Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library - Manual (Page 53)

Publication 2098-PM001E-EN-P — July 2002
Referencing the Motion Library 2-13
long EncoderSetPolarity(long channel, long polarity);
Sets the polarity of the specified encoder channel.
Valid channel arguments are:
• 1 = Motor Encoder
• 2 = Auxiliary Encoder
Valid polarity arguments are:
• 0 = Positive
• 1 = Negative
Returns 0 if successful, or -1 on an error.
long RatchetSetMode(long mode);
Set the ratchet mode.
The mode selects the ratchet mode. Valid modes are as follows:
• 0 = Normal
• 1 = Ratchet
• 2 = Buffered
Returns 0 if successful, or -1 on an error.
ATTENTION
!
Frame time is limited - adding excessive code to the
sequencer will force an Excess CPU Load error and
fault the drive.