Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Instrukcja Użytkownika Strona 10
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Publication 2098-PM001E-EN-P — July 2002
P-2 Preface
Contents of this Manual
This manual contains the following sections:
Related Documentation
The following documents contain additional information concerning
related Allen-Bradley products or general information that may be
helpful. To obtain a copy, contact your local Rockwell Automation
office or distributor, or access the documents on-line at
www.theautomationbookstore.com
or
www.ab.com/manuals/gmc
.
Conventions Used in this
Manual
The following conventions are used throughout this manual:
• Bulleted lists provide information, not procedural steps.
• Numbered lists provide sequential steps.
• Words you type or select, and keys that you press, appear in bold.
• Programming code appears in a
Courier font.
• C Programming conventions are used as appropriate.
Chapters: Title: Contents:
Preface An overview of this manual.
Chapter 1 Programming Motion
Control in C
An overview of C Programming principles and
practices in the Ultraware environment.
Chapter 2 Referencing the
Motion Library
A description of the C functions available in the
Ultraware Motion Library
Appendix A Updates to the Motion
Library
A list of motion library enhancements at each
release level.
For Information about: Read this document:
Publication Number
1
Ultra5000™ drive installation
and setup procedures
Ultra5000 Hardware
Installation Manual
2098
-IN001E-EN-P
Ultraware™
setup and
operating instructions
Ultraware User Manual
Release 1.5
2098-UM001F-EN-P
Ultraware installation
instructions
Ultraware CD Installation
Instructions
2098-IN002x-EN-P
Ultra3000™ and Ultra5000
drive capabilities
Ultra Family Brochure 2098-BR001x-EN-P
1
To ensure correct operation, Allen-Bradley publications referenced should be at or above the revision level
listed. (e.g., 2098-UM001F-EN-P is revision F of the Ultraware User Manual.)
- Ultra5000 1
- Important User Information 2
- Table of Contents 3
- Chapter 2 4
- Table of Contents iii 5
- Table of Contents v 7
- Appendix A 8
- Who Should Use this 9
- Contents of this Manual 10
- Related Documentation 10
- Conventions Used in this 10
- Using Online Help 11
- Allen-Bradley Support 11
- P-4 Preface 12
- Introduction 13
- Before You Begin 13
- Creating A Basic Motion 13
- Example 1 Explained 16
- Example 2.1 Explained 18
- Example 2.2 Explained 20
- #define name replacement_text 21
- Example 2.3 Explained 22
- User Defined Functions 23
- Example 3 Explained 24
- Program Stop 25
- Example 4 - A Jog Program 26
- Example 5 - A Gear Program 27
- Homing with Latch 28
- Functions 28
- Non-Volatile Storage 28
- Notice that in the line 29
- Types, Operators, and 30
- Expressions 30
- Arithmetic Operators 31
- (unary form) 32
- (binary form) 32
- Relational and Logical 33
- Operators 33
- Conditional Expressions 33
- Operator Precedence 34
- Control Flow 35
- While, For and Do-While Loops 38
- Break and Continue 39
- #include <motion.h> 41
- Control Setting Functions 42
- Axis Attributes 44
- Axis Services 48
- Axis Status 49
- Control Attributes 50
- Control Services 52
- Program Services 55
- Program Status 56
- Serial Services 56
- Serial Status 57
- Timer Services 57
- Timer Status 58
- Motion Functions 59
- Cam Attributes 62
- Cam Services 63
- Figure 2.1 64
- Cycloidal Curve 64
- Figure 2.2 65
- Cycloidal Harmonic Curve 65
- Figure 2.3 67
- Harmonic Curve 67
- Figure 2.4 68
- Harmonic Cycloidal Curve 68
- Figure 2.5 70
- Modified Sinusoidal Curve 70
- Figure 2.6 71
- Modified Trapezoidal Curve 71
- Cam Status 75
- Gear Attributes 76
- Gear Services 76
- Gear Status 77
- Jog Attributes 77
- Jog Services 78
- Jog Status 79
- Move Attributes 80
- Move Services 81
- Move Status 86
- Digital and Analog I/O 87
- Analog Output Attributes 88
- Digital Input Status 88
- Digital Output Attributes 89
- Digital Output Services 90
- Digital Output Status 91
- Latch Functions 92
- Latch Services 94
- Latch Status 96
- Non-Volatile Array 97
- Non-Volatile Array Services 98
- New Library Functions 99
- Updates to the Motion 100
- Library for Ultraware 100
- Release 1.2 100
- Modified library Functions 101
- I-2 Index 104
- Index I-3 105
- I-4 Index 106
- Index I-5 107
- I-6 Index 108
- Index I-7 109
- I-8 Index 110
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