National Instruments NI-Motion, User Manual

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Chapter 15 Scanning
© National Instruments Corporation 15-5 NI-Motion User Manual
// Set the deceleration for the move (in
counts/sec^2)
err = flex_load_acceleration (boardID, vectorSpace,
NIMC_DECELERATION, 100000, 0xFF);
CheckError;
// Set the jerk or s-curve in sample periods
err = flex_load_scurve_time (boardID, vectorSpace,
100, 0xFF);
CheckError;
// Set the operation mode to absolute position
err = flex_set_op_mode (boardID, vectorSpace,
NIMC_ABSOLUTE_POSITION);
CheckError;
// Load the straight-line segments one by one
for (i=0; i<d_numberOfSegments; i++){
// Load Target Position
err = flex_load_vs_pos (boardID, vectorSpace,
xPosition[i], yPosition[i], 0, 0xFF);
CheckError;
// Start the move
err = flex_start (boardID, vectorSpace, 0);
CheckError;
do
{
axisStatus = 0;
// Check the move complete status
err = flex_check_move_complete_status
(boardID, vectorSpace, 0, &moveComplete);
CheckError;
// Check the following error/axis off
status for axis 1
err = flex_read_axis_status_rtn (boardID,
NIMC_AXIS1, &status);
CheckError;
axisStatus |= status;
// Check the following error/axis off
status for axis 2
err = flex_read_axis_status_rtn (boardID,
NIMC_AXIS2, &status);
CheckError;
axisStatus |= status;