Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Uživatelský manuál stáhnout pdf (Strana 93)

Publication 2098-PM001E-EN-P — July 2002

Referencing the Motion Library 2-53

long LatchGetCount(long channel);

Returns the value of the latch counter. The channel argument selects

the channel latch counter to read. Latch count is the number of latches

that have occurred.

Valid channel arguments are:

• 1 = Primary motor latch

• 2 = Secondary motor latch

• 3 = Primary auxiliary latch

• 4 = Secondary auxiliary latch

long LatchGetOutput(long channel);

Returns the output of the selected latch. The return value represents

the raw encoder output (counts) at the time the latch triggered.

Valid channel arguments are:

• 1 = Primary motor latch

• 2 = Secondary motor latch

• 3 = Primary auxiliary latch

• 4 = Secondary auxiliary latch

IMPORTANT

This function changed after Ultraware Release 1.1.

The motor latches have axis feedback offset added to

them, but the auxiliary latches do not.

See “Modified library Functions” on page A-3.

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