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motoplus开发API.pdf

发布时间：2022-06-15 发布人：admin 分类：说明书 资料大小：2.35M 资料格式：pdf 举报 版权申诉
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    1 List of Usable API in Each Mode
    2 << Task Control API >>
    mpCreateTask
    mpDeleteTask
    mpTaskSuspend
    mpTaskResume
    mpMsgQCreate
    mpMsgQDelete
    mpMsgQReceive
    mpMsgQSend
    mpErrMsgQRcv
    mpErrMsgQSnd
    mpSemBCreate
    mpSemDelete
    mpSemTake
    mpSemGive
    mpErrSemTake
    mpTaskDelay
    mpGetRtc
    mpClkAnnounce
    mpStopWatchCreate
    mpStopWatchDelete
    mpStopWatchStart
    mpStopWatchStop
    mpStopWatchLap
    mpStopWatchReset
    mpStopWatchGetTime
    mpStopWatchGetLapNum
    mpStopWatchGetLapTime
    mpStopWatchGetAliveLapNo
    3 <>
    mpUsrWdogCreate
    mpUsrWdogDelete
    mpUsrWdogStart
    mpUsrWdogClear
    4 <>
    mpSocket
    mpListen
    mpAccept
    mpBind
    mpConnect
    mpRecv
    mpRecvfrom
    mpSend
    mpSendto
    mpClose
    mpHtonl
    mpHtons
    mpNtohl
    mpNtohs
    mpInetAddr
    mpInetNtoa
    mpInetNtoaB
    mpGetsockname
    mpGetpeername
    mpSetsockopt
    mpIoctl
    mpSelect
    5 << Serial Communication API >>
    mpRsInit
    mpRsOpen
    mpRsClose
    mpRsSend
    mpRsRecv
    6 <>
    mpMalloc
    mpFree
    7 << SYSTEM MONITOR API >>
    mpGetVarData
    mpGetSVarInfo
    mpReadIO
    mpMonitor
    mpGetPosVarData
    mpGetUserVars
    mpGetAlarmStatus
    mpGetAlarmCode
    mpGetMode
    mpGetCycle
    mpGetServoPower
    mpGetPlayStatus
    mpGetMasterJob
    mpGetCurJob
    mpGetSpecialOpStatus
    mpGetJobDate
    mpGetCartPos
    mpGetCartPosEx
    mpGetPulsePos
    mpGetFBPulsePos
    mpGetServoSpeed
    mpGetFBSpeed
    mpGetTorque
    mpGetSysTimes
    mpGetJogSpeed
    mpGetJogCoord
    mpCtrlGrpId2GrpNo
    mpGetToolData
    8 << SYSTEM CONTROL API >>
    mpPutVarData
    mpPutSVarInfo
    mpWriteIO
    mpPutPosVarData
    mpPutUserVars
    mpSetAlarm
    mpCancelError
    mpResetAlarm
    mpSetCycle
    mpSetServoPower
    mpSetMasterJob
    mpSetCurJob
    mpStartJob
    mpHold
    mpWaitForJobEnd
    mpDeleteJob
    mpSetJogCoord
    mpSetToolNo
    9 << MOTION MONITOR/CONTROL API >>
    mpIMOV
    mpMOVJ
    mpMOVL
    mpPulseMOVJ
    mpPulseMOVL
    mpManualMOV
    10 <>
    mpReceiveSkillCommand
    mpEndSkillCommandProcess
    mpMeiGetJobExecTask
    mpMeiGetInterpolation
    mpMeiGetExecControlGroup
    mpMeiPutCorrPath
    mpMeiPutForcePathEnd
    mpMeiPutSpdOverride
    mpMeiIncrementMove
    11 <>
    mpSvsGetVelTrqFb
    mpSvsStartTrqLimit
    mpSvsSetTrqLimit
    mpSvsEndTrqLimit
    mpSvsStartTrqCtrl
    mpSvsSetTrqCtrl
    mpSvsEndTrqCtrl
    mpSvsForceInit
    12 Alarm List
    DX100 OPTIONS INSTRUCTIONS Reference Manual For New Language Environment MotoPlus (API Function Specifications) Upon receipt of the product and prior to initial operation, read these instructions thoroughly, and retain for future reference. MOTOMAN INSTRUCTIONS MOTOMAN- INSTRUCTIONS DX100 INSTRUCTIONS DX100 OPERATOR’S MANUAL DX100 MAINTENANCE MANUAL The DX100 operator’s manuals above correspond to specific usage. Be sure to use the appropriate manual. YASKAWA ELECTRIC CORPORATION MANUAL NO. HW1480041 10 1/245
    DX100 HW1480041 MANDATORY • This manual explains MotoPlus of the DX100 system. Read this manual carefully and be sure to understand its contents before handling the DX100. • General items related to safety are listed in the Chapter 1: Safety of the DX100 Instructions. To ensure correct and safe operation, carefully read the DX100 Instructions before reading this manual. CAUTION • Some drawings in this manual are shown with the protective covers or shields removed for clarity. Be sure all covers and shields are replaced before operating this product. • The drawings and photos in this manual are representative examples and differences may exist between them and the delivered product. • YASKAWA may modify this model without notice when necessary due to product improvements, modifications, or changes in specifications. If such modification is made, the manual number will also be revised. If your copy of the manual is damaged or lost, contact a YASKAWA representative to order a new copy. The representatives are listed on the back cover. Be sure to tell the representative the manual number listed on the front cover. • • YASKAWA is not responsible for incidents arising from unauthorized modification of its products. Unauthorized modification voids your product’s warranty. ii HW1480041 2/245
    HW1480041 DX100 NOTES FOR SAFE OPERATION Read this manual carefully before installation, operation, maintenance, or inspection of the DX100. In this manual, the Notes for Safe Operation are classified as “WARNING”, “CAUTION”, “MANDATORY”, or ”PROHIBITED”. WARNING CAUTION Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury to personnel. Indicates a potentially hazardous situa- tion which, if not avoided, could result in minor or moderate injury to person- nel and damage to equipment. It may also be used to alert against unsafe practices. MANDATORY Always be sure to follow explicitly the items listed under this heading. PROHIBITED Must never be performed. Even items described as “CAUTION” may result in a serious accident in some situations. At any rate, be sure to follow these important items. NOTE To ensure safe and efficient operation at all times, be sure to follow all instructions, even if not designated as “CAUTION” and “WARNING”. iii HW1480041 3/245
    DX100 HW1480041 WARNING • Before operating the manipulator, check that servo power is turned OFF when the emergency stop buttons on the front door of the DX100 and the programming pendant are pressed. When the servo power is turned OFF, the SERVO ON LED on the programming pendant is turned OFF. Injury or damage to machinery may result if the emergency stop circuit cannot stop the manipulator during an emergency. The manipulator should not be used if the emergency stop buttons do not function. Fig. : Emergency Stop Button • Once the emergency stop button is released, clear the cell of all items which could interfere with the operation of the manipulator. Then turn the servo power ON. Injury may result from unintentional or unexpected manipulator motion. Fig. : Release of Emergency Stop TURN • Observe the following precautions when performing teaching operations within the P-point maximum envelope of the manipulator: – View the manipulator from the front whenever possible. – Always follow the predetermined operating procedure. – Keep in mind the emergency response measures against the manipulator’s unexpected motion toward you. – Ensure that you have a safe place to retreat in case of emergency. Improper or unintended manipulator operation may result in injury. • Confirm that no person is present in the P-point maximum envelope of the manipulator and that you are in a safe location before: – Turning ON the DX100 power – Moving the manipulator with the programming pendant – Running the system in the check mode – Performing automatic operations Injury may result if anyone enters the P-point maximum envelope of the manipulator during operation. Always press an emergency stop button immediately if there is a problem. The emergency stop buttons are located on the right of the front door of the DX100 and the programming pendant. iv HW1480041 4/245
