National Instruments NI-Motion, User Manual

Page: 186 / 305

Chapter 12 Synchronization
NI-Motion User Manual 12-36 ni.com
axis = NIMC_AXIS1;
////////////////////////////////
// Route HSC 1 to RTSI line 1
err = flex_select_signal (boardID, NIMC_HS_CAPTURE1
/*destination*/, NIMC_RTSI1/*source*/);
CheckError;
// Configure High-Speed Capture
err = flex_configure_hs_capture (boardID, axis,
NIMC_HS_LOW_TO_HIGH_EDGE, 0);
CheckError;
for (i=0; i<6; i++){
// Enable the high speed capture on axis
err = flex_enable_hs_capture (boardID, axis,
NIMC_TRUE);
CheckError;
do
{
// Check the high-speed capture 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 the modal errors
if (csr & NIMC_MODAL_ERROR_MSG)
{
err = csr & NIMC_MODAL_ERROR_MSG;
CheckError;
}
Sleep (10); // Check every 10 ms
} while (!(axisStatus &
NIMC_HIGH_SPEED_CAPTURE_BIT));
// Wait for high-speed capture to be triggered
err = flex_read_cap_pos_rtn (boardID, axis,
&capturedPositions[i]);
CheckError;
}
return ;// Exit the Application
//////////////////////
// Error Handling