HTTP: read files from the web server

This page shows how to list the files of a Yaskawa Motoman controller and read their content through its web server, with the HTTP client of the SDK. It covers the YRC1000 and YRC1000micro controllers, and gives read only access: jobs, data files, parameters, logs.

What the HTTP client does

The controller has a web server on TCP port 80. The SDK reads the file lists and the files of this server, and gives you the names, the descriptions and the text of the files. It is the simplest way to read a file: no account, no remote mode, any mode of the controller.

Connect

Prerequisites

• The PC reaches the controller on TCP port 80.
• Nothing else: HTTP works in teach and in play mode, without the remote mode.

Enable HTTP

Set Http.Enable to true in ConnectParameters. Connect checks the address but does not send a request: the first method call is the first exchange.

List the files

GetFileList(fileExtension) lists the files of one type. Each FileDescription has the Name of the file and, for the data and parameter files, the Description given by the controller.

var robot = new YaskawaRobot();
robot.Connect(parameters);
// Jobs: the name only
FileDescription[] jobs = robot.Http.GetFileList(FileExtension.JOB);

// Data files: the name and the description given by the controller
foreach (FileDescription file in robot.Http.GetFileList(FileExtension.DAT))
    Console.WriteLine($"{file.Name}: {file.Description}"); // VAR.DAT: VARIABLE DATA
robot.Disconnect();
}

On a YRC1000micro, GetFileList(FileExtension.DAT) returns VAR.DAT - VARIABLE DATA, ALMHIST.DAT - ALARM HISTORY DATA, IONAME.DAT - IO NAME DATA and more.

Read a file

GetFile(name) returns the text of a file. The SDK finds the folder of the file from its extension: TEST.JBI is a job, VAR.DAT a data file.

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

// Variables, alarm history, parameters...
string variables = robot.Http.GetFile("VAR.DAT");
string alarmHistory = robot.Http.GetFile("ALMHIST.DAT");

File.WriteAllText("TEST.JBI", job);
robot.Disconnect();
}

The text is the same as the file downloaded with FTP or with the High Speed Ethernet Server. A large file takes time: ALL.PRM (1.4 MB) takes about 13 s on a YRC1000micro, the same as with FTP. Increase TimeoutMilliseconds for large files.

Standalone client

HttpClient of the namespace UnderAutomation.Yaskawa.Http opens an HTTP client without YaskawaRobot. In a .NET project with implicit usings, System.Net.Http.HttpClient has the same name: write the full name, or add a using alias.

static void Main()
{
// An HTTP client without YaskawaRobot
// Full name: System.Net.Http also has an HttpClient class
var client = new UnderAutomation.Yaskawa.Http.HttpClient();
client.Connect("192.168.0.1", new HttpConnectParameters
{
    Port = 80,                   // default
    TimeoutMilliseconds = 5000,  // default
});

foreach (FileDescription file in client.GetFileList(FileExtension.PRM))
    Console.WriteLine(file);

client.Close();
}
}

Reference

// Marks the client as disconnected.
void Close();

// Gets the content of a file from the robot controller. The file type is deduced from the file name extension (e.g. "PICK_JOB.JBI" queries /FGET_REQUEST/ROBOT/JOB/PICK_JOB.JBI).
string GetFile(string fileName);

// Gets the list of files of the specified type available on the robot controller.
FileDescription[] GetFileList(FileExtension fileExtension);

What to read next

• FTP: upload, download and delete files.
• Transfer files and backups: which protocol to choose for each file task.