Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library - Manual (Page 100)

Publication 2098-PM001E-EN-P — July 2002
A-2 Updates to the Motion LIbrary
Updates to the Motion
Library for Ultraware
Release 1.2 New Library Functions
AxisDefinePos(position);
GearSlewEnable();
GearSlewDisable();
GearInProgress();
GearAtSpeed();
GearSlewSetAcc(accel);
GearSlewSetDec(decel);
CamLoad(name);
CamEnable();
CamDisable();
CamIsEnabled();
RatchetGetVel();
AxisSoftLimitEnable();
AxisSoftLimitDisable();
AxisResetPosLimit();
AxisPosLimitIsTriggered();
AxisPosLimitGetStatus();
ProgramRun(name);
ProgramStop(name);
ProgramKill(name);
ProgramIsRunning(name);
TimerEnable(channel,preset);
TimerDone(channel);
TimerAccumulated(channel);
MoveOpenBuffer(size,rotary);
MoveCloseBuffer();
MoveBufferFull();
MoveDVT(distance,vel,time);
MoveDVS(distance,vel);
MoveDwell(time);
MoveStart();
MoveAbsolute(position);
MoveIncremental(distance);
EncoderSetPolarity(channel,polarity);
EncoderGetPos(channel);
SerialOpen(baudrate);
SerialClose();
SerialGetChar();
SerialPutChar(character);
SerialDataReady();
SerialClearToSend();
SerialTransmitterEmpty();
SerialReceiverFull();
SequencerAddNode(frame,functionname,datavariablename);
SequencerRemoveNodes(datavariablename);