National Instruments NI-Motion, User Manual

Page: 161 / 305

Chapter 12 Synchronization
© National Instruments Corporation 12-11 NI-Motion User Manual
///////////////////////////////
// Set the board ID
boardID = 1;
// Set the axis number
axis = NIMC_AXIS1;
////////////////////////////////
// Route breakpoint 1 to RTSI line 1
err = flex_select_signal (boardID, NIMC_RTSI0
/*destination*/, NIMC_BREAKPOINT1/*source*/);
CheckError;
// Configure the breakpoint
err = flex_configure_breakpoint (boardID, axis,
NIMC_ABSOLUTE_BREAKPOINT /*mode*/,
NIMC_SET_BREAKPOINT /*action*/,
NIMC_OPERATION_SINGLE /*single operation*/);
CheckError;
for (i=0; i<3; i++){
// Load breakpoint position - where breakpoint
should occur
err = flex_load_pos_bp (boardID, axis,
breakpointPosition[i], 0xFF);
CheckError;
// Enable the breakpoint on axis 1
err = flex_enable_breakpoint (boardID, axis,
NIMC_TRUE);
CheckError;
do
{
// Check the breakpoint status
err = flex_read_axis_status_rtn (boardID,
axis, &axisStatus);
CheckError;
// Read the communication status register
and check the modal // errors
err = flex_read_csr_rtn (boardID, &csr);
CheckError;
// Check for modal errors
if (csr & NIMC_MODAL_ERROR_MSG)
{
err = csr & NIMC_MODAL_ERROR_MSG;
CheckError;