Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library - Manual (Page 51)

Publication 2098-PM001E-EN-P — July 2002
Referencing the Motion Library 2-11
long EncoderGetFaultState(long channel);
Returns state of fault checking for an encoder.
The channel selects the encoder channel. Valid channels are as
follows:
• 1 = Motor Encoder
• 2 = Aux Encoder
The returned state can be one of the following:
• 0 = Disabled
• 1 = Enabled
long EncoderGetOutput(long channel);
Returns the output of the encoder in counts. This function is identical
to the EncoderGetPos function.
Valid channel arguments are:
• 1 = Motor Encoder
• 2 = Auxiliary Encoder
long EncoderGetPos(long channel);
Returns the output of the encoder in counts. This function is identical
to the EncoderGetOutput function.
Valid channel arguments are:
• 1 = Motor Encoder
• 2 = Auxiliary Encoder
float RatchetGetVel(void);
Returns the velocity of the auxiliary encoder filtered through the
Ratchet object. Velocity is in counts/second.