YASKAWA YRC1000micro Instructions Manual

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

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YASKAWA YRC1000micro Instructions Manual Manual pdf 18 page image

1 Outline1.5 Application Program Development Environment1-8HW1484528HW14845281.5.4 Development FlowFig. 1-4: Program Development FlowModify the programNo compile error?No compile error?Start the application program.Debug.OK?Development completed.Load the application program into the robot controller.Write the source program inC language by using the editorof MotoPlus IDE.<3.2 Creating MotoPlus Project>Use GNU C compiler providedby YASKAWA (included inMotoPlus IDE).Link the above-mentioned objectmodules with the C language libraryand the robot library to create theexecution module (e.g. MotoPlusApl.out).<3.2 Creating MotoPlus Project>Use GNU linker and library.Only static links are supported.ELF (Executable and LinkableFormat) is used as the module.Compiling and linking are donesimultaneously by MotoPlus IDE.<4.1 Installation of ApplicationProgram in Maintenance Mode>Relocatable module withELF object format.<4.2 Start-up of ApplicationProgram>1. Starts with turning ON the power.<5. Debugging>Debug by connecting to SHELL,system software, via TELNET.Use printf() and puts().By using MotoPlus IDE, compilethe source program (e.g. abc.c) andcreate an application program(e.g. abc.o).<3.1 Rules for Creating Program Source Code>Use the editor of MotoPlus IDE.Notepad, WordPad, or anothertext editor can also be used.18/77