Specifications

Publication GMC-SG001E-EN-P — June 2001
5-20 Software
Programming an Ultra5000 Intelligent Positioning Drive
You can create Ultra5000 motion programs by using motion commands within an ANSI C format. The
Ultra5000 is the first intelligent positioning drive to leverage the power and flexibility of the standard ANSI
C language. Furthermore, ANSI C programming language features:
•
An excellent capability to handle arrays, strings, numeric conversions, and math operations.
•
A rich set of iteration and selection structures such as If-Then, While, Do-While, For, and Switch
operations.
•
Compiled programs for fast execution speed and very compact programs.
Ultraware User Programming Specifications
Ultraware Motion Library Commands
The following section contains the library of C commands used to create Ultra5000 motion programs.
Control Setting Functions
Specification Description
Language Compiled ANSI C with Library of Motion Commands
Programming Environment Full-Featured Color Syntax Editor and C Compiler Integrated with Ultraware Software
Operating System Real-Time Multi-Tasking Flash Upgradeable
User Program Memory Capacity 512 Kbytes
User Program Memory Storage Medium Flash Memory, 100,000 Write Cycles
Non-Volatile Memory Capacity 32 Kbytes (approximately 8000 non-volatile user variables)
Non-Volatile Memory Storage Medium nvSRAM (High-Speed SRAM/EEPROM)
Command Function
Axis Attributes
• AxisGetCommandCur
• AxisGetCommandPos
• AxisGetCommandVel
• AxisGetFeedbackOffset
• AxisGetFeedbackPos
• AxisGetFeedbackVel
• AxisGetKff
• AxisGetKp
• AxisGetFGain
• AxisGetIGain
• AxisGetLowerCurLimit
• AxisGetPGain
• AxisGetPosError
• AxisGetUpperCurLimit
• AxisGetVelError
• AxisSetFeedbackOffset
• AxisSetFGain
• AxisSetIGain
• AxisSetKff
• AxisSetKp
• AxisSetLowerCurLimit
• AxisSetPGain
• AxisSetUpperCurLimit
Get and set axis
attributes, plus
any axis offset.
Command Function
Axis Services
• AxisDisable
• AxisIsEnabled
Turn feedback on or off and
determine if the axis is
enabled.
Axis Status
• AxisIsEnabled
Query axis status.
Control Services
• ControlClearFault
Manage control services.
Control Attributes
• ControlGetFault
• EncoderGetOutput
Get control attributes.
Program Services
• InitMotionLibrary
• Sleep
Manage program execution.