v2.2.0.0

Fixed Enum Tool / User Coordinates

• Corrected swapped enum values for tool/user coordinate modes in High Speed Ethernet Server position data.
• PositionCommandOperationCoordinate.Tool is now value 18 (TCP/tool frame).
• PositionCommandOperationCoordinate.User is now value 19 (user-defined frame).
• RobotPositionDataType.ToolCoordinateValue and RobotPositionDataType.UserCoordinateValue were aligned accordingly.

v2.1.0.0

• refactor RobotPositionIntData constructor for clarity

v2.0.0.0

HSES: I/O Group Addressing

• New IOType enum: strongly-typed enumeration of all Yaskawa I/O signal categories (GeneralInput, GeneralOutput, ExternalInput, NetworkInput, ExternalOutput, NetworkOutput, SpecificInput, SpecificOutput, InterfacePanelInput, AuxiliaryRelay, RobotControlStatus, PseudoInput).
• New IoHelpers static class: utility for converting an I/O type + 1-based group number + bit index into a flat Yaskawa 5-digit contact number (ConvertIOGroupToBitAddress).
• New ReadIO(IOType, group, count) overload: reads multiple I/O bytes using group addressing instead of a raw flat index.
• New WriteIO(IOType, group, data) overload: writes I/O bytes using group addressing.
• New WriteIoNetworkInput(group, data) convenience method: shorthand for writing bytes to the Network Input group.

HSES: Job Call Stack

• New GetJobStack(taskNumber) command returns the call stack (job name, line number, step number) of a running task, useful for debugging multi-level job execution.

HSES : CMOS.BIN backup

• New BatchDataBackup() command to trigger a backup of CMOS.BIN file, then you can download it

HSES Improvements

• Simplified connection: Connect() method now accepts optional parameters with defaults instead of requiring a parameters object.
• Public constants for default connection values: DEFAULT_DATA_TIMEOUT_MILLISECONDS, DEFAULT_POWER_ON_TIMEOUT_MILLISECONDS, DEFAULT_FILE_TIMEOUT_MILLISECONDS, DEFAULT_DATA_PORT, DEFAULT_FILE_PORT.
• New strongly-typed data classes for robot responses: RobotIOData, RobotByteData, RobotIntegerData, RobotDoubleData, RobotRealData, RobotStringData, RobotPositionData, RobotBasePositionData, RobotRegisterData.
• Read-only properties: All data classes returned by the robot (RobotStatusData, RobotAlarmData, RobotJobData, RobotPositionCartesianData, RobotSystemInformation, etc.) now have read-only properties for safer API usage.
• GetFileProgress and LoadFileProgress now use read-only properties instead of public fields.
• Improved RobotPositionData and FlipInformation for more robust data handling and encoding.
• Default optional argument value for move commands are now int RobotControlGroup = 1, int StationControlGroup = 0 to work without specifying control groups in most cases.
• RobotPosture enhancements: added ToString(), Equals(object), and GetHashCode() overrides for easier debugging, logging, and value comparisons.
• Speed override precision fix: RobotJobData.SpeedOverride is now a double and the HSES parser converts the controller raw value to a percentage scale.

Improvements

• ConnectException: new strongly-typed exception thrown when a connection to the robot controller fails (replaces generic exceptions).
• YaskawaRobot.Connected property: returns true if any communication interface is currently connected.
• New RobotFileContentData.ContentRaw property: complements Content by exposing the raw downloaded bytes, which is useful for binary files such as CMOS.BIN.
• Bug fix: fixed incorrect reading of Double variables — Double maps to a 32-bit double-integer (DINT), not a floating-point double.

Internal migration to new C# version

• The entire library has been rewritten for improved performance, tooling compatibility, and modern language feature support.

Documentation

• Added XML documentation to all public classes, methods, and properties.
• Improved IntelliSense support with detailed parameter descriptions.

Internal

• Refactored internal codebase to improve maintainability.
• HighSpeedEServerConnectParametersBase is now abstract.
• Added safe read methods to Packet Reader for more robust protocol parsing.
• Updated embedded submodule reference for Yaskawa.py.

v1.7.0.0

• Fix read and write Int16 registers

v1.6.1.0

• Fix WriteInteger to write Int16 and not byte values
• Fix Write32BytesChar stack overflow exception

v1.6.0.0

• Fix WriteInteger to write Int16 and not byte values
• Fix Write32BytesChar stack overflow exception

v1.5.0.0

• Read data from the 8 axes (position, error, ..)

v1.4.0.0

• Remove the Write methods with the IEnumerable argument. You should now use the prototype with the array argument.

v1.3.0.0

• Fixed a stack overflow exception when writing to I/O, variables, and registers

v1.2.0.0

Additional methods for writing and reading data via High Speed Ethernet Server