National Instruments NI-Motion, User Manual

Page: 71 / 305

Chapter 5 Straight-Line Moves
NI-Motion User Manual 5-16 ni.com
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 // second segment
currentTime = timeGetTime();
if((currentTime - initialTime) >= moveTime2)
break;
Sleep (100); // Check every 100 ms
} while (!(axisStatus) && !(axisStatus &
NIMC_FOLLOWING_ERROR_BIT) && !(axisStatus &
NIMC_AXIS_OFF_BIT)); // Exit on move
complete/following error/axis off
// Decelerate the axis to a stop
err = flex_stop_motion (boardID, axis,
NIMC_DECEL_STOP, 0);
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