MotomanConnector

Connection to the Motoman Ethernet Server, available on some Yaskawa Motoman Controllers. Tested on DX200 and YRC1000.

Code

MotomanConnector(IP = "192.168.255.1", PORT=80, S_pulse = 1341.4, L_pulse = 1341.4, U_pulse = 1341.4, R_pulse = 1000, B_pulse = 1000, T_pulse = 622)

Initalize the Library

Parameter	type	Default	Description
IP	string	"192.168.255.1"	Controller IP
Port	int	80	Controller Port
S_pulse	float	1341.1	No. Encoder Pulse per ° on Axis S
L_pulse	float	1341.1	No. Encoder Pulse per ° on Axis L
U_pulse	float	1341.1	No. Encoder Pulse per ° on Axis U
R_pulse	float	1000	No. Encoder Pulse per ° on Axis R
B_pulse	float	1000	No. Encoder Pulse per ° on Axis B
T_pulse	float	622	No. Encoder Pulse per ° on Axis T

MotomanConnector.connectMH()

Establish a connection to the Robot Controller. Raises an Exception on an unexpected or no Answer.

MotomanConnector.disconnectMH()

Drop the connection to the Robot Controller.

MotomanConnector.getJointAnglesMH()

Read the Joint Angles.

Returns a list of six Joint Angles

MotomanConnector.getCoordinatesMH(coordinateSystem = 0)

Read the current Position in reference to a selectable coordinate system, currently Broken on DX Controllers!

Parameter	type	Default	Description
coordinateSystem	int	0	The referenced coordinate System. 0 = Base, 1 = Robot, 2-64 = User

Returns a list with the current Positional Values

MotomanConnector.servoMH(state = True)

Turn the Servo motors on/off. Keyswitch needs to be in "REMOTE" Position.

Parameter	type	Default	Description
state	bool	True	Enable (True) or disable (False) the Servos

MotomanConnector.moveAngleMH(speed,S,L,U,R,B,T)

Move the Robot in joint coordinates.
CAREFUL The Robot can get quite Fast, be careful with the speed Values.

Parameter	type	Default	Description
speed	float	-	Speed in %
S	float	-	S Joint Angle
L	float	-	L Joint Angle
U	float	-	U Joint Angle
R	float	-	R Joint Angle
B	float	-	B Joint Angle
T	float	-	T Joint Angle

MotomanConnector.WriteVariableMH(type,number,value)

Write a Variable on the controller.

Parameter	type	Default	Description
type	int	-	Type of the Variable \| 0 = Byte, 1 = Integer, 2 = Double, 3 = Real, 7 = String. Other Values raise an exception
number	int	-	Variable Number
value	byte/int/float/string	-	Value to be set

MotomanConnector.ReadVariableMH(type,number)

Read a variable from the controller
Returns the read Value

Parameter	type	Default	Description
type	int	-	Type of the Variable \| 0 = Byte, 1 = Integer, 2 = Double, 3 = Real, 7 = String. Other Values raise an exception
number	int	-	Variable Number

MotomanConnector.statusMH()

Read the Status bytes from the Robot.
Returns a list containing the two status Bytes.

MotomanConnector.readCurrJobMH()

Read the current Job name.
Returns job name

MotomanConnector.startJobMH(job)

Start a Job by its name Returns (d1,d2) ->
string d1: return of command transaction
string d2: return of the Payload Transaction

Parameter	type	Default	Description
job	string	-	Job name which to start