Document Outline

• 2098-PM001E-EN-P July 2002
  • Front Cover
  • Important User Information
  • Table of Contents
  • Preface
    • Introduction
    • Who Should Use this Manual
      • Where to Find Help
    • Contents of this Manual
    • Related Documentation
    • Conventions Used in this Manual
    • Using Online Help
    • Allen-Bradley Support
      • Local Product Support
      • Technical Product Assistance
  • Chapter 1 - Programming Motion Control in C
    • Introduction
    • Before You Begin
    • Creating A Basic Motion Program
      • Creating and Running a Program
        • Example 1 - A Basic Motion Program
        • Example 1 Explained
      • Variables, Loops, and Constants
        • Example 2.1 - A Motion Program Using Variables
        • Example 2.1 Explained
        • Example 2.2 - Varying the Program using Variables
        • Example 2.2 Explained
        • Example 2.3 - Another Variance of the Program using Variables
        • Example 2.3 Explained
    • User Defined Functions
      • Example 3 - Nested Functions in a Motion Program
      • Example 3 Explained
    • Program Stop
      • Example 4 - A Jog Program
      • Example 5 - A Gear Program
    • Homing with Latch Functions
      • Example 6 - A Homing Program
    • Non-Volatile Storage
      • Example 7 - A Non-Volatile Array Program
    • Types, Operators, and Expressions
      • Variable Names and Data Types/Sizes
      • Declarations
    • Arithmetic Operators
    • Relational and Logical Operators
    • Conditional Expressions
    • Operator Precedence
    • Control Flow
      • Statements and Blocks
      • Example 8 - Grouping Statements
      • If-Else
      • Else-If
      • Switch
      • While, For and Do-While Loops
      • Break and Continue
  • Chapter 2 - Referencing the Motion Library
    • Control Setting Functions
      • Axis Attributes
        • long AxisDefinePos(long position);
        • float AxisGetCommandCur(void);
        • long AxisGetCommandPos(void);
        • float AxisGetCommandVel(void);
        • long AxisGetFeedbackOffset(void);
        • long AxisGetFeedbackPos(void);
        • float AxisGetFeedbackVel(void);
        • float AxisGetFGain(void);
        • float AxisGetIGain(void);
        • float AxisGetKff(void);
        • float AxisGetKp(void);
        • float AxisGetLowerCurLimit(void);
        • float AxisGetPGain(void);
        • long AxisGetPosError(void);
        • float AxisGetUpperCurLimit(void);
        • float AxisGetVelError(void);
        • long AxisSetFeedbackOffset(long offset);
        • long AxisSetFGain(float fgain);
        • long AxisSetIGain(float igain);
        • long AxisSetKff(float kff);
        • long AxisSetKp(float kp);
        • long AxisSetLowerCurLimit(float limit);
        • long AxisSetPGain(float pgain);
        • long AxisSetUpperCurLimit(float limit);
      • Axis Services
        • long AxisDisable(void);
        • long AxisEnable(void);
        • long AxisResetPosLimit(void);
        • long AxisSoftLimitDisable(void);
        • long AxisSoftLimitEnable(void);
      • Axis Status
        • long AxisIsEnabled(void);
        • long AxisIsReady(void);
        • long AxisPosLimitGetStatus (void);
        • long AxisPosLimitIsTriggered (void);
      • Control Attributes
        • long ControlGetFault(void);
        • long EncoderGetFaultState(long channel);
        • long EncoderGetOutput(long channel);
        • long EncoderGetPos(long channel);
        • float RatchetGetVel(void);
      • Control Services
        • long ControlClearFault(void);
        • long EncoderDisableFault(long channel);
        • long EncoderEnableFault(long channel);
        • long EncoderSetPolarity(long channel, long polarity);
        • long RatchetSetMode(long mode);
        • long SequencerAddNode(long frame, void* fptr, void* dptr);
        • long SequencerRemoveNodes(void* dptr);
      • Program Services
        • long InitMotionLibrary(void);
        • long ProgramKill(char* name);
        • long ProgramRun(char* name);
        • long ProgramStop(char* name);
        • long Sleep(long ms);
      • Program Status
        • long ProgramIsRunning(char* name);
        • long StopRequested(void);
      • Serial Services
        • long SerialClose(void);
        • char SerialGetChar(void);
        • long SerialOpen(long baudrate);
        • char SerialPutChar(char character);
        • long SerialPutString(const char *string);
      • Serial Status
        • long SerialClearToSend(void);
        • long SerialDataReady(void);
        • long SerialReceiverFull(void);
        • long SerialTransmitterEmpty(void);
      • Timer Services
        • long TimerAccumulated(long channel);
        • long TimerEnable(long channel, long preset);
      • Timer Status
        • long TimerDone(long channel);
    • Motion Functions
      • Cam Attributes
        • long CamGetCycleCount(void);
        • long CamGetCycleLimit(void);
        • long CamGetFreeSegments(void);
        • long CamSetCycleLimit(long limit);
      • Cam Services
        • long CamCloseTable(void);
        • long CamConstantVelocity(long master_position, long follower_position);
        • long CamCycloidal(long master_position, long follower_position);
        • long CamCycloidalHarmonic(long master_position, long follower_position);
