YASKAWA YRC1000micro Instructions Manual

Also see for YRC1000micro: Instructions Collaborative Operation Instructions Instructions Instructions Instructions

Contents

YASKAWA YRC1000micro Instructions Manual Manual pdf 13 page image

1 Outline1.4 Supported Services1-3HW1484528HW14845281.4 Supported ServicesMotoPlus provides users with a variety of services as follows:1. Application task controlApplication task start/stop, data transmission between applicationprograms by the mailbox and semaphore, exclusive control andexecution synchronization2. Robot controlRobot control from the application program3. JOB controlStart-stop control of the JOB by the application, data transmissionbetween Jobs by variables (byte, integer, double-precision, floating-point, character string, and position variable), and executionsynchronization4. CIO controlI/O between the application program and the CIO, and read/ write ofthe register5. Ethernet communication controlThe Ethernet (TCP/IP) communication from the application, especiallyusing the socket function library included as an API6. Programming pendant communicationData transmission between the application and the programmingpendant application7. EVENTEvent notification to the application at every I/O control cycle andinterpolation control cycle of the system8. Sensor controlThe APIs which transfer data to and from a job and change operatingconditions such as path correction and speed change, and theinstructions which transfer data between a job and MotoPlusapplication9. Memory managementThe protected memory managementSpecific instructions, malloc and mfree, support the data area whichthe system manages for MotoPlus.10. General-purpose file controlThe function to access multiple general-purpose files by using thefixed area on CMOS as a drive11. Existing file controlThe function to access existing files (jobs and condition files, etc.which can be loaded and saved by external memory)12. Servo controlServo control from the application program13. User watchdogWatchdog to monitor whether the application operates normally14. Coordinate conversionCalculation of the manipulator order or inverse kinematics, coordinateconversion, pulse conversion from the feedback pulse to the arithmeticpulse, or linear algebra calculation.15. Development environment13/77