HSES Protocol Specification Skill

HSES Protocol Specification

This skill provides the complete specification for the HSES (High Speed Ethernet Server) protocol used to communicate with Yaskawa robot controllers.

When to Use

Understanding HSES protocol message structure and formats
Implementing or debugging HSES communication
Looking up specific command IDs, attributes, or error codes
Understanding the binary protocol layout (headers, payloads)

Protocol Overview

HSES is a UDP-based communication protocol for Yaskawa robots.

Communication Specifications

| Property | Value | |----------|-------| | Protocol | UDP | | Robot Control Port | 10040 | | File Control Port | 10041 | | Endianness | Little-endian |

Message Structure

+------------------+
| Header (32 bytes)|
+------------------+
| Payload (≤479B)  |
+------------------+

Header Layout (32 bytes)

| Offset | Size | Field | Description | |--------|------|-------|-------------| | 0-3 | 4 | Magic | "YERC" | | 4-5 | 2 | Header size | Always 0x20 (32) | | 6-7 | 2 | Payload size | Variable | | 8 | 1 | Reserved | Always 0x03 | | 9 | 1 | Division | 0x01=Robot, 0x02=File | | 10 | 1 | ACK | 0x00=Request, 0x01=Response | | 11 | 1 | Request ID | Incremental session ID | | 12-15 | 4 | Block number | See block numbering rules | | 16-23 | 8 | Reserved | "99999999" | | 24-31 | 8 | Sub-header | Command-specific |

Block Number Rules

| Context | Value | |---------|-------| | Request | Always 0 | | Single response | 0x8000_0000 | | Multi-response data (not last) | Increment from previous | | Multi-response data (last) | Previous + 0x8000_0000 | | ACK packet | Same as corresponding data |

Request Sub-header (bytes 24-31)

| Offset | Size | Field | |--------|------|-------| | 24-25 | 2 | Command ID | | 26-27 | 2 | Instance | | 28 | 1 | Attribute | | 29 | 1 | Service | | 30-31 | 2 | Padding (0x00) |

Response Sub-header (bytes 24-31)

| Offset | Size | Field | |--------|------|-------| | 24 | 1 | Service + 0x80 | | 25 | 1 | Status | | 26 | 1 | Added status size | | 27 | 1 | Padding | | 28-29 | 2 | Added status (error code) | | 30-31 | 2 | Padding (0x00) |

Response Status Values:

0x00: Normal reply
0x08: Command not defined
0x09: Invalid element number
0x1f: Abnormal reply (check added status)
0x28: Instance does not exist

Robot Commands (Division = 0x01)

Command Reference Table

| Command ID | Name | Description | |------------|------|-------------| | 0x70 | Alarm data reading | Read current alarm | | 0x71 | Alarm history reading | Read alarm history | | 0x72 | Status reading | Read robot status | | 0x73 | Executing job info | Read current job info | | 0x74 | Axis configuration | Read axis config | | 0x75 | Position data reading | Read robot position | | 0x76 | Position error reading | Read position error | | 0x77 | Torque data reading | Read torque data | | 0x78 | I/O data | Read/write I/O | | 0x79 | Register data | Read/write registers | | 0x7A | Byte variable (B) | 8-bit unsigned | | 0x7B | Integer variable (I) | 16-bit signed | | 0x7C | Double variable (D) | 32-bit signed | | 0x7D | Real variable (R) | 32-bit float | | 0x7E | String variable (S) | 16-byte string | | 0x7F | Position variable (P) | Robot position | | 0x80 | Base position (BP) | Base position | | 0x81 | External axis (EX) | External axis | | 0x82 | Alarm reset | Reset/cancel alarms | | 0x83 | HOLD/Servo control | HOLD and servo ON/OFF | | 0x84 | Cycle mode switch | Step/cycle/continuous | | 0x85 | PP message display | Show message on pendant | | 0x86 | Job START | Start job execution | | 0x87 | Job select | Select job | | 0x88 | Management time | Get management time | | 0x89 | System information | Get system info | | 0x8A | Move (Cartesian) | Move command | | 0x8B | Move (Pulse) | Move command | | 0x8C | String (S) 32-byte | 32-byte string variable | | 0x300 | Plural I/O | Multiple I/O | | 0x301 | Plural register | Multiple registers | | 0x302 | Plural B variable | Multiple byte vars | | 0x303 | Plural I variable | Multiple integer vars | | 0x304 | Plural D variable | Multiple double vars | | 0x305 | Plural R variable | Multiple real vars | | 0x306 | Plural S variable | Multiple string vars | | 0x307 | Plural P variable | Multiple position vars | | 0x308 | Plural BP variable | Multiple base pos vars | | 0x309 | Plural EX variable | Multiple ext axis vars | | 0x30A | Alarm data (sub code) | Alarm with sub strings | | 0x30B | Alarm history (sub) | History with sub strings | | 0x30C | Plural S 32-byte | Multiple 32-byte strings | | 0x0411 | Encoder temperature | Read encoder temp | | 0x0413 | Converter temperature | Read converter temp |

