National Instruments NI-Motion User Manual
Page 64
Chapter 5
Straight-Line Moves
© National Instruments Corporation
5-9
CheckError;
// Check the following error/axis off status for
axis 1
err = flex_read_axis_status_rtn(boardID, 1,
&status);
CheckError;
axisStatus |= status;
// Check the following error/axis off status for
axis 2
err = flex_read_axis_status_rtn(boardID, 2,
&status);
CheckError;
axisStatus |= status;
// 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;
}
}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