National Instruments NI-Motion, User Manual

Page: 89 / 305

Chapter 6 Arc Moves
© National Instruments Corporation 6-11 NI-Motion User Manual
///////////////////////////////
// Set the board ID
boardID = 1;
// Set the vector space number
vectorSpace = NIMC_VECTOR_SPACE1;
////////////////////////////////
// Configure a 3D vector space comprising of axes 1,
2 and 3
err = flex_config_vect_spc (boardID, vectorSpace,
NIMC_AXIS1, NIMC_AXIS2, NIMC_AXIS3);
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_spherical_arc (boardID, vectorSpace,
5000/*radius*/, 45.0/*planePitch*/,
45.0/*planeYaw*/, 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
err = flex_check_move_complete_status (boardID,
vectorSpace, 0, &moveComplete);
CheckError;