National Instruments NI-Motion, User Manual

Page: 175 / 305

Chapter 12 Synchronization
© National Instruments Corporation 12-25 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 axis; // Axis number
u16 csr = 0;// Communication status register
u16 axisStatus;// Axis 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 axis number
axis = NIMC_AXIS1;
////////////////////////////////
// Route breakpoint 1 to RTSI line 1
err = flex_select_signal (boardID, NIMC_RTSI1
/*destination*/, NIMC_BREAKPOINT1/*source*/);
CheckError;
// Configure Breakpoint
err = flex_configure_breakpoint (boardID, axis,
NIMC_MODULO_BREAKPOINT, NIMC_SET_BREAKPOINT,
NIMC_OPERATION_SINGLE);
CheckError;
// Load Breakpoint Modulus - repeat period
err = flex_load_bp_modulus (boardID, axis, 500,
0xFF);
CheckError;
// Load Breakpoint Position - position at which
breakpoint should // occur every modulo
err = flex_load_pos_bp (boardID, axis, 0, 0xFF);
CheckError;
for (;;){
// Enable the breakpoint on axis 1