Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library - Manual (Page 93)

Publication 2098-PM001E-EN-P — July 2002
Referencing the Motion Library 2-53
long LatchGetCount(long channel);
Returns the value of the latch counter. The channel argument selects
the channel latch counter to read. Latch count is the number of latches
that have occurred.
Valid channel arguments are:
• 1 = Primary motor latch
• 2 = Secondary motor latch
• 3 = Primary auxiliary latch
• 4 = Secondary auxiliary latch
long LatchGetOutput(long channel);
Returns the output of the selected latch. The return value represents
the raw encoder output (counts) at the time the latch triggered.
Valid channel arguments are:
• 1 = Primary motor latch
• 2 = Secondary motor latch
• 3 = Primary auxiliary latch
• 4 = Secondary auxiliary latch
IMPORTANT
This function changed after Ultraware Release 1.1.
The motor latches have axis feedback offset added to
them, but the auxiliary latches do not.
See “Modified library Functions” on page A-3.