Rockwell-automation 2098-IPD-xxx Ultra5000 C Programming using the Mot Manuale Utente Scaricare il pdf (Pagina 44)

Publication 2098-PM001E-EN-P — July 2002

2-4 Referencing the Motion Library

Axis Attributes

long AxisDefinePos(long position);

Sets the axis command position to the specified position. Position is

programmed in counts.

Returns 0 if successful, or -1 on an error.

float AxisGetCommandCur(void);

Returns command current (filtered and clipped output of the velocity

regulator) measurement in Amps.

long AxisGetCommandPos(void);

Returns the command position of the axis in counts.

Note: Position error is calculated from this value by subtracting the

feedback position.

float AxisGetCommandVel(void);

Returns the command velocity of the axis in counts/second.

Note: Velocity error is calculated from this value by subtracting the

feedback velocity.

long AxisGetFeedbackOffset(void);

Returns the position feedback offset of the axis in counts.

long AxisGetFeedbackPos(void);

Returns the feedback position of the axis in counts.

Note: Position error is calculated by subtracting this value from the

command position.

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