National Instruments NI-Motion, User Manual

Page: 120 / 305

Chapter 9 Blending Moves
NI-Motion User Manual 9-8 ni.com
err = flex_set_op_mode (boardID, vectorSpace,
NIMC_ABSOLUTE_POSITION);
CheckError;
// Load the first straight-line segments to position
5000, 5000
err = flex_load_vs_pos (boardID, vectorSpace, 5000,
5000, 0, 0xFF);
CheckError;
// Start the move
err = flex_start (boardID, vectorSpace, 0);
CheckError;
// Load Circular Arc - making a counter - clockwise
semi-circle
err = flex_load_circular_arc (boardID, vectorSpace,
5000/*radius*/, 0.0/*startAngle*/,
180.0/*travelAngle*/, 0xFF);
CheckError;
// Blend the move
err = flex_blend (boardID, vectorSpace, 0);
CheckError;
// Wait for blend to complete before loading the next
segment
do
{
axisStatus = 0;
// Check the blend complete status
err = flex_check_blend_complete_status (boardID,
vectorSpace, 0, &complete);
CheckError;
// Check the following error/axis off status for axis
1
err = flex_read_axis_status_rtn (boardID,
NIMC_AXIS1, &status);
CheckError;
axisStatus |= status;
// Check the following error/axis off status for axis
2
err = flex_read_axis_status_rtn (boardID,
NIMC_AXIS2, &status);
CheckError;
axisStatus |= status;
// Read the communication status register and check
the modal // errors
err = flex_read_csr_rtn (boardID, &csr);
CheckError;
//Check the modal errors
if (csr & NIMC_MODAL_ERROR_MSG)