Programming Languages & Developer Tools

Introduction

Yaskawa Motoman offers several programming tools and SDKs, each targeting a different use case, skill set, and level of system access. Choosing the right one depends on where your code needs to run (on the controller vs. an external PC), whether you need real-time determinism, and which programming language your team is most comfortable with.

This article provides an overview of each tool, the programming language(s) it uses, which controllers it supports, and when you would choose one over another.

Quick Reference: Tools at a Glance

The table below summarizes the complete Yaskawa developer tool ecosystem. Detailed descriptions of each tool follow in the subsequent sections.

Which Tool Should I Use?

Use the following table to match your requirements to the right tool.

INFORM

Overview

INFORM is Yaskawa’s native, proprietary robot programming language. It is the default way to program any Yaskawa Motoman robot and runs directly on the controller in real-time. Every Yaskawa controller ships with INFORM support—no additional purchase or software option is required.

INFORM jobs are created and edited on the teach pendant (either the Standard Pendant or Smart Pendant) or via offline programming tools like MotoSim EG-VRC. Jobs are stored as .JBI files on the controller.

Language Characteristics

Type: Line-based, interpreted instruction language

Syntax style: One instruction per line; each line is a keyword followed by parameters

Flow control: JUMP, CALL, RET, TIMER, WAIT, CWAIT, TWAIT

Variables: Byte (B), Integer (I), Double (D), Real (R), String (S), Position (P, BP, EX)

I/O access: DOUT, DIN, AOUT, AIN, and group I/O instructions

Common Instructions

MOVJ – Joint interpolated move (fastest point-to-point)

MOVL – Linear interpolated move (straight-line path)

MOVC – Circular interpolated move

DOUT OT#(n) ON/OFF – Set a digital output

WAIT IN#(n)=ON – Wait for a digital input condition

SET B000 n – Assign a value to a byte variable

CALL JOB:name – Call a subroutine job

When to Use

INFORM is the starting point for nearly all robot programming tasks. Use it for teaching positions, writing motion sequences, handling I/O handshakes with PLCs or peripheral equipment, and building production jobs. For most standard applications (welding, palletizing, material handling), INFORM alone is sufficient.

MotoPlus SDK

Overview

The MotoPlus SDK allows you to write custom applications in ANSI C that compile to executables and run directly on the robot controller’s CPU (VxWorks real-time operating system). MotoPlus apps execute as concurrent tasks alongside the standard robot control software, giving you hard real-time access to motion, I/O, variables, and internal controller functions.

MotoPlus SDK is a purchased software option (sold per controller generation). It functions as a plug-in for Microsoft Visual Studio (Professional or the free Community edition).

Language & Development Environment

Language: ANSI C

IDE: Microsoft Visual Studio (plug-in)

Target OS: VxWorks (on the controller)

Compilation: Cross-compile on PC, then load the resulting binary (.out file) onto the controller via pendant or file transfer

Key Capabilities

The MotoPlus API provides access to multi-tasking communication, file transfer, position and motion data, variables and registers, I/O, robot jobs, and alarm/error handling. Because the code runs on-controller, it achieves deterministic timing that external PC-based solutions cannot match.

When to Use

Choose MotoPlus when you need hard real-time execution, such as implementing custom sensor processing loops, force/torque control algorithms, proprietary communication protocols, or embedded data acquisition. It is also the foundation for MotoROS2 (the ROS 2 node runs as a MotoPlus application).

YMConnect

Overview

YMConnect is Yaskawa’s modern communication library for building custom PC applications that control and monitor Motoman robots over Ethernet.

Language & Platform

Languages: C++ 17 and C# (additional languages on the development roadmap)

Platforms: Windows 10+ and Ubuntu 22.04+

IDE: Visual Studio (C++ or C#), or any C++17 / .NET compatible toolchain

Controller Compatibility

YMConnect supports the YRC1000, YRC1000micro, DX200, FS100, and DX100 (DS2.07.00-00 and above). The dynamic motion interface (generating motion on the fly with kinematic conversions) is only available on YRC1000 and newer.

Key Capabilities

YMConnect provides intuitive function calls for reading axis configuration, monitoring feedback position and torque, monitoring state and errors, clearing faults, controlling INFORM jobs, reading/writing all variable types (byte, integer, double, real, string, position), I/O access, and file management (save, load, delete job files).

When to Use

Use YMConnect when you need a PC application to interface with a robot but do not require hard real-time control. Common use cases include custom HMIs, data dashboards, supervisory control, data logging, and integration with PC-based vision or analytics systems. If you are currently using MotoCom, YMConnect is the recommended migration path.

