National Instruments NI-Motion, User Manual

Page: 241 / 305

Chapter 14 Onboard Programs
© National Instruments Corporation 14-33 NI-Motion User Manual
err = flex_read_var_rtn (boardID, 1,
&currentTargetPosition);
CheckError;
}
Sleep (50); // Check every 50 ms
} while (!(axisStatus & NIMC_FOLLOWING_ERROR_BIT) &&
!(axisStatus & NIMC_AXIS_OFF_BIT));
// Exit on move complete/following error/axis off
return ;// Exit the Application
// Error Handling
nimcHandleError; // NIMCCATCHTHIS :
// Check to see if there were any Modal Errors
if (csr & NIMC_MODAL_ERROR_MSG){
do {
// Get the command ID, resource ID, and the
error code of the // modal error from the
error stack on the device
flex_read_error_msg_rtn (boardID,&commandI
D,&resourceID, &errorCode);
nimcDisplayError(errorCode,commandID,res
ourceID);
// Read the communication status register
flex_read_csr_rtn (boardID,&csr);
} while (csr & NIMC_MODAL_ERROR_MSG);
}
else // Display regular error
nimcDisplayError(err,0,0);
return ;// Exit the Application
}