ADLINK Technology PCI-8254, Руководство пользователя

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110 Motion Control Theory
// 2. Start home move
return_code = APS_home_move( axis_id ); //Start homing
if ( return_code != ERR_NoError )
{ /* Error handling */ }
// 3. Wait for home move done,
do {
Sleep( 100 );
msts = APS_motion_status( axis_id ); // Get motion status
msts = ( msts >> MTS_NSTP ) & 1 ; // Get motion done bit
} while ( msts == 1 );
// 4. Check home move success or not
msts = APS_motion_status( axis_id ); // Get motion status
msts = ( msts >> MTS_ASTP ) & 1 ; // Get abnormal stop bit
if ( msts == 1 )
{ // Error handling ...
I32 stop_code;
APS_get_stop_code( axis_id, &stop_code );
} else
{ // Homing success.
}
}