Yaskawa/Motoman Robots

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Contents
Yaskawa Motoman robots ................................................................................................................................. 1
RoboDK driver for Yaskawa Motoman ........................................................................................................... 1
Update Pulses per degree information ........................................................................................................... 2
Yaskawa Motoman robots
RoboDK supports all Yaskawa Motoman robot controllers since XRC controllers. You can create JBI program
files directly from RoboDK and move the real robot from RoboDK using the driver for Yaskawa Motoman
robots.
By default, when you generate a JBI program from RoboDK you’ll see the target output in pulses. Some
operations, such as changing the tool from your program (SETTOOL) or editing Cartesian targets (Relative
Job) require specific software options. If you want to generate programs using Cartesian coordinates you can
change the default driver to Motoman Cartesian.

More information about post processors and how to customize them is available in the post processors section.
Tip: Among other things, RoboDK can import existing Yaskawa Motoman JBI program files (Inform
programming language). Importing a JBI program file will extract robot movements and program calls as
instructions. If you import a JBI program file, it is recommended to also have the TOOL.CND file (tool
definitions) and UFRAME.CND file (reference frame definitions) and any subprograms used by the first loaded
program. You may have to first update the pulses/degree ratio if the program targets are set in pulses.

RoboDK driver for Yaskawa Motoman

Robot drivers provide an alternative to Offline Programming. With the Yaskawa/Motoman drivers you can
move a robot directly from RoboDK as you simulate your program (Online Programming). More information
available in the Robot Drivers section.
Since RoboDK version 3.8.0 you can connect to the robot directly using the High-Speed Ethernet Server (HSE)
protocol. This option is available by default with recent Yaskawa robot controllers. This protocol allows you to
move and monitor the robot from a computer at a refresh rate of 70 Hz.
Select Connect-Connect to Robot, enter the robot IP and select Connect (you can ignore the port). Make
sure you are using the latest driver path that supports HSE protocol (MotomanHSE).

RoboDK for Yaskawa Motoman Robots 1

To enable this mode of operation on the robot you should simply set the teach pendant to Remote mode.

This allows using RoboDK’s Run on robot option for online programming and debugging. The connection can
be established through a standard Ethernet connection (TCP/IP - UDP).
The following controllers work with the High-Speed Ethernet Server driver:
• DX100
• DX200
• FS100
• NX100
• YR1000
Note: If your Yaskawa/Motoman controller doesn’t support the High-Speed Ethernet Server protocol you’ll
need the MotoCom software option to use the robot driver (make sure you use the driver). This is a software
option for the client PC. This option is sold by Yaskawa/Motoman (usually by means of a USB key). This option
will allow you to connect any Motoman robot directly from RoboDK, including RS232 communication (make
sure to specify the COM port instead of the IP).
A connection between RoboDK and any Motoman robot can be established to move the robot automatically
from a connected PC using RoboDK and Motoman’s MotoCom software option.
This step is automatic and there is no need to set up anything specific on the robot side.

Update Pulses per degree information

Yaskawa Motoman robots require the pulses per degree for each joint to convert angular joint positions to
pulses and vice-versa. RoboDK automatically generates programs with the correct pulse information if the
pulses per degree ratio is provided in the robot parameters.
Follow these steps to verify if this information is available for your robot (or to update it):
1. Double click your Yaskawa Motoman robot in RoboDK
RoboDK for Yaskawa Motoman Robots 2
 2. Select Parameters
3. Select Unlock advanced options
4. Review or update the pulses/degree values for each joint
Once this information is updated you can generate your programs with the correct pulses/degree information.

RoboDK for Yaskawa Motoman Robots 3