Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Manual de usuario descargar pdf (Pagina 20)

Publication 2098-PM001E-EN-P — July 2002

1-8 Programming Motion Control in C

Example 2.2 - Varying the Program using Variables

There are many different ways to write a program for a particular task.

This program performs the same tasks as Example 2.1 - A Motion

Program Using Variables, but it uses slightly different software code.

#include <motion.h>

/* increment through the 10 index positions 1000, 2000,...,

until target > endpoint */

int main (void)

{

long target;

InitMotionLibrary();

AxisEnable();

MoveSetAcc(2000);

MoveSetVel(1000);

MoveSetDec(2000);

AxisDefinePos(0);

for (target = 1000; target <= 10000; target = target + 1000) {

MoveAbsolute(target);

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

}

AxisDisable();

return 0;

}

Example 2.2 Explained

This program produces the same motion, but looks different than

Example 2.1. One major change is the elimination of most of the

variables; only target remains. The index and endpoint values appear

only as constants in the for statement.

The for statement is a loop. Compare the for loop to the previous

usage of the while command. Within the parentheses, there are three

parts, separated by semicolons. The first part, the initialization

target = 1000

is done once, before the loop proper is entered. The second part is

the test or condition that controls the loop:

target <= 10000

This condition is evaluated, and if it is true, the body of the loop is

executed. Then the increment step

target = target + 1000

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