National Instruments NI-Motion, User Manual

Page: 119 / 305

Chapter 9 Blending Moves
© National Instruments Corporation 9-7 NI-Motion User Manual
C/C++ Code
The following example code is not necessarily complete, and may
not compile if copied exactly. Refer to the
examples
folder on the
NI-Motion CD for files that are complete and compile as is.
// Main Function
void main(void)
{
u8 boardID;// Board identification number
u8 vectorSpace;// Vector space number
u16 csr = 0;// Communication status register
u16 axisStatus;// Axis status
u16 status;
u16 complete;// Move or blend complete status
// Variables for modal error handling
u16 commandID;// The commandID of the function
u16 resourceID;// The resource ID
i32 errorCode;// Error code
///////////////////////////////
// Set the board ID
boardID = 1;
// Set the vector space number
vectorSpace = NIMC_VECTOR_SPACE1;
////////////////////////////////
// Configure a 2D coordinate space comprised of axes 1,
and 2
err = flex_config_vect_spc (boardID, vectorSpace,
NIMC_AXIS1, NIMC_AXIS2, NIMC_NOAXIS);
CheckError;
// Set the velocity for the move (in counts/sec)
err = flex_load_velocity (boardID, vectorSpace, 10000,
0xFF);
CheckError;
// Set the acceleration for the move (in counts/sec^2)
err = flex_load_acceleration (boardID, vectorSpace,
NIMC_ACCELERATION, 100000, 0xFF);
CheckError;
// Set the deceleration for the move (in counts/sec^2)
err = flex_load_acceleration (boardID, vectorSpace,
NIMC_DECELERATION, 100000, 0xFF);
CheckError;
// Set the jerk or s-curve in sample periods
err = flex_load_scurve_time (boardID, vectorSpace, 1,
0xFF);
CheckError;
// Set the operation mode to absolute position