Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Uživatelský manuál stáhnout pdf (Strana 26)

Publication 2098-PM001E-EN-P — July 2002

1-14 Programming Motion Control in C

Example 4 - A Jog Program

#include <motion.h>

#define JOGREVERSE 7 /* Input 7 */

#define JOGFORWARD 8 /* Input 8 */

#define ACCDEC 10000 /* counts/second**2 */

#define JOGVEL 20000 /* counts/second */

#define STOPPED 0 /* Jog modes */

#define FORWARD 1

#define REVERSE 2

/* This program uses inputs 7 and 8 to Jog the axis in the

reverse and forward direction, respectively. It will

continue to run until a Stop or Kill command is issued from

Ultraware. */

int main (void)

{

long Jogging;

InitMotionLibrary();

AxisEnable();

JogSetAcc(ACCDEC);

JogSetVel(JOGVEL);

JogSetDec(ACCDEC);

while (!StopRequested())

{

Jogging = JogGetMode();

if (!JogInProgress()) {

if (InputGetState(JOGREVERSE) == ON)

JogReverse();

else if (InputGetState(JOGFORWARD) == ON)

JogForward();

}

else if (((InputGetState(JOGREVERSE) == OFF) &&

(Jogging == REVERSE)) ||

((InputGetState(JOGFORWARD) == OFF) &&

(Jogging == FORWARD)))

JogStop();

}

AxisDisable();

return 0;

}

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