Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library - Manual (Page 15)

Publication 2098-PM001E-EN-P — July 2002
Programming Motion Control in C 1-3
3. Open the source file and enter the following text with the text
editor:
#include <motion.h>
int main (void)
{
InitMotionLibrary();
AxisEnable();
MoveSetAcc(1000);
MoveSetVel(1000);
MoveSetDec(1000);
MoveIncremental(1000);
while (MoveInProgress()) {/* loop */}
Sleep(1000);
MoveIncremental(-1000);
while (MoveInProgress()) {/* loop */}
AxisDisable();
return 0;
}
4. After the text is entered, right-click on the Project in which you
inserted the source file and select Build from the Project menu. If
all of the text was entered correctly, the compilation will proceed
and you will see the following statements sequentially display in
the Ultraware Output window:
Compiling yourfile.c...
Linking...
Build completed successfully!
Notice the new file created under the project. The file is named the
same as the project but has an .exe extension. This is the program’s
executable file that now may be loaded and run on the Ultra5000.
Note: If the build fails, refer to the Executable Program File section in
the Ultraware User Manual (2098-UM001F-EN-P) for instructions
on how to troubleshoot errors encountered while creating a
program.
5. Drag the .exe file from the Project to the Program branch of the
On-line Ultra5000.
6. After the on-line controller’s Program branch expands, right-click
on your program, and select Run from the menu to execute the
program.