Get started with .NET

This page shows how to add the Yaskawa SDK to a C#, VB.NET or F# project and write a first program for a Yaskawa Motoman controller. The SDK is one fully managed DLL, UnderAutomation.Yaskawa.dll, that talks to the High Speed Ethernet Server of the controller over UDP.

Supported frameworks

The DLL is compiled in AnyCPU for these targets:

.NET and .NET Core run on Windows, Linux and macOS, on x64, x86, ARM and ARM64. For Mono or Universal Windows Platform (UWP), use .NET Standard 2.1. For the Unity engine, use a .NET Framework or a .NET Standard version.

The only dependency is System.Text.Encoding.CodePages, for the .NET Standard 2.0 DLL. NuGet installs it. The other targets have no dependency. The same API is available on every target.

Supported controllers: YRC1000 (micro), MOTOMAN NEXT, DX100 / DX200, FS100, ERC / XRC / MRC.

Install from NuGet

NuGet picks the right DLL for your project and makes updates easy.

dotnet add package UnderAutomation.Yaskawa

With the Package Manager console of Visual Studio:

Install-Package UnderAutomation.Yaskawa

Or right click the Dependencies node of your project, select Manage NuGet Packages..., search for UnderAutomation.Yaskawa and install the latest version.

Package page: nuget.org/packages/UnderAutomation.Yaskawa

Or download the DLL

The latest release of the GitHub repository Yaskawa.NET contains:

• UnderAutomation.Yaskawa.zip: the DLL and its XML documentation, in one folder per target (net48, netstandard2.0, net8.0...). Reference the DLL of your target in your project.
• UnderAutomation.Yaskawa.Showcase.Forms.exe: the demo application for Windows. See Demo application.

On Windows, a downloaded file can be blocked. Before you extract the zip, right click it, open Properties, check Unblock and click OK. A blocked DLL can fail to load.

First program

Import the namespace UnderAutomation.Yaskawa, create a YaskawaRobot, connect and read a value.

static void Main()
{
// Without a key, the SDK runs in its 30 day trial period.
// With a license, register it once, before the first connection.
YaskawaRobot.RegisterLicense("YourCompanyName", "YOUR_LICENSE_KEY");

// The whole SDK is reachable from a single object
var robot = new YaskawaRobot();
robot.Connect("192.168.0.1");

// Read the position of the tool center point, in mm and degrees
RobotPositionCartesianData position = robot.HighSpeedEServer.GetRobotCartesianPosition();
Console.WriteLine($"X={position.X} Y={position.Y} Z={position.Z} Rx={position.Rx} Ry={position.Ry} Rz={position.Rz}");

robot.Disconnect();
}
}

The SDK runs for 30 days without a key. After that, RegisterLicense is needed: see Licensing.

Connect uses the default settings of the High Speed Ethernet Server: UDP ports 10040 and 10041. The controller must accept remote commands for the methods that change its state (servo, jobs, motion, file write). See Connect to your robot.

Demo application

The demo application is a Windows program that calls every function of the SDK, without writing code. It is a single executable, with no installation. Its C# sources are in the folder UnderAutomation.Yaskawa.Showcase.Forms of Yaskawa.NET. See Demo application.

Shell sources

The folder UnderAutomation.Yaskawa.ObfuscatedSources of Yaskawa.NET contains every public type and member of the SDK, with its XML documentation. The bodies of the methods are replaced by "Source is hidden". Use it to:

• browse the API and its documentation on GitHub, without installing anything;
• jump to a definition from your code editor, with the same names and signatures as the DLL;
• see the structure of the code that the source license delivers.

Source license

The Standard and Pro licenses deliver the obfuscated DLL. The Source license delivers the full C# code of the library and its Visual Studio solution. You can change it and build it yourself, within the limits of the license agreement. See the licenses on the pricing page and Licensing.

What to read next

• Connect to your robot: the settings of the controller, the connection parameters, the errors.
• Develop without a robot: what you need to test your application.
• High Speed Ethernet Server overview: the functions of the SDK, one page per topic.
• API reference: the shell sources.