Yaskawa support

Motoman - Yaskawa support

SkyBlue provides a support for Motoman-Yaskawa robots. In the moment this has been tested in DX200 Controller with MH20 robot.

A special application written in MotoPlus support 3 tasks. Two of the tasks are covering Yaskawa template for integration in interpolation loop. The third task is communicating with SkyBlue using a custom UDP protocol. The protocol allows sending of data to Yskawa and reading specific Yaskawa variables. The variables needed by SkyBlue are I000 - skyblue mode (0 - do not measure, 1 - do measure) and I001 - change to preset (joint type with parameters) suitable for the respective welding object. D002-D015 variables are used to send back measurment results when measurment is switched on. The measurment result set is the typical for SkyBlue result set:

The SkyBlue Motoplus application can be requested on the e-mail below.