Motion

var robot = new YaskawaRobot();
robot.Connect("192.168.0.1");
// The servo must be on, the controller in remote mode
robot.HighSpeedEServer.ServoCommand(OnOffCommandType.Servo, true);

// Linear move to an absolute position of the robot frame, at 50 mm/s
robot.HighSpeedEServer.MoveCartesian(
    x: 850, y: 0, z: 400,    // mm
    rx: 180, ry: 0, rz: 0,   // degrees
    PositionCommandClassification.Cartesian_MM_S,
    speed: 50,
    PositionCommandOperationCoordinate.Robot,
    commandtype: PositionCommandType.StraightAbsolute);

// Joint interpolated move to the same target, at 10 % of the maximum speed
robot.HighSpeedEServer.MoveCartesian(
    850, 0, 400, 180, 0, 0,
    PositionCommandClassification.LinkPercent,
    speed: 10,
    PositionCommandOperationCoordinate.Robot,
    commandtype: PositionCommandType.LinkAbsolute);
robot.Disconnect();
}

var robot = new YaskawaRobot();
robot.Connect("192.168.0.1");
robot.HighSpeedEServer.ServoCommand(OnOffCommandType.Servo, true);

// Move the tool 20 mm up in the base frame, in a straight line at 20 mm/s.
// StraightIncrement is the default command type of MoveCartesian
robot.HighSpeedEServer.MoveCartesian(
    0, 0, 20, 0, 0, 0,
    PositionCommandClassification.Cartesian_MM_S,
    speed: 20,
    PositionCommandOperationCoordinate.Base,
    commandtype: PositionCommandType.StraightIncrement);

// Move 10 mm along the Z axis of tool 1
robot.HighSpeedEServer.MoveCartesian(
    0, 0, 10, 0, 0, 0,
    PositionCommandClassification.Cartesian_MM_S,
    speed: 20,
    PositionCommandOperationCoordinate.Tool,
    commandtype: PositionCommandType.StraightIncrement,
    tool: 1);
robot.Disconnect();
}

var robot = new YaskawaRobot();
robot.Connect("192.168.0.1");
robot.HighSpeedEServer.ServoCommand(OnOffCommandType.Servo, true);

// Read the current pulses and change the first axis
int[] target = robot.HighSpeedEServer.GetRobotJointPosition().Axes;
target[0] += 10000;

// Joint interpolated move to absolute pulses, at 5 % of the maximum speed
robot.HighSpeedEServer.MoveJoints(
    target,
    PositionCommandClassification.LinkPercent,
    speed: 5,
    PositionCommandType.LinkAbsolute,
    RobotControlGroup: 1,
    StationControlGroup: 0);
robot.Disconnect();
}

var robot = new YaskawaRobot();
robot.Connect("192.168.0.1");
// The posture of the current position
RobotPosture current = robot.HighSpeedEServer.GetRobotCartesianPosition().Form;
Console.WriteLine(current);

// A posture written field by field
var posture = new RobotPosture(
    orientation: OrientationFlipInformation.Front,
    arm: ArmFlipInformation.Upper,
    flip: FlipNoFlipInformation.Flip);

// The posture selects one of the joint solutions of the Cartesian target
robot.HighSpeedEServer.MoveCartesian(
    850, 0, 400, 180, 0, 0,
    PositionCommandClassification.Cartesian_MM_S, 50,
    PositionCommandOperationCoordinate.Robot,
    posture: posture,
    commandtype: PositionCommandType.StraightAbsolute);
robot.Disconnect();
}