Get started with Python

🚀 Introduction

• 📡 High-Speed Ethernet Server
• 🤖 Move robot in Cartesian or joint space
• 🛠️ Access robot status, alarms, and I/O
• 💾 Read/write registers and data types
• 🧠 Control and monitor jobs
• ✍️ Send pendant messages, reset alarms, manage files

No Yaskawa options or additional hardware required.

Try it

From Pypi :

pip install UnderAutomation.Yaskawa

From this repo :

git clone https://github.com/underautomation/Yaskawa.py.git
pip install -e .

✨ Example Usage

from underautomation.yaskawa.connect_parameters import ConnectParameters
from underautomation.yaskawa.high_speed_e_server.alarm_reset_type import AlarmResetType
from underautomation.yaskawa.yaskawa_robot import YaskawaRobot


robot = YaskawaRobot()
parameters = ConnectParameters("192.168.0.1")
parameters.ping_before_connect = True

robot.connect(parameters)


# Check connection
if robot.high_speed_e_server.connected:
    print("Connected!")

# Move in Cartesian
robot.high_speed_e_server.move_cartesian(
    x=1000, y=10, z=0,
    rx=0, ry=0, rz=0,
    speed=10,
)

# Get current joint position
joint_position = robot.high_speed_e_server.get_robot_joint_position()
print(joint_position.axes)

# Read and write register
reg = robot.high_speed_e_server.read_register(10, count=2)
robot.high_speed_e_server.write_register(10, [1234, 5678])

# Reset alarm
robot.high_speed_e_server.alarm_reset(AlarmResetType.Reset)

🔧 Robot Configuration

✅ Enable Remote Control

• IN/OUT > PSEUDO INPUT SIGNAL
• Set #82015 CMD REMOTE SEL via INTERLOCK + SELECT

✅ Key Position for Commands

• Use physical pendant key in remote position
• Optional Ladder setup: copy #80011 to #40042

✅ Job Select

• SETUP > FUNCTION ENABLE
• Set JOB SELECT WHEN REMOTE AND PLAY to PERMIT

✅ File Overwrite Permissions

• PARAMETER > RS
• Set RS029 = 1, RS214 = 1

🛠 Installation

Clone the SDK

git clone https://github.com/underautomation/yaskawa.py.git
cd yaskawa.py
pip install -e .

Connect to your robot

robot = YaskawaRobot()
parameters = ConnectParameters("192.168.0.1")
robot.connect(parameters)

✅ Compatibility

• Robots: DX200, YRC1000, YRC1000 Micro
• OS: Windows, Linux, macOS
• Python: 3.7+

🙌 Contributing

We welcome contributions!

• Report bugs via Issues
• Submit pull requests
• Share feature ideas