Yaskawa Communication SDK

🤖 Effortlessly Communicate with Yaskawa robots

The Yaskawa SDK enables seamless integration with Yaskawa robots for automation, data exchange, and remote control. Ideal for industrial automation, research, and advanced robotics applications.

🔗 More Information: https://underautomation.com/yaskawa
🔗 Also available for 🟨 LabVIEW & 🐍 Python

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🚀 TL;DR (Too Long; Didn’t Read)

A powerful and efficient .NET library for communicating with Yaskawa Motoman industrial robots using the High-Speed Ethernet Server (HSES) protocol. Enables seamless connectivity, motion control, and data acquisition.

✅ No additional installations or Yaskawa options are required to use this SDK.

Key Benefits:

• 📡 Fast & Reliable: Leverage high-speed UDP communication for real-time control.
• 🛠️ Easy Integration: Works with .NET projects, compatible with VB.NET and C#.
• 🤖 Advanced Features: Supports status monitoring, alarm handling, job selection, and more.
• 🌎 Cross-Platform: Works with Windows/Linux using .NET Core.

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📥 Download Example Applications

Explore the Yaskawa SDK with fully functional example applications and precompiled binaries for various platforms. See Github releases

🔹 Windows Forms Application (Full Feature Showcase)

A Windows Forms application demonstrating all the features of the library.

📌 Download: 📥 UnderAutomation.Yaskawa.Showcase.Forms.exe

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Features ✨

Connect to the Robot

// Connect to the robot
var robot = new YaskawaRobot();
robot.Connect("192.168.0.1");

// Ensure robot is connected
bool isConnected = robot.HighSpeedEServer.Connected;

Move robot

To move the robot, your robot must be correctly configured, see the section below.

Move Cartesian

robot.HighSpeedEServer.MoveCartesian(
    x: 1000,
    y: 10,
    z: 0,
    rx: 0,
    ry: 0,
    rz: 0,
    PositionCommandClassification.Cartesian_MM_S,
    speed:10,
    PositionCommandOperationCoordinate.Robot
);

| Argument name | Argument type | Optional | Description | | ------------------- | ---------------------------------- | -------- | ---------------------------------------------------------------------- | | x | Double | | X coordinate in millimeter | | y | Double | | Y coordinate in millimeter | | z | Double | | Z coordinate in millimeter | | rx | Double | | Rx coordinate in degrees | | ry | Double | | Ry coordinate in degrees | | rz | Double | | Rz coordinate in degrees | | classification | PositionCommandClassification | | Unit for speed (LinkPercent, Cartesian_MM_S, Cartesian_DEG_S) | | speed | Double | | Move speed | | coordinate | PositionCommandOperationCoordinate | | Frame coordinate (Base, Robot, User, Tool) | | posture | RobotPosture | ✅ | Robot target posture (RCONF) | | commandtype | PositionCommandType | ✅ | Command type (LinkAbsolute, StraightAbsolute, StraightIncrement) | | RobotControlGroup | Integer | ✅ | Control group (default: 1) | | StationControlGroup | Integer | ✅ | Station control group (default: 0) | | tool | Integer | ✅ | Selected TCP (default: 0) | | userCoordinate | Integer | ✅ | User coordinate for User coordinate (default: 0) |

Move joint

robot.HighSpeedEServer.MoveJoints(new int[] { 1000, 0, 0, 0, 0, 0 }, PositionCommandClassification.LinkPercent, 10);

| Argument name | Argument type | Optional | Description | | ------------------- | ----------------------------- | -------- | ----------------------------------------------------------------------------------------------------- | | axesPulse | Integer[] | | Axes position in degrees | | classification | PositionCommandClassification | | Classification (LinkPercent, Cartesian_MM_S, Cartesian_DEG_S) | | speed | Double | | Movement speed in degrees/s | | commandtype | PositionCommandType | ✅ | Command type (LinkAbsolute, StraightAbsolute, StraightIncrement) (default: StraightIncrement) | | RobotControlGroup | Integer | ✅ | Robot control group (default: 1) | | StationControlGroup | Integer | ✅ | Station control group (default: 1) | | tool | Integer | ✅ | Selected TCP (default: 0) |

Robot position

Get cartesian position

RobotPositionCartesianData position = robot.HighSpeedEServer.GetRobotCartesianPosition();

Properties of class RobotPositionCartesianData :

| Property | Type | | -------------------- | --------------------- | | Form | RobotPosture | | DataType | RobotPositionDataType | | ToolNumber | Integer | | UserCoordinateNumber | Integer | | X | Double | | Y | Double | | Z | Double | | Rx | Double | | Ry | Double | | Rz | Double |

Get joint position, error and torque

// Get position pulses of each axes
RobotPositionData(Of Integer) position = robot.HighSpeedEServer.GetRobotJointPosition();

// Get position error of each axes in pulses
RobotPositionData(Of Integer) error = robot.HighSpeedEServer.GetPositionError();

// Get torque in mNm of each axes
RobotPositionData(Of Integer) torque = robot.HighSpeedEServer.GetTorque();

Properties of class RobotPositionData(Of Integer) :

| Property | Type | | -------------------- | --------------------- | | Form | RobotPosture | | DataType | RobotPositionDataType | | ToolNumber | Integer | | UserCoordinateNumber | Integer | | Axes | Integer[] |

Alarms

Reset Alarms

robot.HighSpeedEServer.AlarmReset(AlarmResetType.Reset);

Get Alarms

RobotAlarmData alarm = robot.HighSpeedEServer.GetAlarm(RobotRecentAlarm.Latest);

Members of enum RobotRecentAlarm :

| RobotRecentAlarm | Value | | ---------------- | ----- | | Latest | 1 | | SecondLatest | 2 | | ThirdLatest | 3 | | FourthLatest | 4 |

Properties of class RobotAlarmData :

| Property | Type | | ------------- | ------- | | Code | Integer | | Data | Integer | | Type | Integer | | OccurringTime | String | | Text | String |

Robot Status

RobotStatusData statusData = robot.HighSpeedEServer.GetStatusInformation();

Properties of class RobotStatusData :

| Property | Type | | ---------------------- | ------- | | Step | Boolean | | Cycle | Boolean | | Automatic | Boolean | | Running