National Instruments NI-Motion User Manual
Page 271
Chapter 15
Scanning
15-20
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err = flex_read_axis_status_rtn(boardID,
NIMC_AXIS2, &status);
CheckError;
axisStatus |= status;
if
( (axisStatus & NIMC_FOLLOWING_ERROR_BIT) ||
(axisStatus & NIMC_AXIS_OFF_BIT) ){
break;//Break out of the for loop because
an axis was killed
}
}
//Set the mode back to absolute mode to get the motion
controller out of //contouring mode
err = flex_set_op_mode(boardID, vectorSpace,
NIMC_ABSOLUTE_POSITION);
CheckError;
// Free the buffer allocated on the motion controller
memory
err = flex_clear_buffer(boardID, 1/*buffer
number*/);
CheckError;
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
}