Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library User Manual
Ultra5000
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Table of contents
Document Outline
- 2098-PM001E-EN-P July 2002
- Front Cover
- Important User Information
- Table of Contents
- Preface
- Chapter 1 - Programming Motion Control in C
- Introduction
- Before You Begin
- Creating A Basic Motion Program
- User Defined Functions
- Program Stop
- Homing with Latch Functions
- Non-Volatile Storage
- Types, Operators, and Expressions
- Arithmetic Operators
- Relational and Logical Operators
- Conditional Expressions
- Operator Precedence
- Control Flow
- Chapter 2 - Referencing the Motion Library
- Control Setting Functions
- Axis Attributes
- long AxisDefinePos(long position);
- float AxisGetCommandCur(void);
- long AxisGetCommandPos(void);
- float AxisGetCommandVel(void);
- long AxisGetFeedbackOffset(void);
- long AxisGetFeedbackPos(void);
- float AxisGetFeedbackVel(void);
- float AxisGetFGain(void);
- float AxisGetIGain(void);
- float AxisGetKff(void);
- float AxisGetKp(void);
- float AxisGetLowerCurLimit(void);
- float AxisGetPGain(void);
- long AxisGetPosError(void);
- float AxisGetUpperCurLimit(void);
- float AxisGetVelError(void);
- long AxisSetFeedbackOffset(long offset);
- long AxisSetFGain(float fgain);
- long AxisSetIGain(float igain);
- long AxisSetKff(float kff);
- long AxisSetKp(float kp);
- long AxisSetLowerCurLimit(float limit);
- long AxisSetPGain(float pgain);
- long AxisSetUpperCurLimit(float limit);
- Axis Services
- Axis Status
- Control Attributes
- Control Services
- Program Services
- Program Status
- Serial Services
- Serial Status
- Timer Services
- Timer Status
- Axis Attributes
- Motion Functions
- Cam Attributes
- Cam Services
- long CamCloseTable(void);
- long CamConstantVelocity(long master_position, long follower_position);
- long CamCycloidal(long master_position, long follower_position);
- long CamCycloidalHarmonic(long master_position, long follower_position);
- long CamDisable(void);
- long CamDwell(long master_position);
- long CamEnable(void);
- long CamHarmonic(long master_position,long follower_position);
- long CamHarmonicCycloidal(long master_position, long follower_position);
- long CamLoad(char* name);
- long CamLoadTable(long table_number,char *name);
- long CamModifiedSinusoidal(long master_position,long follower_position);
- long CamModifiedTrapezoidal(long master_position,long follower_position);
- long CamOpenTable(long table_number,long size,long order);
- long CamPhaseAbort(void);
- long CamPhaseAdvance(long distance,float time);
- long CamPhaseRetard(long distance,float time);
- long CamQueueReset(void);
- long CamQueueTable(long table_number,long cycle_limit);
- long CamSaveTable(long table_number,char *name);
- long CamSpline(long master_position,long follower_position,float initial_ratio,float final_ratio);
- long CamUnloadTable(long table_number);
- Cam Status
- Gear Attributes
- Gear Services
- Gear Status
- Jog Attributes
- Jog Services
- Jog Status
- Move Attributes
- Move Services
- long MoveAbort(void);
- long MoveAbsolute(long position);
- long MoveCloseBuffer(void);
- long MoveCorrect(long distance);
- long MoveCorrectAbs(long position);
- long MoveCorrectInc(long distance);
- long MoveDistance(long distance);
- long MoveDV(long distance, float vel);
- long MoveDVS(long distance, float vel);
- long MoveDVT(long distance, float vel, float time);
- long MoveDwell(float time);
- long MoveGetFreeSegments(void);
- long MoveIncremental(long distance);
- long MoveOpenBuffer(long size, long rotary);
- long MovePosition(long position);
- long MoveStart(void);
- long MoveStop(void);
- Move Status
- Digital and Analog I/O Functions
- Latch Functions
- Non-Volatile Array Functions
- Control Setting Functions
- Appendix A - Updates to the Motion Library
- Index
- Web Links
- Back Cover