    HW1480041 DX100 CAUTION • Perform the following inspection procedures prior to conducting manipulator teaching. If problems are found, repair them immediately, and be sure that all other necessary processing has been performed. – Check for problems in manipulator movement. – Check for damage to insulation and sheathing of external wires. • Always return the programming pendant to the hook on the DX100 cabinet after use. The programming pendant can be damaged if it is left in the manipulator’s work area, on the floor, or near fixtures. • Read and understand the Explanation of the Warning Labels in the DX100 Instructions before operating the manipulator. Definition of Terms Used Often in This Manual The MOTOMAN is the YASKAWA industrial robot product. The MOTOMAN usually consists of the manipulator, the controller, the programming pendant, and manipulator cables. In this manual, the equipment is designated as follows: Equipment DX100 Controller DX100 Programming Pendant Manual Designation DX100 Programming Pendant v HW1480041 5/245
    DX100 Descriptions of the programming pendant keys, buttons, and displays are shown as follows: HW1480041 Equipment Programming Pendant Character Keys Symbol Keys Manual Designation The keys which have characters printed on them are denoted with [ ]. ex. [ENTER] The keys which have a symbol printed on them are not denoted with [ ] but depicted with a small picture. GO BACK GO BACK PAGE PAGE ex. page key The cursor key is an exception, and a picture is not shown. “Axis Keys” and “Numeric Keys” are generic names for the keys for axis operation and number input. When two keys are to be pressed simultaneously, the keys are shown with a “+” sign between them, ex. [SHIFT]+[COORD] The menu displayed in the programming pendant is denoted with { }. ex. {JOB} Axis Keys Numeric Keys Keys pressed simultaneou sly Displays Description of the Operation Procedure In the explanation of the operation procedure, the expression “Select • • • “ means that the cursor is moved to the object item and the SELECT key is pressed. Registered Trademark In this manual, names of companies, corporations, or products are trademarks, registered trademarks, or brand names for each company or corporation. The indications of (R) and TM are omitted. vi HW1480041 6/245
    HW1480041 DX100 1 List of Usable API in Each Mode .................................................................................................... 1-1 2 << Task Control API >> .................................................................................................................. 2-1 mpCreateTask................................................................................................. 2-1 mpDeleteTask ................................................................................................. 2-3 mpTaskSuspend ............................................................................................. 2-4 mpTaskResume .............................................................................................. 2-5 mpMsgQCreate............................................................................................... 2-6 mpMsgQDelete ............................................................................................... 2-7 mpMsgQReceive............................................................................................. 2-8 mpMsgQSend ................................................................................................. 2-9 mpErrMsgQRcv............................................................................................. 2-11 mpErrMsgQSnd ............................................................................................ 2-13 mpSemBCreate............................................................................................. 2-15 mpSemDelete ............................................................................................... 2-16 mpSemTake.................................................................................................. 2-17 mpSemGive .................................................................................................. 2-18 mpErrSemTake ............................................................................................. 2-19 mpTaskDelay ................................................................................................ 2-21 mpGetRtc ...................................................................................................... 2-22 mpClkAnnounce............................................................................................ 2-23 mpStopWatchCreate..................................................................................... 2-25 mpStopWatchDelete ..................................................................................... 2-26 mpStopWatchStart ........................................................................................ 2-27 mpStopWatchStop ........................................................................................ 2-28 mpStopWatchLap.......................................................................................... 2-29 mpStopWatchReset ...................................................................................... 2-30 mpStopWatchGetTime.................................................................................. 2-31 mpStopWatchGetLapNum ............................................................................ 2-32 mpStopWatchGetLapTime............................................................................ 2-33 mpStopWatchGetAliveLapNo ....................................................................... 2-34 3 <>............................................................................................................... 3-1 mpUsrWdogCreate ......................................................................................... 