Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library - Manual (Page 48)

Publication 2098-PM001E-EN-P — July 2002
2-8 Referencing the Motion Library
Axis Services
long AxisDisable(void);
Disables the axis (amplifier).
Returns 0 if successful, or -1 on an error.
long AxisEnable(void);
Enables the axis. When the axis is enabled, power is applied to the
motor. The command position is set equal to the feedback position
and it holds the present position.
Returns 0 if successful, or -1 on an error.
Note: Returns an error if either the drive and motor are not selected or
the controller is faulted.
long AxisResetPosLimit(void);
Resets a previously triggered position limit error.
Returns 0 if successful, or -1 on an error.
long AxisSoftLimitDisable(void);
Disables soft position limit checking.
Returns 0 if successful, or -1 on an error.
long AxisSoftLimitEnable(void);
Enables soft position limit checking.
Returns 0 if successful, or -1 on an error.
IMPORTANT
This function will cause the axis to coast to a stop
without controlled deceleration if the axis is disabled
while motion is occurring.