National Instruments NI-Motion, User Manual

Page: 84 / 305

Chapter 6 Arc Moves
NI-Motion User Manual 6-6 ni.com
err = flex_check_move_complete_status (boardID,
vectorSpace, 0, &moveComplete);
CheckError;
// Check the following error/axis off status for
axis 1
err = flex_read_axis_status_rtn (boardID,
NIMC_AXIS1, &status);
CheckError;
axisStatus |= status;
// Check the following error/axis off status for
axis 2
err = flex_read_axis_status_rtn (boardID,
NIMC_AXIS2, &status);
CheckError;
axisStatus |= status;
// 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;
}
} while (!moveComplete && !(axisStatus &
NIMC_FOLLOWING_ERROR_BIT) && !(axisStatus &
NIMC_AXIS_OFF_BIT));
// Exit on move complete/following error/axis off
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