Yaskawa Communication SDK for Python

🤖 Effortlessly Communicate with Yaskawa Motoman Robots

The Yaskawa SDK for Python enables seamless integration with Yaskawa Motoman robots for automation, data exchange, and remote control through the High-Speed Ethernet Server (HSES) protocol.

Whether you're building a custom application, integrating with a MES/SCADA system, or performing advanced diagnostics, this SDK provides the tools you need.

🔗 More Information: https://underautomation.com/yaskawa
🔗 Also available in 🟦 .NET and 🟨 LabVIEW

---

⭐ Star this repo if it's useful to you!
👁️ Watch for updates

---

🚀 TL;DR

• 📡 High-Speed Ethernet Server - real-time UDP communication
• 🤖 Move robot in Cartesian or joint space
• 📊 Read robot status - mode, servo, alarms, hold state
• 🔔 Alarm management - read active alarms, reset
• ⚡ I/O control - read/write general, external, network I/O
• 💾 Variable access - registers, bytes, integers, reals, strings, positions
• 🧠 Job control - select, start, monitor executing jobs
• 📂 File management - list, upload, download, delete files
• ✍️ Pendant display - send messages to the teach pendant
• ⏱️ Management time - operating time, servo time, playback time
• 🔧 System information - software version, configuration, parameters

No custom robot options or additional hardware required. The SDK uses the standard HSES protocol available on Yaskawa controllers.

---

🛠 Installation & Getting Started

Prerequisites

• Python 3.7 or higher
• A Yaskawa Motoman robot (DX200, YRC1000, YRC1000 Micro)

Step 1 - Create a Virtual Environment

We recommend using a virtual environment to keep your project dependencies isolated.

# Create a project folder
mkdir my-yaskawa-project
cd my-yaskawa-project

# Create a virtual environment
python -m venv venv

# Activate it
# On Windows:
venv\Scripts\activate
# On macOS/Linux:
source venv/bin/activate

You should see (venv) in your terminal prompt, indicating the virtual environment is active.

Step 2 - Install the SDK

The SDK is published on PyPI. Install it with a single command:

pip install UnderAutomation.Yaskawa

That's it! All dependencies (including pythonnet) are installed automatically.

On Linux, you should also install .NET Core and set environment variable PYTHONNET_RUNTIME to coreclr:

sudo apt-get install -y dotnet-runtime-8.0
PYTHONNET_RUNTIME=coreclr

Alternative: install from source

git clone https://github.com/underautomation/Yaskawa.py.git
cd Yaskawa.py
pip install -e .

Step 3 - Connect to Your Robot

Create a Python file (e.g. main.py) and write:

from underautomation.yaskawa.yaskawa_robot import YaskawaRobot
from underautomation.yaskawa.connect_parameters import ConnectParameters
from underautomation.yaskawa.high_speed_e_server.alarm_reset_type import AlarmResetType

# Create a robot instance
robot = YaskawaRobot()

# Connect (replace with your robot's IP address)
params = ConnectParameters("192.168.0.1")
params.ping_before_connect = True

# Connect to the robot
# If you get a license exception, ask a trial license here: https://underautomation.com/license
# and call YaskawaRobot.register_license(...) before connecting
robot.connect(params)

if robot.high_speed_e_server.connected:
    print("Connected!")

    # Get robot status
    status = robot.high_speed_e_server.get_status_information()
    print(f"  Servo ON   : {status.servo_on}")
    print(f"  Running    : {status.running}")
    print(f"  Mode       : {'Teach' if status.teach else 'Play'}")
    print(f"  Alarming   : {status.alarming}")

    # Get current Cartesian position
    pos = robot.high_speed_e_server.get_robot_cartesian_position()
    print(f"\nCartesian Position:")
    print(f"  X={pos.x:.3f}  Y={pos.y:.3f}  Z={pos.z:.3f}")
    print(f"  Rx={pos.rx:.3f}  Ry={pos.ry:.3f}  Rz={pos.rz:.3f}")

    # Get current joint position
    joint = robot.high_speed_e_server.get_robot_joint_position()
    print(f"\nJoint Position: {joint.axes}")

    # Read registers
    reg = robot.high_speed_e_server.read_register(0, count=5)
    for i, val in enumerate(reg.value, start=0):
        print(f"  Register[{i}] = {val}")

    # Write registers
    robot.high_speed_e_server.write_register(0, [100, 200])

    # Reset alarms
    robot.high_speed_e_server.alarm_reset(AlarmResetType.Reset)

# Don't forget to disconnect
robot.disconnect()

Run it:

python main.py

---

🔑 Licensing

The SDK works out of the box for 30 days (trial period) - no registration needed.

