YMConnect is a software library made for interfacing with Yaskawa Motoman robots.
Used in a C++ application, YMConnect can do the following:
-Manage Faults
- Clear faults, get active alarms and retrieve alarm history.
-Read position data, axis configuration, position error and torque data.
-Read and write variables.
- This includes B, I, D, S, R and position(Robot, base and station) variables.
-Controller State
- Cycle mode, control mode, and servo state
- Hold state, alarm state, error state, and running state
-Operating times
-Reading system parameters
-Job Management
- Set active job, get executing job and get job stack
-File Management
- Load, retrieve, delete job files and list files
-Read and write IO and registers.
-Control Commands
- Turn servos on and off, set holds, set cycle mode, display messages to the pendant and starting jobs.
-Motion Control
- Create a trajectory and use the motion planner in the controller to execute the motion. start and stop motion.
-Kinematics Calculation
- Calculate position conversion between cartesian, joint angle and pulse.
-Vector Math
- Calculate inner product and cross product of two vectors.
-Frame Math
- Invert, rotate, multiply frames and convert frames to and from Euler angles.
You can find more information on the Motoman Developer Portal.
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