National Instruments NI-Motion, User Manual

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Chapter 10 Electronic Gearing and Camming
© National Instruments Corporation 10-7 NI-Motion User Manual
// Load the target position for the registration
(superimposed) // move
err = flex_load_target_pos (boardID, slaveAxis, 5000,
0xFF);
CheckError;
// Start registration move on the slave
err = flex_start (boardID, slaveAxis, 0);
CheckError;
err = flex_wait_for_move_complete (boardID,
slaveAxis, 0, 1000/*ms timeout*/,
20/*ms pollInterval*/, &moveComplete);
CheckError;
//-------------------------------------------------
// Disable gearing on slave axis
//-------------------------------------------------
err = flex_enable_gearing_single_axis (boardID,
slaveAxis, NIMC_FALSE);
CheckError;
return;// Exit the Application
///////////////////////
// Error Handling
nimcHandleError; //NIMCCATCHTHIS:
// Check to see if there were any Modal Errors
if (csr & NIMC_MODAL_ERROR_MSG){
do {
// Get the command ID, resource ID, and the
error code of the // modal error from the
error stack on the device
flex_read_error_msg_rtn (boardID,&commandI
D,&resourceID, &errorCode);
nimcDisplayError(errorCode,commandID,res
ourceID);
// Read the communication status register
flex_read_csr_rtn (boardID,&csr);
} while (csr & NIMC_MODAL_ERROR_MSG);
}
else // Display regular error
nimcDisplayError(err,0,0);
return ;// Exit the Application
}