Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Manual de usuario descargar pdf (Pagina 17)

Publication 2098-PM001E-EN-P — July 2002

Programming Motion Control in C 1-5

Variables, Loops, and Constants

The next example is a motion program that makes a series of 10 index

moves of 1000 counts each. This program introduces you to:

• Comments

• Declarations

• Variables

• Arithmetic expressions

• Loops

Example 2.1 - A Motion Program Using Variables

Enter the following program into a source file using the same process

as Example 1.

#include <motion.h>

/* increment through the 10 index positions

1000, 2000,..., until target > endpoint */

int main (void)

{

long target, index, endpoint;

InitMotionLibrary();

AxisEnable();

MoveSetAcc(1000);

MoveSetVel(1000);

MoveSetDec(1000);

AxisDefinePos(0); /* define current position as

index = 1000; 0 */

target = index; /* initialize target to first

index position (1000) */

endpoint = index * 10; /* initialize endpoint to

10000 (1000 * 10) */

while (target <= endpoint) {

MoveAbsolute(target);

while (MoveInProgress()) {/* loop */}

target = target+index;

}

AxisDisable();

return 0;

}

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