Newport ESP6000, Руководство пользователя

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Section 5 — Programming 5-35
esp_move_relative Move Relative Displacement
Synopsis:
#include “esp6000.h”
int esp_move_relative(long axis, double displacement)
Arguments: long axis
axis number from 1-6
double displacement
target displacement in user units
Library Location: \esp6000.dll
Description: esp_move_relative() will displace the selected axis relative to the present position.
For servo motor axes, “relative” displacements are with respect to present target
absolute position. This helps avoid cumulative errors due to over- and/or under-shooting
positioners.
Returns: ESPOK, ESPERROR
Hint:
Usage Example: #include “esp6000.h”
main()
{
long error, servotick;
if (!esp_init_system())
{
printf(“ESP6000 Not Initialized! \r\n”);
exit(-1);
}
/* enable motor power */
esp_enable_motor(2);
/* move axis-2 relative -3 units */
esp_move_relative(2,-3);
/* check error status */
esp_get_error_num(&error,&ServoTick)
;
if (error) printf(“Error %d Reported!”, error);
}
See Also: esp_get_position_count(), esp_move_absolute(), esp_set_speed(), esp_set_accel(),
esp_set_decel(), esp_set_resolution()
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