Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library - Manual (Page 13)

1 Publication 2098-PM001E-EN-P — July 2002
Chapter
1
Programming Motion Control in C
Introduction The chapter introduces you to the C language and programming with
the Motion Library functions in Ultraware 1.3. The purpose of this
chapter is to:
• Review some of the basic C language constructs.
• Help you gain experience in developing Ultraware programs that
control the motion of a motor.
• Have you create and run motion programs using the Ultraware
Motion Library.
Before You Begin This chapter assumes that you have read, and understand, the
contents of the Ultraware User Manual (2098-UM001F-EN-P). That
means:
• The Ultra5000 system is setup and tuning is complete.
• Controlled motion was initiated through direct mode commands,
such as Jog Forward.
Creating A Basic Motion
Program Until now all motion occurred in what is called the direct mode; you
told the Ultra5000 what to do by selecting direct commands from the
Ultraware Commands menu. It is far more useful to have all the
moves a machine axis will do, along with I/O statements, etc., in a
program. In this chapter you will build several C programs that
automate the control of a motor and drive system.
IMPORTANT
If you do not have a basic understanding of C
programming, you should consider reading one of
the many books available or obtain instruction on C
programming. This manual is not intended to
provide you with the instruction necessary to
become a proficient C programmer.