Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library - Manual (Page 72)

Publication 2098-PM001E-EN-P — July 2002
2-32 Referencing the Motion Library
long CamOpenTable(long table_number,long size,long order);
Opens the cam table.
• The table_number argument specifies the table number. Valid
tables are one, two, and three.
• The size argument specifies the number of segments to be
allocated.
• The order argument specifies the precision of the segments. Valid
values are one through nine, inclusive.
Returns 0 if successful, or -1 if there was an error.
A cam table cannot be opened if it is active or queued.
Using higher values for order generates better approximations to the
profile functions but it also requires more memory. The amount of
memory allocated is roughly equal to size*(order+2) words. Using a
value of five provides a good balance between precision and memory
usage.
long CamPhaseAbort(void);
Aborts phase adjustment.
Returns 0 if successful, or -1 if there was an error.
long CamPhaseAdvance(long distance,float time);
Starts phase adjustment in positive direction.
• The distance argument defines the amount of adjustment in master
counts.
• The time argument defines the duration of the adjustment in
seconds.
Returns 0 if successful, or -1 if there was an error.
long CamPhaseRetard(long distance,float time);
Starts phase adjustment in negative direction.
• The distance argument defines the amount of adjustment in master
counts.
• The time argument defines the duration of the adjustment in
seconds.
Returns 0 if successful, or -1 if there was an error.