Software library

Yaskawa

Quickly create .NET applications that communicate with your Motoman Yaskawa industrial robot.

Preview of features

Move the robot

The library allows the sending of Cartesian and joint movements commands, and allows you to recover the current position, the couple of the engines and the positioning error.

// Get robot position
RobotPositionCartesianData position = robot.HighSpeedEServer.GetRobotCartesianPosition();

// Move cartesian
robot.HighSpeedEServer.MoveCartesian(
    x: 1000,
    y: 10, 
    z: 0, 
    rx: 0,
    ry: 0,
    rz: 0, 
    PositionCommandClassification.Cartesian_MM_S, 
    speed:10,
    PositionCommandOperationCoordinate.Robot
);

// Move joints
robot.HighSpeedEServer.MoveJoints(new int[] { 1000, 0, 0, 0, 0, 0 }, PositionCommandClassification.LinkPercent, 10);

Run robot programs

The SDK allows you to send programs to the controller and start them remotely. It is then possible to follow the progress of the execution as well as the alarm state.

// Send Servo ON
robot.HighSpeedEServer.ServoCommand(OnOffCommandType.Servo, true);

// Upload program on robot
robot.HighSpeedEServer.LoadFile("PROGRAM.JBI", File.ReadAllText("PROGRAM.JBI"));

// Select job and start it
robot.HighSpeedEServer.SelectJob("PROGRAM", 1);
robot.HighSpeedEServer.StartJob();

// Get robot status (Play, Error, Alarming, etc.)
RobotStatusData statusData = robot.HighSpeedEServer.GetStatusInformation();

Data reading and writing

Your application can read and write the registers of all types in the robot (IO, position variables, byte variable, ...)

// Read IO 1 to 100
var ioData = robot.HighSpeedEServer.ReadIO(firstIndex: 1, count: 100);

// Write IO 2701 to 2704 (Network input signal)
robot.HighSpeedEServer.WriteIO(2701, new byte[] { 0x01, 0x00, 0xFF, 0x00 });

// Read position registers P[1] to P[4]
var positionData = robot.HighSpeedEServer.ReadPositionVariable(1, 4);

File handling

The library allows you to May the files on the controller: download, sending, deletion, list

// List all files with extension .JBI (programs)
string[] files = robot.HighSpeedEServer.GetFileList("*.JBI").Files;

// Upload file to robot
robot.HighSpeedEServer.LoadFile("PROGRAM", fileContent, onLoadFileProgress);

// Download file from robot
robot.HighSpeedEServer.GetFile("PROGRAM", onGetFileProgress);

// Delete file
robot.HighSpeedEServer.DeleteFile("PROGRAM.JBI");

Browse the documentation

Download and test

Download via NUGET

Easily add this SDK to your Visual Studio project via the Nuget package manager.

See on Nuget

Examples on GitHub

The sources of examples of use of this SDK are available on Github

See on Github

Windows application example

Allows you to test all the features of the SDK with a simple interface. The example is compiled in "self contained" and "single file" with .NET 8. The application is portable without installation.

By downloading, you accept the general conditions of use:
See terms and conditions

UnderAutomation.Yaskawa.Showcase.Forms.exe (132 MB)

Request a quote and order

Site license

990 € (EUR) • $1090 (USD)

$

1090

lifetime

$

654

for universities (40% discount)

Complete and permanent SDK: no recurring subscription is required, the license is yours forever and works in all programming languages for a robot brand.

Can be used only by the organization holding the license, at the postal address indicated. All team developers will share the same license, regardless of the number of development machine.

Any application developed using the SDK can be delivered to an unlimited number of your customers at no additional cost, regardless of the number of robots to connect.

The license is a kind of password to call in the code that unlocks the features. No additional software to install. No USB key.

1 year maintenance included (access to updates)

Contact us for a payment by bank transfer. Once the license of this SDK is purchased, you will receive your license number and your invoice by email.

Quote • Order

Source license

9900 € (EUR) • $11 900 (USD)

$

11 900