Yaskawa Communication SDK for Python

🤖 Communicate effortlessly with Yaskawa robots using Python

The Yaskawa SDK for Python enables real-time control and data exchange with Yaskawa Motoman robots via the High-Speed Ethernet Server (HSES) protocol.

Ideal for automation, research, and integration projects, it provides high-speed UDP communication, motion control, robot monitoring, job handling, and more.

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

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🚀 TL;DR

• 📡 High-Speed Ethernet Server
• 🤖 Move robot in Cartesian or joint space
• 🛠️ Access robot status, alarms, and I/O
• 💾 Read/write registers and data types
• 🧠 Control and monitor jobs
• ✍️ Send pendant messages, reset alarms, manage files

No Yaskawa options or additional hardware required.

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✨ Example Usage (Python)

from underautomation.yaskawa import YaskawaRobot

robot = YaskawaRobot()
robot.connect("192.168.0.1")

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

# Move in Cartesian
robot.high_speed_e_server.move_cartesian(
    x=1000, y=10, z=0,
    rx=0, ry=0, rz=0,
    speed=10,
)

# Get current joint position
joint_position = robot.high_speed_e_server.get_robot_joint_position()
print(joint_position.axes)

# Read and write register
reg = robot.high_speed_e_server.read_register(10, count=2)
robot.high_speed_e_server.write_register(10, [1234, 5678])

# Reset alarm
robot.high_speed_e_server.alarm_reset(AlarmResetType.reset)

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🔧 Robot Configuration (Required)

✅ Enable Remote Control

• IN/OUT > PSEUDO INPUT SIGNAL
• 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

• SETUP > FUNCTION ENABLE
• Set JOB SELECT WHEN REMOTE AND PLAY to PERMIT

✅ File Overwrite Permissions

• PARAMETER > RS
• Set RS029 = 1, RS214 = 1

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🛠 Installation

1. Clone the SDK

git clone https://github.com/underautomation/yaskawa.py.git

2. Connect to your robot

from yaskawa import YaskawaRobot

robot = YaskawaRobot()
robot.connect("192.168.0.1")

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✅ Compatibility

• Robots: DX200, YRC1000, YRC1000 Micro
• OS: Windows, Linux, macOS
• Python: 3.7+

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🙌 Contributing

We welcome contributions!

• Report bugs via Issues
• Submit pull requests
• Share feature ideas

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📜 License

⚠️ Commercial license required
🔗 Details: UnderAutomation Licensing

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📬 Need Help?

• 📖 Documentation
• 📩 Contact Support