Files and backup

This page shows how to transfer files between a PC and a Yaskawa Motoman controller with the SDK: list, download, upload and delete jobs and data files, and download the CMOS backup. The file transfers use the UDP port 10041 of the High Speed Ethernet Server.

List the files

GetFileList(pattern) lists the files whose name matches a pattern with *.

var robot = new YaskawaRobot();
robot.Connect("192.168.0.1");
// Job files
string[] jobs = robot.HighSpeedEServer.GetFileList("*.JBI").Files;

// Variable data and condition files
string[] dat = robot.HighSpeedEServer.GetFileList("*.DAT").Files;
string[] cnd = robot.HighSpeedEServer.GetFileList("*.CND").Files;

foreach (string file in jobs)
    Console.WriteLine(file);
robot.Disconnect();
}

Download a file

GetFile(name) downloads a file. Content is the text of the file, ContentRaw its bytes. The optional callback gives the progress of large files.

var robot = new YaskawaRobot();
robot.Connect("192.168.0.1");
// Download a file, with an optional progress callback
RobotFileContentData file = robot.HighSpeedEServer.GetFile("WELD01.JBI", progress =>
{
    Console.WriteLine($"{progress.FileName}: {progress.DownloadedBytes} bytes");
});

// Text content, and the raw bytes for a binary file
File.WriteAllText("WELD01.JBI", file.Content);
File.WriteAllBytes("WELD01.copy.JBI", file.ContentRaw);
robot.Disconnect();
}

Upload a file

LoadFile(name, content) sends a text file to the controller. A job sent this way appears in the job list of the controller, ready to select.

var robot = new YaskawaRobot();
robot.Connect("192.168.0.1");
string content = File.ReadAllText("WELD01.JBI");

// Send the file to the controller, with an optional progress callback
robot.HighSpeedEServer.LoadFile("WELD01.JBI", content, progress =>
{
    Console.WriteLine($"{progress.LoadedBytes} / {progress.TotalBytes} bytes");
});
robot.Disconnect();
}

• To replace a file that exists on the controller, the parameters RS029 and RS214 must be 1. See Connect to your robot.
• The controller checks the syntax of a job when it receives it. A job with an error is refused, with the reason in the message of the InvalidDataAnswerException.

Delete a file

DeleteFile(name) deletes a file of the controller. There is no undo: download the file first if you may need it.

var robot = new YaskawaRobot();
robot.Connect("192.168.0.1");
// Delete a job file of the controller. There is no undo
robot.HighSpeedEServer.DeleteFile("WELD01.JBI");
robot.Disconnect();
}

CMOS backup

BatchDataBackup() makes the controller write its CMOS backup (jobs, parameters, settings) to /SPDRV/CMOSBK.BIN. Then GetFile downloads it.

var robot = new YaskawaRobot();
robot.Connect("192.168.0.1");
// Ask the controller to write its CMOS backup to /SPDRV/CMOSBK.BIN.
// It takes several seconds
robot.HighSpeedEServer.BatchDataBackup();

// Download the backup as binary
RobotFileContentData backup = robot.HighSpeedEServer.GetFile("/SPDRV/CMOSBK.BIN");
File.WriteAllBytes("CMOSBK.BIN", backup.ContentRaw);
robot.Disconnect();
}

• The backup takes several seconds. While it runs, a download of the file fails with an InvalidDataAnswerException: wait and try again.
• The command needs the automatic backup function with the RAM disk as device. In management mode, select SETUP > AUTO BACKUP SET and set DEVICE to RAMDISK. If this menu is missing, start the controller in maintenance mode and set AUTOBACKUP to USED in SYSTEM > SETUP > OPTION FUNCTION.

Timeouts

The file transfers wait FileTimeoutMilliseconds (4000 ms by default) for each answer of the controller. Increase it if large files fail on a slow network. See Connect to your robot.

Try it in the demo application

Everything on this page can be tried without writing code, in the Files page of the demo application.

The demo application is open source. The C# source of this page is FileControl.cs.

Reference

// Performs a backup of the robot's CMOS. The CMOS.BIN file is copied locally in the robot controller to "/SPDRC/CMOSBK.BIN". The operation can take several seconds to complete. After this command, the backup file can be downloaded using GetFile("/SPDRC/CMOSBK.BIN"). To enable this command : in "MANAGEMENT MODE", select {SETUP} - {AUTO BACKUP SET} and set "DEVICE" to "RAMDISK". If this menu is not available, Reboot the controller in Maintenance Mode and set System / Setup / OPTION FUNCTION / AUTOBACKUP to "Used", then do a "Safety board flash reset" from File / Initialize
RobotDataHeader BatchDataBackup(string file = "/SPDRV/CMOSBK.BIN");

// Deletes a file from the robot controller's file system. Use with caution as deleted files cannot be recovered.
RobotDataHeader DeleteFile(string name);

// Downloads (saves) a file from the robot controller to the PC. Large files are received in multiple blocks and automatically reassembled. Special use case : to download CMOS.BIN, first perform a CMOS backup using BatchDataBackup, then use GetFile with the backup file path.
RobotFileContentData GetFile(string name, HighSpeedEServerClientBase.GetFileProgressDelegate onGetFileProgress = null);

// Retrieves a list of files matching a pattern from the robot controller. Supports wildcards for matching multiple files.
RobotFileListData GetFileList(string pattern);

// Uploads (loads) a file from the PC to the robot controller. Large files are automatically split into 479-byte chunks for transmission.
RobotDataHeader[] LoadFile(string name, string content, HighSpeedEServerClientBase.LoadFileProgressDelegate onLoadFileProgress = null);