YASKAWA YRC1000micro Instructions

3 Creating Application Software
3.8 How to Use the DX200 Projects on YRC1000micro
3-7
HW1484528
HW1484528
3.8 How to Use the DX200 Projects on YRC1000micro
YRC1000micro is different from DX200 in the execution environment of
MotoPlus application. Therefore the MotoPlus application for DX200 is
unavailable on YRC1000micro.
The MotoPlus application available on YRC1000micro can be made by
using the application for DX200. The procedure is as follows:
1. Copy the folder which includes the MotoPlus application for DX200 by
another name.
(When the folder (C:\My_First_MP_Project\Sample) includes any
project, copy the folder (C:\My_First_MP_Project\Sample) and make a
new folder (C:\My_First_MP_Project\Sample1)).
2. Open the copied folder and change the file extension of
“Sample.dnProj
” to “Sample.yrcmProj” in the .
Change the extension of a project file “Sample.dnProj” in the copied
folder to “Sample.yrcmProj”.
3. Double-click the file Sample.yrcmProj and start the
MotoPlusIDE_YRCmicro.
4. Click the MotoPlusIDE_YRCmicro menu “build”, then click “Build
Setting...”.
5. Click [Restore Factory Defaults] in the “Build Settings” dialogue. That
makes the build settings into the default state.
6. Click the MotoPlusIDE_YRCmicro menu “build”, then click “Build
Project F7”.
When the output window “Build Successful!” appears, making the
MotoPlus application for YRC1000micro is completed.
3.8.1 Difference Points of the API
Changed the following API specifications for the YRC1000micro.
When the application created for the DX200 is operated by the
YRC1000micro, the transplantation work is required.
(1) mpGetRtc
The return value for the mpGetRtc ( ) is int type for the DX200 and
FS100, however, for the YRC1000micro, the value is the float type.
In the YRC1000micro, mpGetRtc ( ) returns the value less than 1.
Correct the return value of the mpGetRtc ( ) to the float type.
(2) Direction of the absolute angle position for the robot
For controllers DX200 or earlier, in the axis which has a gear ratio
set to a negative value, the positive and negative directions of the
absolute angle position and the pulse position were set to be the
opposite direction.
However, for controllers YRC1000micro or later, the direction of
the absolute angle position and the direction of the pulse position
are set to be the same direction. For the application which
operates the robot by using the absolute angle, some robot
operations may be performed in the opposite direction. In the
case of transplantation work, confirm the direction of the robot
operation, and correct the direction if necessary.
30/77

YASKAWA YRC1000micro Specifications

General

Brand	YASKAWA
Model	YRC1000micro
Category	Controller
Language	English