Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library - Manual (Page 42)

Publication 2098-PM001E-EN-P — July 2002
2-2 Referencing the Motion Library
Control Setting Functions Control Setting functions directly control aspects of the controller.
Use these functions: To:
Axis Attributes
• AxisDefinePos
• AxisGetCommandCur
• AxisGetCommandPos
• AxisGetCommandVel
• AxisGetFeedbackOffset
• AxisGetFeedbackPos
• AxisGetFeedbackVel
• AxisGetFGain
• AxisGetIGain
• AxisGetKff
• AxisGetKp
• AxisGetLowerCurLimit
• AxisGetPGain
• AxisGetPosError
• AxisGetUpperCurLimit
• AxisGetVelError
• AxisSetFeedbackOffset
• AxisSetFGain
• AxisSetIGain
• AxisSetKff
• AxisSetKp
• AxisSetLowerCurLimit
• AxisSetPGain
• AxisSetUpperCurLimit
Get and set axis
attributes.
Axis Services
• AxisDisable
• AxisEnable
• AxisResetPosLimit
• AxisSoftLimitDisable
• AxisSoftLimitEnable
Turn feedback on or off.
Axis Status
• AxisIsEnabled
• AxisIsReady
• AxisPosLimitGetStatus
• AxisPosLimitIsTriggered
Query axis status.