YASKAWA MP2100 Series User Manual page 439

(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 ( )
(6) Motion Operations
Function Name
ymcChangeDynamics ( )
ymcStopMotion ( )
(7) Driver Operations
Function Name
ymcServoControl ( )
(8) Others
Function Name
ymcDisableLatch ( )
ymcEnableLatch ( )
ymcWaitTime ( )
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 coordinate (u, v) specified by lpCenter and
simultaneously executes linear interpolation in a third axis 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.
Changes the motion data (acceleration, deceleration, position, and speed) for the speci-
fied axis.
Stops the axis specified by the device handle by the specified stop method (immediate or
decelerating to stop).
Turns the specified axis' servo ON or OFF. Verifies that the servo has gone ON or OFF
within the specified timeout time.
Disables the Latch function in the specified axis.
Enables the Latch function in the specified axis.
Waits for the specified timeout set time.
Summary
Summary
Summary
Summary
Summary
Summary
Summary
A.1 Motion API
A
A-3