National Instruments NI-Motion, User Manual

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Chapter 8 Reference Moves
© National Instruments Corporation 8-5 NI-Motion User Manual
// Wait for Find Reference to complete on the axis AND
also check // for modal errors at the same time
do {
// Read the current position of axis
err = flex_read_pos_rtn (boardID, axis,
&position);
CheckError;
// Display the current position of axis
printf("\rAxis %d position: %10d", axis,
position);
// Check if the axis has stopped because of axis
off or following // error
err = flex_read_axis_status_rtn (boardID, axis,
&axisStatus);
// Check if the reference has finished finding
err = flex_check_reference (boardID, axis, 0,
&found, &finding);
CheckError;
// Read the communication status register - check
the modal // error bit
err = flex_read_csr_rtn (boardID, &csr);
CheckError;
if (csr & NIMC_MODAL_ERROR_MSG)
{
flex_stop_motion (boardID,NIMC_AXIS1,
NIMC_DECEL_STOP, 0);// Stop the Motion
err = csr & NIMC_MODAL_ERROR_MSG;
CheckError;
}
// test for find reference complete, following
error, or axis // off status
} while (!(axisStatus & (NIMC_FOLLOWING_ERROR_BIT |
NIMC_AXIS_OFF_BIT)) && finding);
printf("\nAxis %d position: %10d", axis, position);
if (found)
printf("\rAxis found reference");
else
printf("\rAxis did not find reference");
printf("\n\nFinished\n");
return ;// Exit the Application