Rockwell Automation 2098-IPD-xxx Ultra5000 C Programming using the Motion Library - Manual (Page 55)

Publication 2098-PM001E-EN-P — July 2002
Referencing the Motion Library 2-15
Program Services
long InitMotionLibrary(void);
Initializes the motion library functions so the program may access
them. If this function is not called, all motion library function calls will
fail.
Returns 0 if successful, or -1 on an error.
long ProgramKill(char* name);
Halts execution of the specified program (i.e., motion is not stopped).
Returns 0 if successful, or -1 on an error.
long ProgramRun(char* name);
Initiates execution of the specified program.
Returns 0 if successful, or -1 on an error.
long ProgramStop(char* name);
Sets the StopRequested flag for the specified program (i.e., motion is
not stopped).
Returns 0 if successful, or -1 on an error.
long Sleep(long ms);
Delays program execution for the number of milliseconds specified in
the ms argument.
Returns 0 if successful, or -1 on an error.
IMPORTANT
If Motion Library functions are used in a program,
this function should be called as the first line of the
program’s main function, and must be made before
calling other Motion Library functions.