Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Instrukcja Użytkownika Pobierz pdf (Strona 51)

Publication 2098-PM001E-EN-P — July 2002

Referencing the Motion Library 2-11

long EncoderGetFaultState(long channel);

Returns state of fault checking for an encoder.

The channel selects the encoder channel. Valid channels are as

follows:

• 1 = Motor Encoder

• 2 = Aux Encoder

The returned state can be one of the following:

• 0 = Disabled

• 1 = Enabled

long EncoderGetOutput(long channel);

Returns the output of the encoder in counts. This function is identical

to the EncoderGetPos function.

Valid channel arguments are:

• 1 = Motor Encoder

• 2 = Auxiliary Encoder

long EncoderGetPos(long channel);

Returns the output of the encoder in counts. This function is identical

to the EncoderGetOutput function.

Valid channel arguments are:

• 1 = Motor Encoder

• 2 = Auxiliary Encoder

float RatchetGetVel(void);

Returns the velocity of the auxiliary encoder filtered through the

Ratchet object. Velocity is in counts/second.

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