@raydotac/yaskawa-js

High-performance Node.js driver for Yaskawa Motoman robot controllers (DX100, DX200, YRC1000, FS100) via High Speed E-Server (HSES) UDP protocol. Zero native dependencies!

⚡ Features

• Pure Node.js: Built on native dgram and Buffer. No Python, no C++ build tools, no native DLL dependencies.
• Fast & Lightweight: Single UDP request/response latency < 5ms.
• Dual Module Support: Native ESM (import) and CommonJS (require).
• Motion Control: Direct 6-axis joint motion (0x8B - Move Joints), Cartesian motion, and Inform Job upload (HOME_GOTO.JBI).
• Telemetry & Status: Read 6-axis pulse positions (0x75), Cartesian ($X, Y, Z, R_x, R_y, R_z$), mode (Remote/Play), Servo status, Alarms.
• Automated Return-Home: 1-call returnHome() with real-time feedback and trajectory progress monitoring.
• TypeScript Support: Full type declarations bundled (index.d.ts).

📦 Installation

npm install @raydotac/yaskawa-js

🚀 Quick Start

ES Modules (ESM)

import { YaskawaClient, DEFAULT_HOME_COORDS } from '@raydotac/yaskawa-js';

const robot = new YaskawaClient({
  ip: '192.168.1.83', // Robot Controller IP
  dataPort: 10040,    // HSES Data Port (default: 10040)
  filePort: 10041,    // HSES File Port (default: 10041)
  defaultSpeed: 15.0  // Default speed % (15% joint speed)
});

// 1. Read Robot Status
const status = await robot.getStatus();
console.log('Servo ON:', status.servoOn, 'Remote:', status.remoteMode);

// 2. Read 6-Axis Pulses
const pos = await robot.getJointPositions();
console.log('Current Pulses [S, L, U, R, B, T]:', pos.axes);

// 3. Return to Work Origin (C00000)
const res = await robot.returnHome({
  speedPercent: 15.0,
  onProgress: (p) => {
    console.log(`[${p.elapsedSec}s] ${p.percent}% completed (Delta: ${p.deltaTotal} pulses)`);
  }
});

if (res.ok) {
  console.log('Robot safely returned to Home in', res.durationMs, 'ms');
}

CommonJS (CJS)

const { YaskawaClient, COMMANDS } = require('@raydotac/yaskawa-js');

const robot = new YaskawaClient({ ip: '192.168.1.83' });
robot.getStatus().then(status => console.log('Status:', status));

🛠️ Build & Scripts

• Build module: npm run build
• Run tests: npm test
• Inspect package bundle: npm run pack:test
• Dry run publish: npm run pub:dry
• Publish to npm: npm run pub

🛡️ License

MIT © raydotac / mrtruongleo