YASKAWA MP210 Series User Manual page 311

E.1.2 Sequential APIs
The following tables show the list of Sequential APIs.
(1) Positioning Function
Function Name
ymcMovePositioning ( )
ymcMoveJOG ( )
ymcStopJOG ( )
ymcMoveHomePosition ( )
ymcMoveIntimePositioning ( )
ymcMoveExternalPositioning ( )
ymcMoveDriverPositioning ( )
(2) Interpolation Function
Function Name
ymcMoveLinear ( )
ymcMoveCircularCenter ( )
ymcMoveCircularRadius ( )
ymcMoveHelicalCenter ( )
ymcMoveHelicalRadius ( )
(3) Torque Reference Function
Function Name
ymcMoveTorque ( )
(4) Synchronization Function
Function Name
ymcDisableGear ( )
ymcEnableGear ( )
ymcSetGearRatio ( )
(5) Compensation Function
Function Name
ymcPositionOffset ( )
Executes PTP positioning in the axis specified by the device handle at the specified
acceleration/deceleration rates.
Executes JOG operation in the axis specified by the device handle.
Stops JOG operation in the axis specified by the device handle.
Performs home position return in the specified axis.
Clamps the feed speed so that moving is completed in the specified time and executes
PTP positioning.
If an external positioning signal is input during positioning, the specified axis will move
only the "external positioning moving amount" (incremental value).
Executes PTP positioning in the axis specified by the device handle.
Executes linear interpolation in the axis specified by the device handle.
Executes circular interpolation in the specified direction at the specified tangential
speed along an arc with the center point coordinate (u, v) specified by lpCenter.
Executes circular interpolation in the specified direction at the specified tangential
speed along an arc with the specified radius.
Executes circular interpolation in the specified direction at the specified tangential
speed along an arc with the center point coordinates (u, v) specified by lpCenter and
simultaneously executes linear interpolation for three axes outside of the circular inter-
polation plane.
Executes circular interpolation in the specified direction at the specified tangential
speed along an arc with the specified radius and simultaneously executes linear interpo-
lation in a third axis outside of the circular interpolation plane.
Specifies the torque for a torque control axis.
Turns the Gear OFF by the specified method. Multiple slave axes can be selected for a
single master axis.
Accelerates with speed control and turns the Gear ON when speed coincidence is
detected. Multiple slave axes can be selected for a single master axis.
Sets the gear ratio. Multiple axes can be selected.
Executes position compensation in the axis specified by the device handle at the speci-
fied time or position.
Summary
Summary
Summary
Summary
Summary
E.1 Motion API
E
E-3