Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Instrukcja Użytkownika Strona 103
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Publication 2098-PM001E-EN-P — July 2002
Index
A
Allen-Bradley support
general information
P-3
IMC e-mail addresses, see back cover
IMC fax numbers, see back cover
IMC telephone numbers, see back cover
AnalogInputGetVoltage
2-47
AnalogOutputSetVoltage 2-48
arithmetic operators 1-19
arrays 1-16
AxisDefinePos 2-4
AxisDisable 2-8
AxisEnable 2-8
AxisGetCommandCur 2-4
AxisGetCommandPos 2-4
AxisGetCommandVel 2-4
AxisGetFeedbackOffset 2-4
AxisGetFeedbackPos 2-4
AxisGetFeedbackVel 2-5
AxisGetFGain 2-5
AxisGetIGain 2-5
AxisGetKff 2-5
AxisGetKp 2-5
AxisGetLowerCurLimit 2-5
AxisGetPGain 2-5
AxisGetPosError 2-5
AxisGetUpperCurLimit 2-5
AxisGetVelError 2-6
AxisIsEnabled 2-9
AxisIsReady 2-9
AxisPosLimitGetStatus 2-9
AxisPosLimitIsTriggered 2-9
AxisResetPosLimit 2-8
AxisSetFeedbackOffset 2-6
AxisSetFGain 2-6
AxisSetIGain 2-6
AxisSetKff 2-6
AxisSetKp 2-6
AxisSetLowerCurLimit 2-6
AxisSetPGain 2-6
AxisSetUpperCurLimit 2-7
AxisSoftLimitDisable 2-8
AxisSoftLimitEnable 2-8
B
blocks 1-23
break 1-27
build (command)
example
1-2
troubleshooting 1-3
using 1-3
C
C programming
pre-requisites
1-1
CamCloseTable 2-23
CamConstantVelocity 2-23
CamCycloidal 2-24
CamCycloidalHarmonic 2-25
CamDisable 2-26
CamDwell 2-26
CamEnable 2-26
CamGetCycleCount 2-22
CamGetCycleLimit 2-22
CamGetFreeSegments 2-22
CamHarmonic 2-27
CamHarmonicCycloidal 2-28
CamIsEnabled 2-35
CamLoad 2-29
CamLoadTable 2-29
CamModifiedSinusoidal 2-30
CamModifiedTrapezoidal 2-31
CamOpenTable 2-32
CamPhaseAbort 2-32
CamPhaseAdvance 2-32
CamPhaseInProgress 2-35
CamPhaseRetard 2-32
CamQueueFull 2-35
CamQueueReset 2-33
CamQueueTable 2-33
CamSaveTable 2-34
CamSetCycleLimit 2-23
CamSpline 2-34
CamUnloadTable 2-34
conditional expressions 1-21
constants 1-5
continue 1-27
control flow 1-23
control setting functions 2-2
ControlClearFault 2-12
ControlGetFault 2-10
conventions used in this manual P-2
D
data sizes 1-18
data types 1-18
- 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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