National Instruments NI-Motion, User Manual

Page: 202 / 305

Chapter 13 Torque Control
NI-Motion User Manual 13-12 ni.com
err = flex_load_acceleration (boardID, axis,
NIMC_DECELERATION, 100000, 0xFF);
CheckError;
// Set the jerk (s-curve value) for the move (in
sample periods)
err = flex_load_scurve_time (boardID, axis, 100,
0xFF);
CheckError;
// Set the operation mode to velocity
err = flex_set_op_mode (boardID, axis,
NIMC_RELATIVE_POSITION);
CheckError;
do
{
// Read the ADC channel number 1 and calculate the
position to // be updated
err = flex_read_adc16_rtn (boardID, NIMC_ADC1,
&adcValue);
CheckError;
if ( (constant - adcValue) != 0){
err = flex_load_target_pos (boardID, axis,
(constant - adcValue), 0xFF);
CheckError;
// Move based on delta force
err = flex_start (boardID, axis, 0);
CheckError;
}
// Check the move complete status/following
error/axis off // 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;