National Instruments NI-Motion User Manual
Page 262
Chapter 15
Scanning
© National Instruments Corporation
15-11
// Set the deceleration for the move (in
counts/sec^2)
err = flex_load_acceleration(boardID, vectorSpace,
NIMC_DECELERATION, 100000, 0xFF);
CheckError;
// Set the jerk or s-curve in sample periods
err = flex_load_scurve_time(boardID, vectorSpace,
100, 0xFF);
CheckError;
// Load the blending factor
err = flex_load_blend_fact(boardID, vectorSpace, -1,
0xFF);
CheckError;
// Set the operation mode to absolute position
err = flex_set_op_mode(boardID, vectorSpace,
NIMC_ABSOLUTE_POSITION);
CheckError;
// Load the straight-line segments one by one
for
(i=0; i<d_numberOfSegments; i++){
//Load Target Position
err = flex_load_vs_pos(boardID, vectorSpace,
xPosition[i], yPosition[i], 0, 0xFF);
CheckError;
if
(i==0){
// Start the move
err = flex_start(boardID, vectorSpace,
0);
CheckError;
}else{
// Blend the move
err = flex_blend(boardID, vectorSpace,
0);
CheckError;
}
do
{
axisStatus = 0;
if
(i==d_numberOfSegments-1){
// Check the move complete status
err =
flex_check_move_complete_status
(bo
ardID, vectorSpace, 0, &complete);