National Instruments NI-Motion, User Manual

Page: 88 / 305

Chapter 6 Arc Moves
NI-Motion User Manual 6-10 ni.com
LabVIEW Code
Figure 6-9. Spherical Arc Move in LabVIEW
C/C++ Code
The following example code is not necessarily complete, and may
not compile if copied exactly. Refer to the
examples
folder on the
NI-Motion CD for files that are complete and compile as is.
// Main Function
void main(void)
{
u8 boardID;// Board identification number
u8 vectorSpace;// Vector space number
u16 csr = 0;// Communication status register
u16 axisStatus;// Axis status
u16 status;
u16 moveComplete;
// Variables for modal error handling
u16 commandID;// The commandID of the function
u16 resourceID;// The resource ID
i32 errorCode;// Error code
1 Configure Vector Space
2 Load Velocity
3 Load Acceleration/Deceleration
4 Load Acceleration/Deceleration
5 Load Spherical Arc
6 Start Motion
7 Check Move Complete Status
8 Read per Axis Status
9 Read per Axis Status
10 Read per Axis Status
11 Motion Error Handler
11
6
3
4
1 10 8 7
2
5
9