National Instruments NI-Motion, User Manual

Page: 240 / 305

Chapter 14 Onboard Programs
NI-Motion User Manual 14-32 ni.com
err = flex_jump_on_event (boardID, 0,
NIMC_CONDITION_TRUE, 0, 0, NIMC_MATCH_ALL, 1/*label
number*/);
CheckError;
// End Program Storage
err = flex_end_store (boardID, 1);
CheckError;
//------------------------------------------------
// Host program. This programs monitors the 13th bit
in the move // complete status register and records
the position the axis is // going to move to.
//------------------------------------------------
do
{
// 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;
}
// Read the move complete status register and once
the 13th bit // is set; reset the bit and read the
target position.
err = flex_read_mcs_rtn (boardID,
&moveCompleteStatus);
CheckError;
if (moveCompleteStatus & (1<<13)){
i32 currentTargetPosition;
// Reset the 13th bit in the move complete
status register
err = flex_set_status_momo (boardID, 0,
0x20);
CheckError;