse per ° on Axis L | | U_pulse | float | 1341.1 | No. Encoder Pulse per ° on Axis U | | R_pulse | float | 1000 | No. Encoder Pulse per ° on Axis R | | B_pulse | float | 1000 | No. Encoder Pulse per ° on Axis B | | T_pulse | float | 622 | No. Encoder Pulse per ° on Axis T |

MotomanConnector.connectMH()

Establish a connection to the Robot Controller. Raises an Exception on an unexpected or no Answer.

MotomanConnector.disconnectMH()

Drop the connection to the Robot Controller.

MotomanConnector.getJointAnglesMH()

Read the Joint Angles.

Returns a list of six Joint Angles

MotomanConnector.getCoordinatesMH(coordinateSystem = 0)

Read the current Position in reference to a selectable coordinate system, currently Broken on DX Controllers!

| Parameter | type | Default | Description | |------------------|------|---------|--------------------------------------------------------------------| | coordinateSystem | int | 0 | The referenced coordinate System. 0 = Base, 1 = Robot, 2-64 = User |

Returns a list with the current Positional Values

MotomanConnector.servoMH(state = True)

Turn the Servo motors on/off. Keyswitch needs to be in "REMOTE" Position.

| Parameter | type | Default | Description | |-----------|------|---------|---------------------------------------------| | state | bool | True | Enable (True) or disable (False) the Servos |

MotomanConnector.moveAngleMH(speed,S,L,U,R,B,T)

Move the Robot in joint coordinates.
CAREFUL The Robot can get quite Fast, be careful with the speed Values.

| Parameter | type | Default | Description | |-----------|-------|---------|---------------| | speed | float | - | Speed in % | | S | float | - | S Joint Angle | | L | float | - | L Joint Angle | | U | float | - | U Joint Angle | | R | float | - | R Joint Angle | | B | float | - | B Joint Angle | | T | float | - | T Joint Angle |

MotomanConnector.WriteVariableMH(type,number,value)

Write a Variable on the controller.

| Parameter | type | Default | Description | |-----------|-----------------------|---------|------------------------------------------------------------------------------------------------------------------| | type | int | - | Type of the Variable | 0 = Byte, 1 = Integer, 2 = Double, 3 = Real, 7 = String. Other Values raise an exception | | number | int | - | Variable Number | | value | byte/int/float/string | - | Value to be set |

MotomanConnector.ReadVariableMH(type,number)

Read a variable from the controller
Returns the read Value

| Parameter | type | Default | Description | |-----------|------|---------|------------------------------------------------------------------------------------------------------------------| | type | int | - | Type of the Variable | 0 = Byte, 1 = Integer, 2 = Double, 3 = Real, 7 = String. Other Values raise an exception | | number | int | - | Variable Number |

MotomanConnector.statusMH()

Read the Status bytes from the Robot.
Returns a list containing the two status Bytes.

MotomanConnector.readCurrJobMH()

Read the current Job name.
Returns job name

MotomanConnector.startJobMH(job)

Start a Job by its name Returns (d1,d2) ->
string d1: return of command transaction
string d2: return of the Payload Transaction

| Parameter | type | Default | Description | |-----------|--------|---------|-------------------------| | job | string | - | Job name which to start |