National Instruments NI-Motion, User Manual

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Chapter 15 Scanning
NI-Motion User Manual 15-20 ni.com
err = flex_read_axis_status_rtn (boardID,
NIMC_AXIS2, &status);
CheckError;
axisStatus |= status;
if ( (axisStatus & NIMC_FOLLOWING_ERROR_BIT) ||
(axisStatus & NIMC_AXIS_OFF_BIT) ){
break;// Break out of the for loop because
an axis was killed
}
}
// Set the mode back to absolute mode to get the motion
controller out of // contouring mode
err = flex_set_op_mode (boardID, vectorSpace,
NIMC_ABSOLUTE_POSITION);
CheckError;
// Free the buffer allocated on the motion controller
memory
err = flex_clear_buffer (boardID, 1/*buffer
number*/);
CheckError;
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
}