National Instruments NI-Motion User Manual

Page 197

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Chapter 13

Torque Control

© National Instruments Corporation

13-7

NI-Motion User Manual

}

}while (!moveComplete && !(axisStatus &

NIMC_FOLLOWING_ERROR_BIT) && !(axisStatus &

NIMC_AXIS_OFF_BIT));

//Exit on move complete/following error/axis off

return

;// Exit the Application

///////////////////////////////////////////////////

// Error Handling

//

nimcHandleError; //NIMCCATCHTHIS:

// Check to see if there were any Modal Errors

if

(csr & NIMC_MODAL_ERROR_MSG){

do

{

//Get the command ID, resource ID, and the

error code of the //modal error from the

error stack on the device

flex_read_error_msg_rtn

(boardID,&commandI

D,&resourceID, &errorCode);

nimcDisplayError(errorCode,commandID,res

ourceID);

//Read the communication status register

flex_read_csr_rtn

(boardID,&csr);

}while(csr & NIMC_MODAL_ERROR_MSG);

}

else

// Display regular error

nimcDisplayError(err,0,0);

return

;// Exit the Application

}

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