Service Types

| Service | Value | Description | |---------|-------|-------------| | Get_Attribute_Single | 0x0E | Read single attribute | | Get_Attribute_All | 0x01 | Read all attributes | | Set_Attribute_Single | 0x10 | Write single attribute | | Set_Attribute_All | 0x02 | Write all attributes |

File Commands (Division = 0x02)

File commands use Command ID = 0x00 and are distinguished by Service code.

| Service | Name | Direction | Description | |---------|------|-----------|-------------| | 0x09 | File delete | - | Delete file on controller | | 0x15 | File loading | PC → FS100 | Upload file to controller | | 0x16 | File saving | FS100 → PC | Download file from controller | | 0x32 | File list | FS100 → PC | Get directory listing |

File Transfer Protocol

Downloading file from controller (File Saving, Service 0x16):

Send request with filename
Receive file data blocks from controller
Send ACK for each data block
Continue until final block (bit 31 set in block number)

Uploading file to controller (File Loading, Service 0x15):

Send request with filename
Receive ACK for command acceptance
Send file data blocks to controller
Receive ACK for each data block
Set bit 31 on final block

Status Data Structure

Status Data 1 (Command 0x72, Instance 1)

| Bit | Meaning when ON | |-----|-----------------| | 0 | Step mode | | 1 | One-cycle mode | | 2 | Continuous mode | | 3 | Running | | 4 | Speed limited | | 5 | Teach mode | | 6 | Play mode | | 7 | Remote mode | | 8-15 | Reserved |

Status Data 2 (Command 0x72, Instance 2)

| Bit | Meaning when ON | |-----|-----------------| | 0 | Hold pending | | 1 | Hold by external | | 2 | Hold by command | | 3 | Servo ON (ready) | | 4 | Error | | 5 | Alarm | | 6-15 | Reserved |

Common Error Codes (Added Status)

| Code | Meaning | |------|---------| | 0x1010 | Cannot operate (mode/state) | | 0x1018 | Servo not ready | | 0x2010 | Cannot operate in teach mode | | 0x2050 | In hold state | | 0x2060 | System already in requested state | | 0x3040 | Job not found | | 0x3400 | File not found | | 0x4040 | Invalid variable index |

Related Skills

For implementing HSES communication in Rust, see:

moto-hses-usage: Client library usage guide for the moto-hses crate family

Detailed Reference

For complete protocol details including all command payloads, response formats, and example packets, see:

references/protocol-overview.md - Protocol structure and header format
references/sequence-diagrams.md - Communication flow diagrams
references/robot-commands-status.md - Status and alarm commands
references/robot-commands-variables.md - Variable read/write commands
references/robot-commands-control.md - Control and motion commands
references/file-commands.md - File operation commands
references/data-types.md - Variable types and position formats
references/error-codes.md - Error code definitions

Agent Skills: HSES Protocol Specification

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