Programming a Yaskawa robot involves several steps and depends on the specific model and the tasks you want to perform. Here's a general guide to get you started:


1. Understand the Basics

  • Familiarize with the Robot: Read the user manual and safety guidelines for your specific Yaskawa robot model.

  • Understand the Programming Environment: Yaskawa robots are typically programmed using the MotoPlus SDK for advanced applications or the INFORM language via the teach pendant for simpler tasks.


2. Setting Up the Robot

  • Install the Robot: Physically set up the robot according to the manufacturer’s instructions.

  • Connect to the Controller: Connect the robot to its controller and ensure all connections (power, data, etc.) are secure.


3. Using the Teach Pendant

The teach pendant is a handheld device that allows you to program and control the robot.

Basic Steps:

  • Power On: Turn on the robot and the teach pendant.

  • Select Mode: Switch to the appropriate mode (usually Teach mode) to allow programming.

  • Move the Robot: Use the jog buttons to manually move the robot to desired positions.

  • Record Positions: Teach the robot by moving it to each position and recording these positions.

  • Create a Program:

    • Navigate to the programming menu on the teach pendant.

    • Add a new program and start defining steps (moves, waits, IO commands, etc.).

  • Save and Test: Save the program and test it in a safe, controlled manner.


4. INFORM Programming Language

INFORM is Yaskawa's proprietary language for robot programming.

Basic INFORM Commands:

  • MOVJ (Move Joint): Moves the robot to a specified position in joint space.

  • MOVL (Move Linear): Moves the robot in a straight line to a specified position.

  • DOUT (Digital Output): Sets a digital output signal.

  • WAIT: Waits for a specified condition (e.g., time, input signal).

Example Program:

MOVJ VJ=50.00 PL=0 (Move robot in joint space with velocity 50%) MOVL V=200.0 PL=0 (Move robot linearly with velocity 200mm/s) DOUT OT#(1) ON (Turn on digital output 1) WAIT 1.0 (Wait for 1 second) DOUT OT#(1) OFF (Turn off digital output 1)


5. Advanced Programming with MotoPlus

MotoPlus allows for more complex and customized applications using C/C++.


  • Install MotoPlus SDK: Obtain and install the MotoPlus SDK from Yaskawa.

  • Develop Application:

    • Write your application code in C/C++ using the MotoPlus API.

    • Compile the code to generate a binary executable.

  • Upload to Controller:

    • Transfer the compiled program to the robot controller.

    • Run the program and monitor its execution.


6. Simulation and Offline Programming

  • Use Software Tools: Yaskawa provides software like MotoSim for offline programming and simulation.

  • Test Programs: Simulate the robot's movements and programs in a virtual environment before deploying them on the actual robot.


7. Safety and Troubleshooting

  • Safety First: Always follow safety protocols to prevent accidents.

  • Monitor and Debug: Use diagnostic tools and logs to troubleshoot issues.


8. Continuous Learning

  • Training: Attend Yaskawa training sessions and workshops.

  • Community and Support: Engage with the Yaskawa community and support channels for help and updates.

By following these steps and utilizing the appropriate tools and resources, you can effectively program a Yaskawa robot to perform various tasks