HEELP! Doubt with data transmition between a PC and the controller Yaskawa DX100

[Omar Ban]

Hello again everyone, I need to control the robot with a PC so i can make image processing and send a command to the MA-14000 robot to make a weld. I have read that Yaskawa has software like the MOTOCOM SDK to make this comunication, but it is very expensive, U$ 6900 (I am working in an University of Brazil, and they told me that to pay this at this moment is imposible). My question then is the next, is there a way to control the robot with a PC without needing any yaskawa software that I need to pay? Maybe using visual basic? or maybe a trial version? Thank you again. 

[Jim Rees]

You do not need the SDK. You need MotoROS and the motoman_driver. MotoROS is Motoman software that runs on the DX100 but it's free and you can install it yourself. There is a tutorial on the ROS wiki called "Installing the Motoman FS/DX ROS Server (Indigo)". You will need to build motoman_driver from source; see http://answers.ros.org/question/191233/how-can-i-use-motoman-stack-with-ros-indigo/. You will also need to write a urdf for your robot; see the "Create a URDF for an Industrial Robot" tutorial. I think you also need to write a movelt package and of course your application, but I haven't gotten that far yet.

[ted miller]

To use ROS-I with your DX100, it must have the MotoPlus feature enabled.  If your DX100 is not enabled for MotoPlus already, then you will need the MotoROS Runtime enabled on your controller.  You can order this from your local office using part number 167352-1.

In regard to your other question, there is a free alternative to MotoCom SDK.  There are two ethernet-based communication protocols that should be enabled on your controller by default.  "Ethernet Server" (Eserver) is an ascii-based command protocol for basic robot control.  There is also the "High Speed Ethernet Server" (HS EServer) function which does basically the same thing, but using a binary-based protocol.  Documentation for these is available here: http://www.motoman.com/motomedia/manuals/usermanuals.php  (search for 162529-1CD and 157177-1CD.

If you need help with any of this, please contact your local office or techs...@motoman.com.

-Ted Miller (Yaskawa Motoman)

[gauravg...@gmail.com]

Hi,

I am trying to communicate with DX100 via LAN as mentioned in the High Speed Ethernet Server Function Manual.

I am trying to get the position data with the Robot Position Data Reading Command as per the Manual. The data sent is as follows (This in decimal form): [89, 69, 82, 67, 32, 0, 0, 0, 51, 49, 0, 0, 0, 0, 0, 0, 57, 57, 57, 57, 57, 57, 57, 57, 117, 0, 101, 0, 6, 14, 0, 0]

This is as per the packet format mentioned in the manual. The above data when converted to ASCII & hexadecimal reads as Y,E,R,C,0x20,0,0,0,'3','1',0,0,0,0,0,0,'9','9','9','9','9','9','9','9',0x75,0,101,0,6,0x0E,0,0.

I am getting a error in the reply which is Format Error (Access level error) as per the Manual. I am unable to find the error in the format. Please help.

[G.A. vd. Hoorn - 3ME]

On 27-11-2017 11:16, gauravg...@gmail.com wrote:
> Hi,

while some list members do communicate with Yaskawa robots, we don't use
the High Speed Ethernet Server Function, but something called MotoROS.

As this is not a generic Yaskawa support channel, I recommend you either
contact Yaskawa Motoman customer support, or find a forum dedicated to
this topic.


Gijs