        • long CamDisable(void);
        • long CamDwell(long master_position);
        • long CamEnable(void);
        • long CamHarmonic(long master_position,long follower_position);
        • long CamHarmonicCycloidal(long master_position, long follower_position);
        • long CamLoad(char* name);
        • long CamLoadTable(long table_number,char *name);
        • long CamModifiedSinusoidal(long master_position,long follower_position);
        • long CamModifiedTrapezoidal(long master_position,long follower_position);
        • long CamOpenTable(long table_number,long size,long order);
        • long CamPhaseAbort(void);
        • long CamPhaseAdvance(long distance,float time);
        • long CamPhaseRetard(long distance,float time);
        • long CamQueueReset(void);
        • long CamQueueTable(long table_number,long cycle_limit);
        • long CamSaveTable(long table_number,char *name);
        • long CamSpline(long master_position,long follower_position,float initial_ratio,float final_ratio);
        • long CamUnloadTable(long table_number);
      • Cam Status
        • long CamIsEnabled(void);
        • long CamPhaseInProgress(void);
        • long CamQueueFull(void);
      • Gear Attributes
        • float GearGetVel(void);
        • long GearSetRatio(float ratio);
        • long GearSlewSetAcc(float acc);
        • long GearSlewSetDec(float dec);
      • Gear Services
        • long GearDisable(void);
        • long GearEnable(void);
        • long GearSlewDisable(void);
        • long GearSlewEnable(void);
      • Gear Status
        • long GearAtSpeed(void);
        • long GearInProgress(void);
        • long GearIsEnabled(void);
      • Jog Attributes
        • long JogSetAcc(float acc);
        • long JogSetDec(float dec);
        • long JogSetVel(float vel);
      • Jog Services
        • long JogAbort(void);
        • long JogForward(void);
        • long JogReverse(void);
        • long JogStop(void);
      • Jog Status
        • long JogAtSpeed(void);
        • long JogGetMode(void);
        • long JogGetState(void);
        • long JogInProgress(void);
      • Move Attributes
        • long MoveSetAcc(float acc);
        • long MoveSetDec(float dec);
        • long MoveSetPos(long position);
        • long MoveSetVel(float vel);
      • Move Services
        • long MoveAbort(void);
        • long MoveAbsolute(long position);
        • long MoveCloseBuffer(void);
        • long MoveCorrect(long distance);
        • long MoveCorrectAbs(long position);
        • long MoveCorrectInc(long distance);
        • long MoveDistance(long distance);
        • long MoveDV(long distance, float vel);
        • long MoveDVS(long distance, float vel);
        • long MoveDVT(long distance, float vel, float time);
        • long MoveDwell(float time);
        • long MoveGetFreeSegments(void);
        • long MoveIncremental(long distance);
        • long MoveOpenBuffer(long size, long rotary);
        • long MovePosition(long position);
        • long MoveStart(void);
        • long MoveStop(void);
      • Move Status
        • long MoveAtSpeed(void);
        • long MoveBufferFull(void);
        • long MoveInProgress(void);
    • Digital and Analog I/O Functions
      • Analog Input Attributes
        • float AnalogInputGetVoltage(long channel);
      • Analog Output Attributes
        • long AnalogOutputSetVoltage(long channel, float voltage);
      • Digital Input Status
        • long InputGetAll(void);
        • long InputGetState(long channel);
      • Digital Output Attributes
        • long OutputSetState(long channel, long state);
      • Digital Output Services
        • long OutputSetAllOff(void);
        • long OutputSetAllOn(void);
        • long OutputToggle(long channel);
      • Digital Output Status
        • long OutputGetAll(void);
        • long OutputGetState(long channel);
    • Latch Functions
      • Latch Attributes
        • long LatchGetAutoMode(long channel);
        • long LatchGetCount(long channel);
        • long LatchGetOutput(long channel);
      • Latch Services
        • long LatchOnIndex(long channel, long encoder, long rising);
        • long LatchOnInput(long channel, long input, long rising);
        • long LatchReset(long channel);
        • long LatchSetAutoMode(long channel, long mode);
      • Latch Status
        • long LatchTriggered(long channel);
    • Non-Volatile Array Functions
      • Non-Volatile Array Attributes
        • float FloatArrayGetElement(long element);
        • long FloatArraySetElement(long element, float data);
        • long LongArrayGetElement(long element);
        • long LongArraySetElement(long element, long data);
      • Non-Volatile Array Services
        • long FloatArraySelect(char* name);
        • long LongArraySelect(char* name);
  • Appendix A - Updates to the Motion Library
    • Ultraware Release 1.5
      • New Library Functions
    • Ultraware Release 1.4
      • New Library Functions
    • Ultraware Release 1.3
      • New Library Functions
    • Ultraware Release 1.2
      • New Library Functions
      • Modified library Functions
  • Index
  • Web Links
    • Rockwell Automation Sites
    • On-Line Documents
    • Technical Support
  • Back Cover