National Instruments NI-Motion, Руководство пользователя

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Chapter 13 Torque Control
© National Instruments Corporation 13-5 NI-Motion User Manual
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
u16 axisStatus;// Axis status
u16 moveComplete;
// 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;
////////////////////////////////
//-------------------------------------------------
// Is is assumed that the axis being moved has an ADC
channel mapped // as its primary feedback. Position is
treated as binary volts. // Hence velocity is loaded
in binary volts/sec and acceleration as // binary
volts/sec^2.
//-------------------------------------------------
// Set the velocity for the move (in binary
volts/sec)
err = flex_load_velocity (boardID, axis, 10000,
0xFF);
CheckError;
// Set the acceleration for the move (in binary
volts/sec^2)
err = flex_load_acceleration (boardID, axis,
NIMC_ACCELERATION, 100000, 0xFF);
CheckError;
// Set the deceleration for the move (in binary
volts/sec^2)