National Instruments NI-Motion, User Manual

Page: 230 / 305

Chapter 14 Onboard Programs
NI-Motion User Manual 14-22 ni.com
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
// 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;
////////////////////////////////
// Begin onboard program storage - program number 1
err = flex_begin_store (boardID, 1);
CheckError;
// Load Velocity in RPM
err = flex_load_rpm (boardID, axis, 100.00, 0xFF);
CheckError;
// Load Acceleration and Deceleration in RPS/sec
err = flex_load_rpsps (boardID, axis, NIMC_BOTH,
50.00, 0xFF);
CheckError;
// Set the operation mode to relative
err = flex_set_op_mode (boardID, axis,
NIMC_RELATIVE_POSITION);
CheckError;
// Insert Label number 1
err = flex_insert_program_label (boardID, 1);
CheckError;
// Load Target Position to move relative 5000
counts(steps)