1. Definition of Terms Used Often in This Manual. The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the.
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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 may 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 4.2 you can connect to the robot controller using RoboDK’s robot driver using the High-Speed Ethernet Server (HSE) protocol and the driver called MotomanHSE. This driver does not require you to have the MotoCom software option. This communication protocol (also called “Remote”) 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.

Yaskawa Motoman robots require knowing the ratio of pulses per degree, for each joint, to convert angular joint values 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.

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).

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).