Yaskawa YRC High-Speed Ethernet

Purpose

This plugin uses the Yaskawa High Speed Ethernet binary UDP protocol to read alarms, state, pose, torque, I/O, registers, and controller variables and, when authorized, execute servo, program, I/O, and variable controls. It is named YrcHighEthernetMaster in the device selector.

See Collection Configuration for common device and variable operations. This page covers the processing division, special methods, and seven dedicated debug views.

Open the plugin

Create a UDP channel and device and select YrcHighEthernetMaster. Confirm local and controller addresses, ports, and bidirectional UDP firewall rules.

Supported scope and property

Item	Description
Channel	UDP. Verify both request and response routes.
Data type	Select the type required by the chosen special method.
Processing division	1 for robot control and 2 for file control. Use 1 for common state, I/O, and motion operations.

Variable rule

The plugin does not use cyclic register addresses. Select one of the special methods below and use the variable address as that method's parameter.

Special methods

State and control

Method	Purpose	Parameters
ReadAlarmsAsync	Read current alarms	-
ReadHistoryAlarmsAsync	Read alarm history	alarmType; length: 1–100
ReadStatusAsync	Read controller state	-
ReadJobSequenceAsync	Read job sequence	task: 1–16
ReadPoseAsync / ReadTorqueAsync	Read pose or torque	-
HoldAsync	Set HOLD	status: true/false
ResetAsync / CancelAsync	Reset alarms or cancel an error	-
SetServoAsync / SetInterlockAsync	Set servo or interlock	status: true/false
SetCycleAsync	Set cycle mode	number: 1 step, 2 single, 3 continuous
DisplayMessageAsync	Display a controller message	message: up to 475 ASCII bytes
StartAsync	Start the job	-
SetJobSequenceAsync	Select job and line	programName: up to 32 ASCII bytes; line: 0–9999

Controller information

Method	Purpose	Parameters
ReadManagementTimeAsync	Read management time	address
ReadManagementTimeSpanAsync	Read accumulated duration	address
ReadSystemInfoAsync	Read system information	system

I/O and registers

Method	Purpose	Parameters
ReadIoByteAsync / WriteIoByteAsync	Read/write one I/O byte	address; write value
ReadIoBytesAsync / WriteIoBytesAsync	Read/write I/O bytes	address; read length 1–474; write even-byte value
ReadRegisterAsync / WriteRegisterAsync	Read/write one register	read address 0–999; write address 0–599, UInt16 value
ReadRegistersAsync / WriteRegistersAsync	Read/write registers	address; length or values: 1–237

Controller variables

Methods	Type	Address / batch limit
ReadByteVariableAsync, WriteByteVariableAsync, ReadByteVariablesAsync, WriteByteVariablesAsync	Byte	address 0–99; batch up to 474 bytes
ReadIntegerVariableAsync, WriteIntegerVariableAsync, ReadIntegerVariablesAsync, WriteIntegerVariablesAsync	Int16	address 0–99; batch up to 237
ReadDoubleIntegerVariableAsync, WriteDoubleIntegerVariableAsync, ReadDoubleIntegerVariablesAsync, WriteDoubleIntegerVariablesAsync	Int32	address 0–99; batch up to 118
ReadRealVariableAsync, WriteRealVariableAsync, ReadRealVariablesAsync, WriteRealVariablesAsync	Float	address 0–99; batch up to 118
ReadStringVariableAsync, WriteStringVariableAsync, ReadStringVariablesAsync, WriteStringVariablesAsync	Fixed ASCII	address 0–99; one value up to 16 bytes; batch up to 29
ReadPositionVariableAsync	Position	address 0–99
ReadBasePositionVariableAsync	Base position	address 0–127

Raw command

Method	Purpose	Parameters
SendCommandAsync	Execute a raw protocol command	command, dataAddress, dataAttribute, dataHandle, data bytes

Writes, servo, HOLD, interlock, cycle, program start, and raw commands can move the robot or alter controller state. Confirm operating mode, safety area, interlocks, emergency stop, and site authorization first.

Functions

Function	Purpose
Robot status	Use Robot status to inspect mapped values, status, counters, recent messages, or the latest result.
Controller control	Use Controller control with an approved test point and confirm site safety before execution.
Read or monitor	Read current values or monitor the latest device update.
Control operation	Use Control operation with an approved test point and confirm site safety before execution.
Variable mapping	Check how incoming data is mapped to the selected variable.
Plugin operation	Use the controls on this plugin page and review the returned result.
Raw command	Use Raw command to send or inspect protocol frames and view the device or target response.

Device debug

Open Development Configuration → Collection Configuration, select the YRC device, and open its protocol debug panel.

Feature	Purpose
Robot Status	Alarms, state, job sequence, pose, and torque.
Controller Control	HOLD, reset, servo, cycle mode, and job start.
Controller Information	Management time and system information.
Controller Variables	Registers and byte, integer, double, real, and string variables.
Position Variables	Position and base-position variables.
I/O	Single and batch I/O.
Raw Command	Low-level command, address, attributes, and bytes.

Begin with read-only alarms, state, pose, variables, and controller information. Every write or control requires separate safety confirmation.

Verify the configuration

1. Confirm UDP request and response traffic.
2. Read alarms, state, pose, and one variable and compare them with the teach pendant.
3. Test writes only on approved test addresses and verify controller feedback immediately.

Troubleshooting

Symptom	Check
No response	UDP addresses/ports, processing division, firewall, controller service, and response route.
Read fails	Method parameter, address range, controller mode, and command support.
Write is rejected	Writable range, value length/type, robot mode, write protection, and interlocks.
Job cannot start	Servo, HOLD, alarms, selected job, cycle mode, and safety conditions.
Raw command fails	Command, data address, attribute, handle, payload length, and processing division.

Related links

• Collection Configuration: Common device, variable, and debug operations.
• Plugin Manual Index: Other plugins.