National Instruments NI-Motion User Manual
Page 240
Chapter 14
Onboard Programs
14-32
ni.com
err = flex_jump_on_event (boardID, 0,
NIMC_CONDITION_TRUE, 0, 0, NIMC_MATCH_ALL, 1/*label
number*/);
CheckError;
// End Program Storage
err = flex_end_store(boardID, 1);
CheckError;
//------------------------------------------------
// Host program. This programs monitors the 13th bit
in the move //complete status register and records
the position the axis is //going to move to.
//------------------------------------------------
do
{
// Check the move complete status/following
error/axis off //status
err = flex_read_axis_status_rtn(boardID, axis,
&axisStatus);
CheckError;
// Read the communication status register and
check the modal //errors
err = flex_read_csr_rtn(boardID, &csr);
CheckError;
// Check the modal errors
if
(csr & NIMC_MODAL_ERROR_MSG)
{
err = csr & NIMC_MODAL_ERROR_MSG;
CheckError;
}
// Read the move complete status register and once
the 13th bit //is set; reset the bit and read the
target position.
err = flex_read_mcs_rtn(boardID,
&moveCompleteStatus);
CheckError;
if
(moveCompleteStatus & (1<<13)){
i32
currentTargetPosition;
// Reset the 13th bit in the move complete
status register
err = flex_set_status_momo(boardID, 0,
0x20);
CheckError;