National Instruments NI-Motion, User Manual

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Chapter 14 Onboard Programs
© National Instruments Corporation 14-31 NI-Motion User Manual
err = flex_load_var (boardID, targetPosition, 1);
CheckError;
// Begin onboard program storage - program number 1
err = flex_begin_store (boardID, 1);
// Set the operation mode to absolute position
err = flex_set_op_mode (boardID, axis,
NIMC_ABSOLUTE_POSITION);
CheckError;
// Set the velocity
err = flex_load_velocity (boardID, axis, 10000,
0xFF);
CheckError;
// Insert Label number 1
err = flex_insert_program_label (boardID, 1);
CheckError;
// Load Target Position from onboard variable 1
err = flex_load_target_pos (boardID, axis, 0, 1);
CheckError;
// Start the move
err = flex_start (boardID, axis, 0);
CheckError;
// Wait for move to complete
err = flex_wait_on_event (boardID, 0, NIMC_WAIT,
NIMC_CONDITION_MOVE_COMPLETE,
( u8 )(1<<axis)/*Indicates axis to wait on*/, 0,
NIMC_MATCH_ALL, 3000 /*time out*/, 0);
CheckError;
// Multiply variable 1 (target position) with 2
( multiplier)
// Save the result in variable 1 - this calculates
the negative o f // last target position
err = flex_mult_vars (boardID, 1, 2, 1);
CheckError;
// Set the 13th bit in the move complete status
register so that // the host knows that the axis is
about to reverse direction
err = flex_set_status_momo (boardID, 0x20, 0);
CheckError;
// Jump unconditionally to load new target position