@Sinai_Aranda We have ROS support for executing Yaskawa INFORM-Jobs, reading&writing IOs & Variables for DX100 in our Motoman-Fork which ships with the [Rosvita](
https://xamla.com/en/) beta. It comes also with simulation of all the Motoman ROS services for testing of programms without a real robot. We have tested so far on a DX100 and a FS100 with SDA10 robots.
You can see the functionality in our [Motoman plugin video](
https://www.youtube.com/watch?v=waSYmm5U6fA). The software is in beta, for more details see our [web site](
https://xamla.com/en/) or our other [videos](
https://www.youtube.com/xamla). Which robot are you using?
(I will post more details about Rosvita in 8-12 weeks with an official announcement.)
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