National Instruments NI-Motion, User Manual

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Chapter 5 Straight-Line Moves
© National Instruments Corporation 5-15 NI-Motion User Manual
do
{
// Check the 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;
}
// Get the current time and check if time is over
for the first // segment
currentTime = timeGetTime();
if ((currentTime - initialTime) >= moveTime1)
break;
Sleep (100); // Check every 100 ms
} while (!(axisStatus) && !(axisStatus &
NIMC_FOLLOWING_ERROR_BIT) && !(axisStatus &
NIMC_AXIS_OFF_BIT)); // Exit on following error/axis
off
//-------------------------------------------------
// Second segment
//-------------------------------------------------
// Set the velocity for the move (in counts/sec)
err = flex_load_velocity (boardID, axis, 6568, 0xFF);
CheckError;
// Start the move - to update the velocity
err = flex_start (boardID, axis, 0);
CheckError;
// Wait for the time for second segment
initialTime = timeGetTime();
do
{
// Check the following error/axis off status
err = flex_read_axis_status_rtn (boardID, axis,
&axisStatus);