Smart Pendant Extension SDK

Overview

The Smart Pendant Extension SDK allows software developers to create custom extension “apps” that run directly on the Yaskawa Smart Pendant. Extensions can display custom UI windows, integrate into pendant menus and interact with the robot controller through a provided API.

Language & Platform

Language: C#, Java (the SDK provides a wrapper around Apache Thrift-generated client code)

Development Workflow

During development, extension executables can run on any desktop with network connectivity to the pendant (or simulated pendant app). For distribution, the SDK’s packaging tool combines the extension, supporting files, INFORM jobs, MotoPlus apps, and other artifacts into a single Yaskawa Install Package (.yip) file for easy deployment.

When to Use

Choose this SDK when you want to build a custom operator interface that lives on the pendant itself—for example, a simplified operator screen, a custom setup wizard, or application-specific controls.

MotoROS2

Overview

MotoROS2 is a ROS 2 node that runs natively on the Yaskawa robot controller. Built on the micro-ROS stack, it is (as of its release) the first native ROS 2 node to run directly on an industrial robot controller. On the PC side, a lightweight micro-ROS Agent bridges communication between the controller and the broader ROS 2 network.

Languages Involved

On-controller (MotoROS2 node): C (compiled via MotoPlus SDK as a .out MotoPlus application)

Client-side ROS 2 nodes: Python or C++ (standard ROS 2 development)

Path planning: Typically C++ via MoveIt 2 or Tesseract, though Python wrappers exist

How It Works

The MotoROS2 MotoPlus application runs on the controller and publishes joint states, provides services for I/O, and exposes multiple motion options. On your PC, you run the micro-ROS Agent (available as a Docker image or built from source) which transparently bridges UDP communication to the ROS 2 DDS layer. From there, standard ROS 2 tools and MoveIt can plan and command robot motion.

When to Use

Choose MotoROS2 when your project operates within the ROS 2 ecosystem—for example, research labs, multi-robot coordination, integration with perception pipelines (cameras, LiDAR), or when using MoveIt for path planning. It is currently compatible with DX200, YRC1000 and YRC1000micro controllers only.

Important Notes

RMW requirement: FastDDS only (the default for Foxy, Humble, Jazzy, and Rolling). CycloneDDS is not compatible.

Trajectory limit: Standard FollowJointTrajectory actions are capped at 200 points. Other motion services are available to work around this limitation.

License: Open source, but requires the purchased MotoPlus SDK to build.

Third-Party & Community Tools

In addition to Yaskawa’s official SDKs, several third-party tools and community projects are worth noting:

High Speed Ethernet Server (HSE) Protocol

HSE is a UDP-based protocol built into modern Yaskawa controllers (no additional option required). Third-party tools like RoboDK use it for online programming and real-time monitoring at roughly 70 Hz. Third-party SDKs (e.g., UnderAutomation’s Yaskawa SDK) wrap HSE for .NET, Python, and LabVIEW without requiring MotoCom or YMConnect.

RoboDK

RoboDK is a third-party offline programming and simulation tool that supports Yaskawa Motoman robots. It can generate .JBI (INFORM) files and connect directly to controllers via the HSE protocol or MotoCom for online programming.

MotoSim EG-VRC

Yaskawa’s own offline programming and simulation environment. While not a programming language per se, it is the official tool for creating and testing INFORM jobs offline before deploying to a real controller. Useful for reach studies, cycle time estimation, and collision checking.

Summary

The Yaskawa programming ecosystem can be grouped into three tiers:

On-controller, real-time: INFORM (native job programming) and MotoPlus SDK (custom C applications on the controller OS). These give you deterministic execution and direct hardware access.

PC-based communication: YMConnect (modern, cross-platform, C++/C#) and MotoCom (legacy, Windows-only, any Win32 language). These let external applications monitor, command, and integrate with robots over Ethernet.

Specialized environments: Smart Pendant Extension SDK (Java, for pendant UI apps), MotoROS2 (C on controller + Python/C++ on PC, for ROS 2 integration), and third-party tools like RoboDK.

For most users, INFORM is where you start. As your requirements grow—whether toward real-time embedded logic (MotoPlus), PC-based integration (YMConnect), or research-grade robotics frameworks (MotoROS2)—the ecosystem provides a clear path forward in a language and platform that matches your team’s skills.

Key Links

Yaskawa Developer Portal: developer.motoman.com

Yaskawa GitHub: github.com/Yaskawa-Global

YMConnect Releases: github.com/Yaskawa-Global/YMConnect/releases

MotoROS2: github.com/Yaskawa-Global/motoros2

Smart Pendant SDK: github.com/Yaskawa-Global/SmartPendantSDK