Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Manual do Utilizador Página 99
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1 Publication 2098-PM001E-EN-P — July 2002
Appendix
A
This appendix summarizes the library functions added in various
releases of the Ultraware software.
Updates to the Motion
Library for Ultraware
Release 1.5
New Library Functions
CamCloseTable
CamConstantVelocity
CamCycloidal
CamCycloidalHarmonic
CamDwell
CamGetFreeSegments
CamHarmonic
CamHarmonicCycloidal
CamLoadTable
CamModifiedSinusoidal
CamModifiedTrapezoidal
CamOpenTable
CamPhaseAbort
CamPhaseAdvance
CamPhaseInProgress
CamPhaseRetard
CamQueueFull
CamQueueReset
CamQueueTable
CamSaveTable
CamSpline
CamUnloadTable
Updates to the Motion
Library for Ultraware
Release 1.4
New Library Functions
AxisIsReady();
CamGetCycleCount();
CamGetCycleLimit();
CamSetCycleLimit(long limit);
EncoderDisableFault(long channel);
EncoderEnableFault(long channel);
EncoderGetFaultState(long channel);
InputGetAll();
OutputGetAll();
OutputToggle(long channel);
RatchetSetMode(long mode);
Updates to the Motion
Library for Ultraware
Release 1.3
New Library Functions
MoveDV(distance,vel);
MoveGetFreeSegments();
SerialPutString(character);
- 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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