National Instruments NI-Motion, User Manual

Page: 246 / 305

Chapter 14 Onboard Programs
NI-Motion User Manual 14-38 ni.com
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 axis; // Axis number
u16 csr = 0;// Communication status register
// Variables for modal error handling
u16 commandID;// The commandID of the function
u16 resourceID;// The resource ID
i32 errorCode;// Error code
// Set the board ID
boardID = 1;
// Set the axis number
axis = NIMC_AXIS1;
//-----------------------------------------------
// Onboard program 2. This onboard program moves axis
one clockwise // 5,000 counts (steps). This onboard
program is executed by onboard // program one.
//-----------------------------------------------
// Begin onboard program storage - program number 2
err = flex_begin_store (boardID, 2);
CheckError;
// Set the operation mode to relative
err = flex_set_op_mode (boardID, axis,
NIMC_RELATIVE_POSITION);
CheckError;
// Load Target Position to move clockwise 5,000
counts(st eps)
err = flex_load_target_pos (boardID, axis, 5000,
0xFF);
CheckError;
// Load Velocity in RPM
err = flex_load_rpm (boardID, axis, 100.00, 0xFF);
CheckError;
// Load Acceleration and Deceleration in RPS/sec