After the trial, you can:

• Buy a license at underautomation.com/order
• Get a new trial period immediately by email at underautomation.com/license

To register a license in code:

from underautomation.yaskawa.yaskawa_robot import YaskawaRobot

license_info = YaskawaRobot.register_license("your-licensee", "your-license-key")
print(license_info)

---

📂 Examples

The repository includes a complete set of ready-to-run examples in the examples/ folder, organized by category.

How the Examples Work

File	Role
examples/launcher.py	Interactive menu - browse and run any example from a single launcher
examples/__init__.py	Shared helpers - sets up the Python path, manages robot connection settings, and handles license registration
examples/robot_config.json	Saved settings (git-ignored) - remembers your robot IP and license key so you don't have to re-enter them every time

Run any example directly:

The first time you run an example, it will ask for your robot IP. This is saved in robot_config.json so you only enter it once.

# Run any example directly
python examples/high_speed_e_server/hses_get_status.py

Or browse examples with the launcher:

Use the launcher to easily browse and run any example without needing to open each file.

# Launch the interactive menu
python examples/launcher.py

📡 High Speed Ethernet Server Examples

Example	Description
hses_get_status.py	Read robot status: mode, servo, alarms, hold state
hses_get_cartesian_position.py	Read current TCP position (X, Y, Z, Rx, Ry, Rz)
hses_get_joint_position.py	Read current joint position (pulse values)
hses_read_alarms.py	Read active alarms with code, type, and message
hses_alarm_reset.py	Reset alarms (standard or error reset)
hses_get_executing_job.py	Get currently executing job name, line, and speed
hses_select_start_job.py	Select a job by name and start it
hses_read_write_registers.py	Read and write numeric registers
hses_read_write_integers.py	Read and write integer variables
hses_read_write_reals.py	Read and write real (float) variables
hses_read_write_bytes.py	Read and write byte variables
hses_read_write_strings.py	Read and write string variables (16 & 32 bytes)
hses_read_write_io.py	Read and write I/O signals (general, external, network)
hses_read_write_position_variables.py	Read and write position variables (P variables)
hses_move_cartesian.py	Move robot to a Cartesian position
hses_move_joints.py	Move robot by specifying joint pulse values
hses_servo_command.py	Send servo ON/OFF commands
hses_display_message.py	Display a message on the teach pendant
hses_get_system_info.py	Read system information (software version, name)
hses_position_error_torque.py	Read position error and torque for each axis
hses_file_operations.py	List, download, upload, and delete files

🔑 License Examples

Example	Description
license_info_example.py	Display license state and details, handle registration

---

🔧 Robot Configuration

Some features require specific controller settings.

✅ Enable Remote Control

1. Go to IN/OUT > PSEUDO INPUT SIGNAL
2. Set #82015 CMD REMOTE SEL via INTERLOCK + SELECT

✅ Key Position for Commands

• Use physical pendant key in remote position
• Optional Ladder setup: copy #80011 to #40042

✅ Job Select

1. Go to SETUP > FUNCTION ENABLE
2. Set JOB SELECT WHEN REMOTE AND PLAY to PERMIT

✅ File Overwrite Permissions

1. Go to PARAMETER > RS
2. Set RS029 = 1, RS214 = 1

---

🔍 Compatibility

	Supported
Robot Controllers	DX200, YRC1000, YRC1000 Micro
OS	Windows, Linux, macOS
Python	3.7+
Dependency	pythonnet 3.0.5 (installed automatically)

---

📢 Contributing

We welcome your feedback and contributions!

• Report issues via GitHub Issues
• Submit pull requests with enhancements
• Suggest features and improvements

---

📜 License

⚠️ This SDK requires a commercial license.

• 🆓 30-day free trial included out of the box
• 🔄 Get a new trial immediately at underautomation.com/license
• 🛒 Buy a license at underautomation.com/yaskawa
• 📄 EULA: underautomation.com/yaskawa/eula

---

📬 Need Help?

• 📖 Documentation: underautomation.com/yaskawa/documentation
• 🐍 Python Get Started Guide: underautomation.com/yaskawa/documentation/get-started-python
• 📦 PyPI Package: pypi.org/project/UnderAutomation.Yaskawa
• 📩 Contact Us: underautomation.com/contact