National Instruments NI-Motion, User Manual

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Chapter 5 Straight-Line Moves
NI-Motion User Manual 5-14 ni.com
i32 errorCode;// Error code
// Set the board ID
boardID = 3;
// Set the axis number
axis = NIMC_AXIS1;
// Move time for the first segment
moveTime1 = 5000; // milliseconds
// Move time for the second segment
moveTime2 = 10000; // milliseconds
//-------------------------------------------------
// First segment
//-------------------------------------------------
// Set the velocity for the move (in counts/sec)
err = flex_load_velocity (boardID, axis, 10000,
0xFF);
CheckError;
// Set the acceleration for the move (in
counts/sec^2)
err = flex_load_acceleration (boardID, axis,
NIMC_ACCELERATION, 100000, 0xFF);
CheckError;
// Set the deceleration for the move (in
counts/sec^2)
err = flex_load_acceleration (boardID, axis,
NIMC_DECELERATION, 100000, 0xFF);
CheckError;
// Set the jerk (s-curve value) for the move (in
sample periods)
err = flex_load_scurve_time (boardID, axis, 100,
0xFF);
CheckError;
// Set the operation mode to velocity
err = flex_set_op_mode (boardID, axis,
NIMC_VELOCITY);
CheckError;
// Start the move
err = flex_start (boardID, axis, 0);
CheckError;
// Wait for the time for first segment
initialTime = timeGetTime();