Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Manual de usuario descargar pdf (Pagina 22)

Publication 2098-PM001E-EN-P — July 2002

1-10 Programming Motion Control in C

Example 2.3 - Another Variance of the Program using Variables

A third way to achieve the same result is to write the program as

follows:

#include <motion.h>

#define ACCEL 2000 /* counts/second**2 */

#define DECEL 2000 /* counts/second**2 */

#define TARGETVEL 1000 /* counts/second */

#define INDEX 1000 /* counts */

#define ENDPOINT 10000 /* counts */

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

until target > endpoint */

int main (void)

{

long target;

InitMotionLibrary();

AxisEnable();

MoveSetAcc(ACCEL);

MoveSetVel(TARGETVEL);

MoveSetDec(DECEL);

AxisDefinePos(0);

for (target = INDEX; target <= ENDPOINT; target = target +

INDEX) {

MoveAbsolute(target);

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

}

AxisDisable();

return 0;

}

Example 2.3 Explained

The quantities ACCEL, DECEL, TARGETVEL, INDEX, and ENDPOINT

are symbolic constants, not variables, so they do not appear in

declarations. C programming conventions write constants in upper

case and variables in lower case, but this is not a requirement. Notice

that there is no semicolon at the end of a #define line.

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