Yaskawa SDKYaskawa ロボットを 自社のソフトウェアから制御

var robot = new YaskawaRobot();
robot.Connect("192.168.0.1");
// The servo must be on, the controller in remote mode
robot.HighSpeedEServer.SetServo(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");
// Select the job by its name, without the .JBI extension, at line 0
robot.HighSpeedEServer.SelectJob("WELD01", 0);

// Starting needs the play mode, the remote mode and the servo on
robot.HighSpeedEServer.SetServo(true);
robot.HighSpeedEServer.StartJob();
robot.Disconnect();
}

var robot = new YaskawaRobot();
robot.Connect("192.168.0.1");
// B000 to B003: byte variables (0 to 255)
byte[] b = robot.HighSpeedEServer.ReadByte(0, 4).Value;
robot.HighSpeedEServer.WriteByte(0, new byte[] { 1, 2, 3, 4 });

// I010 and I011: integer variables (16 bits)
short[] i = robot.HighSpeedEServer.ReadInteger(10, 2).Value;
robot.HighSpeedEServer.WriteInteger(10, new short[] { -100, 200 });

// D000: double integer variable (32 bits)
int[] d = robot.HighSpeedEServer.ReadDoubleInteger(0, 1).Value;
robot.HighSpeedEServer.WriteDoubleInteger(0, new[] { 100000 });

// R005 to R007: real variables (32 bit floating point)
float[] r = robot.HighSpeedEServer.ReadReal(5, 3).Value;
robot.HighSpeedEServer.WriteReal(5, new[] { 1.5f, -2.25f, 3f });
robot.Disconnect();
}

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();
}

var robot = new YaskawaRobot();
robot.Connect(parameters);
// Play mode, remote mode, no alarm
robot.EServer.SelectJob("PICK", 0); // job and line
robot.EServer.SetServo(true);
robot.EServer.StartJob();

// Blocks until the job ends, or 60 s
bool completed = robot.EServer.WaitForJobCompletion(60);
Console.WriteLine(completed ? "Job completed" : "Job stopped or timeout");
robot.Disconnect();
}

static void Main()
{
DhParameters dh = DhParameters.FromArmKinematicModel(ArmKinematicModels.GP7);

// Flange position in the robot frame: mm and degrees
var target = new CartesianPosition(400, 100, 300, 180, 0, 0);

// Every joint solution, angles in (-180, 180]. Empty if the position cannot be reached.
JointsAngles[] solutions = KinematicsUtils.InverseKinematics(target, dh);

foreach (JointsAngles solution in solutions)
    Console.WriteLine(solution); // S=..., L=..., U=..., R=..., B=..., T=...
}
}