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FTP file transfers

Download and upload the jobs and data files of a Yaskawa controller over FTP: text, bytes, local files, several files at once, progress and async methods.

File names and paths
Download
Upload
Rules of the controller
Methods
Progress
Async methods
Reference
What to read next

This page shows how to download and upload the files of a Yaskawa Motoman controller over FTP with the SDK: text, bytes, local files and several files at once, with the progress of each transfer. It covers the YRC1000 and YRC1000micro controllers. The connection and the accounts are explained in FTP.

File names and paths

Each method takes a file name or a full path on the controller:

A name, for example TEST.JBI: the SDK finds the folder from the extension. .JBI and .JBR go to /JOB, .DAT to /DAT, .PRM to /PRM, and so on for .CND, .SYS, .LST, .CSV, .LOG and .TXT.
A full path, for example /JOB/TEST.JBI.

Download

var robot = new YaskawaRobot();
robot.Connect(parameters);
// Text of a file: the folder is deduced from the extension
string job = robot.Ftp.GetFile("TEST.JBI");

// Bytes of a file, with its full path
byte[] variables = robot.Ftp.DownloadFile("/DAT/VAR.DAT");

// To a file of the PC
robot.Ftp.DownloadFileToLocal("/PRM/ALL.PRM", @"C:\Backup\ALL.PRM");

// Several files into a folder of the PC: returns the local paths
string[] saved = robot.Ftp.DownloadFilesToLocal(new[] { "/JOB/TEST.JBI", "/DAT/VAR.DAT" }, @"C:\Backup");
robot.Disconnect();
}

Click to see the full code

Method	Result
`GetFile(name)`	Text of the file
`DownloadFile(path)`	Bytes of the file
`DownloadFileToLocal(path, localPath)`	File saved on the PC. An existing local file is replaced. Nothing is written if the download fails
`DownloadFilesToLocal(paths, localFolder)`	Files saved in a folder of the PC, created if needed. Returns the local paths
`DownloadFileToStream(path, stream)`	Bytes written to a .NET stream (.NET only)

Upload

Rules of the controller

Only jobs (.JBI, .JBR), condition files (.CND) and general data (.DAT) can be uploaded.
The account must be ftp or rcmaster. anonymous cannot upload.
The controller does not overwrite a job: delete it first, see Delete a file. Otherwise the upload fails with the reason JobAlreadyExists.
An empty file is refused: the SDK throws an ArgumentException before the transfer.
The controller checks the syntax of a job when it receives it.

Methods

var robot = new YaskawaRobot();
robot.Connect(parameters);
// A job written on the PC: the folder is deduced from the extension
string job = File.ReadAllText("NEWJOB.JBI");
robot.Ftp.LoadFile("NEWJOB.JBI", job);

// Bytes, with the full path on the controller
robot.Ftp.UploadFile("/JOB/OTHER.JBI", Encoding.ASCII.GetBytes(job));

// A file of the PC: the remote path is deduced from its name and extension
robot.Ftp.UploadFileFromLocal(@"C:\Jobs\PICK.JBI");

// Several files of the PC: returns the remote paths
string[] sent = robot.Ftp.UploadFilesFromLocal(new[] { @"C:\Jobs\A.JBI", @"C:\Jobs\B.JBI" });
robot.Disconnect();
}

Click to see the full code

Method	Source
`LoadFile(name, text)`	Text
`UploadFile(path, bytes)`	Bytes
`UploadFileFromLocal(localPath, path)`	File of the PC. Without `path`, the name of the local file is used
`UploadFilesFromLocal(localPaths)`	Several files of the PC, each with its own name. Stops at the first error. Returns the remote names
`UploadFileFromStream(path, stream)`	A .NET stream, read from its current position (.NET only)

Progress

The transfer methods take an optional callback. It receives the progress in percent, from 0 to 100, or -1 when the size is not known. For several files, the progress is the global progress.

var robot = new YaskawaRobot();
robot.Connect(parameters);
// Percentage from 0 to 100, -1 when the size is not known
byte[] backup = robot.Ftp.DownloadFile("/PRM/ALL.PRM",
    progress => Console.WriteLine($"{progress:F0} %"));
robot.Disconnect();
}

Click to see the full code

In Python, pass a function or a lambda.

