A.1 Motion API
A-3
A
(2) Interpolation Function
(3) Torque Reference Function
(4) Synchronization Function
(5) Compensation Function
(6) Motion Operations
(7) Driver Operations
(8) Others
Function Name
Summary
ymcMoveLinear ( )
Executes linear interpolation in the axis specified by the device handle.
ymcMoveCircularCenter ( )
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.
ymcMoveCircularRadius ( )
Executes circular interpolation in the specified direction at the specified tangential
speed along an arc with the specified radius.
ymcMoveHelicalCenter ( )
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.
ymcMoveHelicalRadius ( )
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.
Function Name
Summary
ymcMoveTorque ( )
Specifies the torque for a torque control axis.
Function Name
Summary
ymcDisableGear ( )
Turns the Gear OFF by the specified method. Multiple slave axes can be selected for a
single master axis.
ymcEnableGear ( )
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.
ymcSetGearRatio ( )
Sets the gear ratio. Multiple axes can be selected.
Function Name
Summary
ymcPositionOffset ( )
Executes position compensation in the axis specified by the device handle at the speci-
fied time or position.
Function Name
Summary
ymcChangeDynamics ( )
Changes the motion data (acceleration, deceleration, position, and speed) for the speci-
fied axis.
ymcStopMotion ( )
Stops the axis specified by the device handle by the specified stop method (immediate or
decelerating to stop).
Function Name
Summary
ymcServoControl ( )
Turns the specified axis' servo ON or OFF. Verifies that the servo has gone ON or OFF
within the specified timeout time.
Function Name
Summary
ymcDisableLatch ( )
Disables the Latch function in the specified axis.
ymcEnableLatch ( )
Enables the Latch function in the specified axis.
ymcWaitTime ( )
Waits for the specified timeout set time.