Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Manual de usuario descargar pdf (Pagina 23)

Publication 2098-PM001E-EN-P — July 2002

Programming Motion Control in C 1-11

User Defined Functions

A function provides a convenient way to encapsulate a sequence of

motion commands and computations.

Example 3 - Nested Functions in a Motion Program

This program shows the function insert and the main program to

exercise it. In this example you see the whole structure at once.

#include <motion.h>

#define INSERTACCDEC 20000 /* counts/second**2 */

#define INSERTVEL 10000 /* counts/second */

#define INSERTDIST 8000 /* counts */

#define CONTINUE 16 /* Input that determines

program continuation

*/

#define INSERT 1 /* Input that starts the

insertion move */

#define INMOTION 1 /* Output that is set

while move is in

progress */

long partcount = 0; /* Initialize partcount

variable to 0 */

long insert(long distance, long velocity, long accdec);

/* This program continue cycling through the while loop

as long as input 16 is on and it has not completed 10 insertion

cycles. Each loop through, the state of input 1 is evaluated

and, if it is on, the insert function is executed. */

int main (void)

{

InitMotionLibrary();

AxisEnable();

/* Continue operating while Input 16 is active and partcount

has not reached 10 */

while ((InputGetState(CONTINUE) == ON) && (partcount < 10)){

/* do insertion if Input 1 is active */

if (InputGetState(INSERT) == ON) {

/* insert returns new partcount */

partcount = insert(INSERTDIST, INSERTVEL, INSERTACCDEC);

}

}

AxisDisable();

return 0;

}

/* Function that does the insertion move and pulses Output 1

while moving */

long insert(long distance, long velocity, long accdec)

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