Motion Api; Overview Of The Motion Api - YASKAWA MP210 Series User Manual

5 Outline of Motion Control Systems

5.6.1 Overview of the Motion API

5.6 Motion API

5.6.1 Overview of the Motion API
The Motion API is a group of C-language service functions that send commands to the MP2100/MP2100M
from a user application running in the host computer. Commands such as motion commands can be sent easily
from the host computer based on the mechanical characteristics of the system.
(1) Main Motion API Functions
The main motion API functions are listed below. Refer to Appendix E Motion API for more details.
(a) Common APIs
• Device
• Unit conversion function
• Parameter operations
(b) Sequential APIs
• Positioning function
• Interpolation function
• Torque reference function
• Synchronization function
• Compensation function
• Motion operations
• Driver operations
(c) System APIs
• Data operations
• System information
• System operations
• Calendar operations
5-44
Personal computer
ymc Move Circular Center (...)
ymc Move Circular Radius (...)
PCI bus
MP2100/MP2100M
The controller's internal
S, M, I, and O registers
can be accessed from
the computer program.
Ladder program
Motion API
Registers
Motion registers
OW8
IW8
Motion control system
MECHATROLINK-II