List Of Commands And Apis - Renesas RX24T Reference Manual

Reference Guide for a 2-Axis Robot Arm with 2-Phase Stepping
Motors Incorporating Resolvers

2.3.2 List of Commands and APIs

The commands and APIs of this demo system are listed below.
Table 2-3 List of APIs (1)
Item Command
Setting setup_motorspeed
(RX72M) <tangential speed>
setup_workzeroangle
<joint angle 1> <joint
angle 2>
Setting setup_cp
(RX24T)
setup_ptp
setup_on
setup_off
Operation setup_motorzero
instruction <joint 1> <joint 2>
setup_workzero
move_line
<end flag> <end point
x> <end point y>
move_circle
<end flag> <end point
x> <end point y>
<midpoint x>
<midpoint y>
move_angle
<joint angle 1> <joint
angle 2>
move_wait <wait time>
State output_state
output
R01AN5644EJ0100 Rev.1.00
Jan 22, 2021
Abbr. Operation
SMS Sets the tangential speed
[mm/s].
SWA Enters the joint angle [°,
degrees)] at the work origin
(coordinates are (120, 120)).
PCP Sets the CP mode.
PTP Sets the PTP mode.
SON Turns on the power.
SOF Turns off the power.
SMZ Returns to the motor origin.
If the <joint 1> (0 or 1) or <joint
2> (0 or 1) argument is set to 1,
return to the origin proceeds.
<joint 1> and <joint 2> cannot be
specified at the same time.
SWZ Returns to the work origin.
MLI Performs linear interpolation.
If the end flag is a value other
than 0, operation is slowed down
and stopped at the end point.
MCI Performs circular interpolation.
If the end flag is a value other
than 0, operation is slowed down
and stopped at the end point.
MAN Moves the motor in the specified
angle.
MWA Keeps the arm waiting for the
specified wait time [ms].
OST Outputs the angle [° (degrees)]
and tip coordinates [mm] of the
current joint.
RX24T, RX72M,
RAA3064002GFP/RAA3064003GFP
Response
Normal: SMS OK
Error: SMS NG
Normal: SWA OK
Error: SWA NG
Normal: PCP OK
Error: PCP NG
Normal: PTP OK
Error: PTP NG
Normal: SON OK
Error: SON NG
Normal: SOF OK
Error: SOF NG
Normal: SMZ OK
Error: SMZ NG
Normal: SWZ OK
Error: SWZ NG
Normal: MLI OK
Error: MLI NG
Normal: MCI OK
Error: MCI NG
Normal: MAN OK
Error: MAN NG
Normal: MWA OK
Error: MWA NG
Normal: See
section 2.3.3.
Error: OST NG
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