3-1 mpUsrWdogDelete.......................................................................................... 3-3 mpUsrWdogStart............................................................................................. 3-4 mpUsrWdogClear............................................................................................ 3-5 4 <>........................................................................................................................... 4-1 mpSocket ........................................................................................................ 4-1 mpListen.......................................................................................................... 4-2 mpAccept ........................................................................................................ 4-3 mpBind ............................................................................................................ 4-4 mpConnect...................................................................................................... 4-5 mpRecv ........................................................................................................... 4-6 mpRecvfrom.................................................................................................... 4-6 mpSend........................................................................................................... 4-7 vii HW1480041 7/245
    DX100 HW1480041 mpSendto ........................................................................................................ 4-7 mpClose .......................................................................................................... 4-8 mpHtonl ........................................................................................................... 4-9 mpHtons .......................................................................................................... 4-9 mpNtohl ........................................................................................................... 4-9 mpNtohs .......................................................................................................... 4-9 mpInetAddr.................................................................................................... 4-10 mpInetNtoa.................................................................................................... 4-10 mpInetNtoaB ................................................................................................. 4-10 mpGetsockname ........................................................................................... 4-11 mpGetpeername ........................................................................................... 4-12 mpSetsockopt................................................................................................ 4-13 mpIoctl........................................................................................................... 4-14 mpSelect ....................................................................................................... 4-15 5 << Serial Communication API >>....................................................................................................5-1 mpRsInit .......................................................................................................... 5-1 mpRsOpen ...................................................................................................... 5-3 mpRsClose...................................................................................................... 5-4 mpRsSend....................................................................................................... 5-5 mpRsRecv....................................................................................................... 5-6 6 <> ......................................................................................................6-1 mpMalloc......................................................................................................... 6-1 mpFree ............................................................................................................ 6-2 7 << SYSTEM MONITOR API >> ......................................................................................................7-1 mpGetVarData ................................................................................................ 7-1 mpGetSVarInfo................................................................................................ 7-3 mpReadIO ....................................................................................................... 7-5 mpMonitor ....................................................................................................... 7-7 mpGetPosVarData .......................................................................................... 7-9 mpGetUserVars............................................................................................. 7-11 mpGetAlarmStatus ........................................................................................ 7-15 mpGetAlarmCode.......................................................................................... 7-16 mpGetMode................................................................................................... 7-17 mpGetCycle................................................................................................... 7-18 mpGetServoPower ........................................................................................ 7-19 mpGetPlayStatus .......................................................................................... 7-20 mpGetMasterJob........................................................................................... 7-21 mpGetCurJob ................................................................................................ 7-23 mpGetSpecialOpStatus................................................................................. 7-25 mpGetJobDate .............................................................................................. 7-26 mpGetCartPos............................................................................................... 7-28 mpGetCartPosEx .......................................................................................... 7-30 mpGetPulsePos ............................................................................................ 7-32 mpGetFBPulsePos........................................................................................ 7-34 viii HW1480041 8/245
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