The following document outlines the YASKAWA services available on the YNX1000 Autonomous Control Unit (ACU). These services allow for robotic control, data acquisition, and parallel processing. This guide is intended to be an overview to become familiar with the available services and provide a brief developer reference for communication and control.
The following is a list of all currently available default YASKAWA services:
| Service | Abbreviation | Description |
|---|---|---|
| Robot Control Service | RCS | Provides direct control to primary robotic functions. |
| Path Planning Service | PPLS | Allows execution of autonomous path planning and motion. |
| Machine Vision Service | MVS | Provides functionality for image acquisition and processing. |
| AI Service | AIS | Allows users to execute Vision and Picking inference models. |
| Force Control Service | FCS | Provides access to force torque sensor data and complex procedures. |
The following is a list of the host name and port numbers for connecting via gRPC for all YASKAWA services:
| Service | Hostname | Port | Module |
|---|---|---|---|
| RCS | RobotControlService | 50300 | |
| PPLS | PathPlanningService | 50310 | |
| MVS | MachineVisionService | 50100 | |
| AIS | AIService | 50210 | AI Picking server |
| AIS | AIService | 50220 | AI Vision server |
| AIS | AIService | 50221 | Relearning server |
| FCS | ForceControlService | 50500 | Unary operation server |
| FCS | ForceControlService | 50501 | Motion execution server |
| FCS | ForceControlService | 50502 | FC data stream server |
When connecting to a gRPC service, it is possible to connect via the hostname when running directly on the ACU. However, during development it may be beneficial to connect remotely to a gRPC service directly on your development environment. This can be done by replacing the hostname in the connection details with the IP address of the ACU (by default this is commonly 192.168.1.253).
Example:
// Initialize the gRPC client with hostname
auto channel = grpc::CreateChannel("RobotControlService:50300" , grpc::InsecureChannelCredentials());
// Initialize the gRPC client with the ACU IP address
auto channel = grpc::CreateChannel("192.168.1.253:50300" , grpc::InsecureChannelCredentials());