National Instruments NI-Motion, User Manual

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Chapter 6 Arc Moves
© National Instruments Corporation 6-5 NI-Motion User Manual
u16 commandID;// The commandID of the function
u16 resourceID;// The resource ID
i32 errorCode;// Error code
///////////////////////////////
// Set the board ID
boardID = 1;
// Set the vector space number
vectorSpace = NIMC_VECTOR_SPACE1;
////////////////////////////////
// Configure a 2D vector space comprising of axes 1
and 2
err = flex_config_vect_spc (boardID, vectorSpace,
NIMC_AXIS1, NIMC_AXIS2, 0);
CheckError;
// Set the velocity for the move (in counts/sec)
err = flex_load_velocity (boardID, vectorSpace,
10000, 0xFF);
CheckError;
// Set the acceleration for the move (in
counts/sec^2)
err = flex_load_acceleration (boardID, vectorSpace,
NIMC_ACCELERATION, 100000, 0xFF);
CheckError;
// Set the deceleration for the move (in
counts/sec^2)
err = flex_load_acceleration (boardID, vectorSpace,
NIMC_DECELERATION, 100000, 0xFF);
CheckError;
// Load Spherical Arc
err = flex_load_circular_arc (boardID, vectorSpace,
5000/*radius*/, 0.0/*startAngle*/,
180.0/*travelAngle*/, 0xFF);
CheckError;
// Start the move
err = flex_start (boardID, vectorSpace, 0);
CheckError;
do
{
axisStatus = 0;
// Check the move complete status