Async methods

In .NET, every FTP method has an async version that takes a CancellationToken: ConnectAsync, GetFileAsync, DownloadFilesToLocalAsync, UploadFileFromLocalAsync... Use them in a user interface, so that a long transfer does not block it. They are not available on .NET Framework 3.5 and 4.0, and not in Python.

static async Task Main()
{
var client = new FtpClient();
await client.ConnectAsync("192.168.0.1", "ftp");

// Every FTP method has an async version with a CancellationToken
using var cts = new CancellationTokenSource(TimeSpan.FromMinutes(1));
string[] jobs = await client.GetFileListByPatternAsync("*.JBI", cts.Token);
string[] saved = await client.DownloadFilesToLocalAsync(
    jobs.Select(j => "/JOB/" + j).ToArray(), @"C:\Backup", null, cts.Token);

client.Close();
}
}

Click to see the full code

Reference

Methods of FtpClientBase :

// Downloads a file from the controller and returns its content.
byte[] DownloadFile(string remotePath, OnProgressDelegate progress = null);

// Downloads a file from the controller and saves it on the local file system. Overwrites the local file if it already exists. The local file is not created if the download fails.
void DownloadFileToLocal(string remotePath, string localPath, OnProgressDelegate progress = null);

// Downloads a file from the controller and writes its content into a stream.
void DownloadFileToStream(string remotePath, Stream destination, OnProgressDelegate progress = null);

// Downloads several files from the controller into a local folder. Each file is saved with its name, and existing local files are overwritten.
string[] DownloadFilesToLocal(string[] remotePaths, string localFolder, OnProgressDelegate progress = null);

// Downloads a text file from the robot controller and returns its content.
string GetFile(string fileName);

// Lists the files of the specified type on the controller.
string[] GetFileList(FileExtension fileExtension);

// Lists the files whose names match the specified pattern. When the pattern has a known extension (e.g. "*.JBI"), only the matching folder is listed. Otherwise, all folders of the controller are listed.
string[] GetFileListByPattern(string pattern);

// Uploads text content to the robot controller as a file. The file type is given by the extension of fileName (e.g. ".JBI" for a job).
void LoadFile(string fileName, string content);

// Uploads a byte array as a file onto the controller. Only jobs (.JBI, .JBR), condition files (.CND) and general data (.DAT) can be uploaded, with the "ftp" or "rcmaster" user. An existing job is not overwritten: delete it first with DeleteFile(System.String).
void UploadFile(string remotePath, byte[] data, OnProgressDelegate progress = null);

// Uploads a local file onto the controller. Only jobs (.JBI, .JBR), condition files (.CND) and general data (.DAT) can be uploaded, with the "ftp" or "rcmaster" user. An existing job is not overwritten: delete it first with DeleteFile(System.String).
void UploadFileFromLocal(string localPath, string remotePath = null, OnProgressDelegate progress = null);

// Uploads the content of a stream as a file onto the controller. The stream is read from its current position to its end. Only jobs (.JBI, .JBR), condition files (.CND) and general data (.DAT) can be uploaded, with the "ftp" or "rcmaster" user. An existing job is not overwritten: delete it first with DeleteFile(System.String).
void UploadFileFromStream(string remotePath, Stream source, OnProgressDelegate progress = null);

// Uploads several local files onto the controller. Each file is uploaded with its local file name. The controller stores each file in the folder of its type (e.g. a ".JBI" file goes to the JOB folder). The upload stops at the first error.
string[] UploadFilesFromLocal(string[] localPaths, OnProgressDelegate progress = null);

Every method also exists in an asynchronous version, with the same name followed by Async and an optional CancellationToken.

Delegate

OnProgressDelegate

C#Python

Delegate used to report file transfer progress.

Member	Type	Description
OnProgressDelegate(object, nint) Constructor
BeginInvoke(double, AsyncCallback, object) Method	IAsyncResult
EndInvoke(IAsyncResult) Method	void
Invoke(double) Method	void

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FTP file transfers

File names and paths

Download

Upload

Rules of the controller

Methods

Progress

Async methods

Reference

What to read next