Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Instrukcja Użytkownika Pobierz pdf (Strona 84)

Publication 2098-PM001E-EN-P — July 2002

2-44 Referencing the Motion Library

long MoveDwell(float time);

The time argument specifies the time duration for which the axis will

remain stationary.

This function inserts into the move buffer a move profile dwell.

Returns 0 if successful, or -1 on an error.

long MoveGetFreeSegments(void);

Returns number of free segments in the move buffer.

long MoveIncremental(long distance);

Starts an incremental move of the specified distance using the

programmed move acceleration, deceleration, and velocity values.

Distance is programmed in counts. This function is identical to the

MoveDistance function.

Move status may be checked with a MoveInProgress function.

Returns 0 if successful, or -1 on an error.

Note: Returns an error if a move is already in progress.

long MoveOpenBuffer(long size, long rotary);

This function creates the move buffer, sets its execution type, and

opens it for insertion.

The size argument specifies the size of the buffer to be created.

The rotary argument specifies if execution of the buffer is rotary or

static.

Valid rotary arguments are:

• 0 = Static

• 1 = Rotary

Returns 0 if successful, or -1 on an error.

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