Esp_Move_Relative(Long Axis, Double Position) - Newport ESP6000 User Manual

esp_move_relative Move Relative Displacement
Synopsis:
Arguments:
Library Location:
Description:
Returns:
Usage Example:
See Also:
Section 5 — Programming
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#include "esp6000.h"
int esp_move_relative(long axis, double displacement)
long axis
axis number from 1-6
double displacement
target displacement in user units
\esp6000.dll
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.
ESPOK, ESPERROR
Hint:
#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);
}
esp_get_position_count(), esp_move_absolute(), esp_set_speed(), esp_set_accel(),
esp_set_decel(), esp_set_resolution()
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