Jobs

This page shows how to list, select, start and follow the jobs of a Yaskawa Motoman controller through the Ethernet Server, and how to wait for the end of a job in one call. It covers the YRC1000 and YRC1000micro controllers.

List the jobs

GetJobDirectory(filter) returns the names of the jobs, without the .JBI extension. The filter accepts *: "*" (default) lists every job, "VISION*" the jobs whose name starts with VISION. GetExecutingJobInformation() reads the job that is executed, with its line and step.

var robot = new YaskawaRobot();
robot.Connect(parameters);
// Names of every job, without extension
HostControlJobDirectoryData all = robot.EServer.GetJobDirectory();
foreach (string name in all.JobNames)
    Console.WriteLine(name);

// Jobs whose name starts with VISION
HostControlJobDirectoryData vision = robot.EServer.GetJobDirectory("VISION*");

// Executing job: name, line and step
HostControlJobData job = robot.EServer.GetExecutingJobInformation();
Console.WriteLine($"{job.Name}, line {job.Line}, step {job.Step}");
robot.Disconnect();
}

On a YRC1000micro with 7 jobs, GetJobDirectory() answers in about 20 ms.

Start a job and wait for its end

Prerequisites

• The controller is in play mode and in remote mode.
• No alarm is active, no hold is on.
• The job exists on the controller. To send a job, see FTP.

Example

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();
}

1. SelectJob(name, line) selects the job and the line to start from (0 to 9999).
2. SetServo(true) switches the servo power on.
3. StartJob() starts the selected job. StartJob(name) selects and starts a job in one call.
4. WaitForJobCompletion(seconds) blocks until the job ends. It returns true when the job completed, false when it was stopped or when the time is over. -1 waits without limit, the maximum is 32767 s.

WaitForJobCompletion throws a HostControlException when the job stops because of a hold, an alarm or the servo power. Catch it to know why the job did not end.

Master job and tasks

var robot = new YaskawaRobot();
robot.Connect(parameters);
// Master job: the job of the master task, selected at startup
robot.EServer.SetMasterJob("MAIN");

// Start a job by its name, without SelectJob first
robot.EServer.StartJob("MAIN");

// Task of the next job commands (0 = master task, 1 to 15 = sub tasks)
robot.EServer.SetTask(0);

// Delete a job of the controller: there is no undo
robot.EServer.DeleteJob("OLDJOB");
robot.Disconnect();
}

Download the jobs before you delete them: see Transfer files and backups.

Relative jobs

ConvertToRelativeJob(name, coordinateSystem) converts a job to a relative job in a frame, and ConvertToStandardJob converts it back. They need the relative job function on the controller.

Reference

// Converts a specified job to a relative job of a specified coordinate system. Requires the relative job function on the robot controller.
HostControlResponse ConvertToRelativeJob(string jobName, HostControlCoordinateSystem coordinateSystem);

// Converts a specified job to a standard job (pulse job). Requires the relative job function on the robot controller.
HostControlResponse ConvertToStandardJob(string jobName, int convertingMethod, int referencePositionVariable);

// Deletes a specified job from the robot controller.
HostControlResponse DeleteJob(string jobName);

// Reads information about the currently selected and executing job (program). Returns job name, current line, and step.
HostControlJobData GetExecutingJobInformation();

// Reads the job directory listing from the robot controller.
HostControlJobDirectoryData GetJobDirectory(string jobNameFilter = "*");

// Sets the job name and line number for execution.
HostControlResponse SelectJob(string jobName, int line);

// Sets a specified job as the master job and execution job.
HostControlResponse SetMasterJob(string jobName);

// Changes the current task selection.
HostControlResponse SetTask(int task);

// Starts job execution. Starts the currently selected job, or starts a specific job if specified.
HostControlResponse StartJob(string jobName = null);

// Waits for the current job to complete or the specified timeout to elapse. No response is sent until the job completes or the timeout expires.
bool WaitForJobCompletion(int timeoutSeconds = -1);

What to read next

• Run a job: the same task with the High Speed Ethernet Server, and the frequent errors.
• Variables and I/O: exchange data with the job.