Ethernet Server overview

This page gives an overview of the Ethernet Server function of Yaskawa Motoman controllers (YRC1000, YRC1000micro), and of what the SDK does with it. The Ethernet Server is a second way to read and command the controller, over TCP, next to the High Speed Ethernet Server.

What is the Ethernet Server

The Ethernet Server is a function of the controller that answers commands of a PC over TCP. Its default port is 80, the port of the web server of the controller. The SDK opens one TCP connection for each command, sends it, reads the answer and closes the connection. There is no session to keep alive: a call made after a network cut works again as soon as the network is back.

The SDK gives you .NET objects. You do not build the messages. Nothing is installed on the controller and no job has to run.

static void Main()
{
var parameters = new ConnectParameters("192.168.0.1");
parameters.EServer.Enable = true;

var robot = new YaskawaRobot();
robot.Connect(parameters);

// State of the controller
HostControlStatusData status = robot.EServer.GetStatusInformation();
Console.WriteLine($"Play: {status.Play}, remote: {status.CommandRemote}, servo: {status.ServoOn}");

// Position of the robot, in mm and degrees
HostControlCartesianPositionData tcp = robot.EServer.GetRobotCartesianPosition();
Console.WriteLine($"X={tcp.X} Y={tcp.Y} Z={tcp.Z}");

// Executing job
HostControlJobData job = robot.EServer.GetExecutingJobInformation();
Console.WriteLine($"Job {job.Name}, line {job.Line}");

// Variables D000 to D003
int[] d = robot.EServer.ReadDoubleInteger(0, 4);

robot.Disconnect();
}
}

Ethernet Server or High Speed Ethernet Server

Both protocols read the state of the controller and command it. Most applications use the High Speed Ethernet Server. The Ethernet Server is useful in these cases:

The two protocols can be used together: enable both in ConnectParameters, then call robot.HighSpeedEServer or robot.EServer. Code that must work with both can use the common interfaces, see Choose a protocol.

Topics

All these functions are methods of robot.EServer (robot.e_server in Python).

Connect

Prerequisites

• The PC reaches the controller on TCP port 80. A firewall between them must let this port through.
• The read methods work in any mode. The commands (servo, hold, jobs, moves, writes) need the remote mode, set as for the High Speed Ethernet Server: see Prepare the controller.

Enable the Ethernet Server

The Ethernet Server is disabled by default in ConnectParameters. Set EServer.Enable to true. The other protocols keep their own setting.

static void Main()
{
var parameters = new ConnectParameters("192.168.0.1");

// Only the Ethernet Server
parameters.HighSpeedEServer.Enable = false;
parameters.EServer.Enable = true;

// TCP port of the Ethernet Server (default: 80)
parameters.EServer.Port = 80;

// Time to wait for an answer, in milliseconds
parameters.EServer.TimeoutMilliseconds = 5000;          // most commands
parameters.EServer.PowerOnTimeoutMilliseconds = 10000; // SetServo(true)
parameters.EServer.MotionTimeoutMilliseconds = 30000;   // moves

var robot = new YaskawaRobot();
robot.Connect(parameters);
robot.Disconnect();
}

What "connected" means

Each command opens its own TCP connection. So Connect checks the license and the address, but does not exchange a message with the controller. The first method call is the first exchange. To check the link at startup, call a read method, for example GetStatusInformation(), right after Connect.

Standalone client

EServerClient opens an Ethernet Server client without YaskawaRobot. The methods are then directly on the client.

static void Main()
{
// An Ethernet Server client without YaskawaRobot
var client = new EServerClient();
client.Connect("192.168.0.1");

HostControlStatusData status = client.GetStatusInformation();
Console.WriteLine($"Running: {status.Running}");

client.Close();
}
}

Errors

When the controller refuses a command, the SDK throws a HostControlException. Message gives the reason in clear text, ErrorCode the code returned by the controller. A call made before Connect throws an InvalidOperationException.

var robot = new YaskawaRobot();
robot.Connect(parameters);
try
{
    robot.EServer.StartJob("PICK");
}
catch (HostControlException ex)
{
    // Message gives the reason, ErrorCode the code of the controller
    Console.WriteLine($"Refused: {ex.Message} (code {ex.ErrorCode})");
}
robot.Disconnect();
}

Frequent reasons, and what to check:

Units

Reference

What to read next

• Status, alarms and servo: the first commands to try.
• Choose a protocol: HSES, Ethernet Server, HTTP and FTP side by side.