National Instruments NI-Motion User Manual

Page 71

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Chapter 5

Straight-Line Moves

NI-Motion User Manual

5-16

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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;

}

// Get the current time and check if time is over

for the //second segment

currentTime = timeGetTime();

if((currentTime - initialTime) >= moveTime2)

break;

Sleep (100); //Check every 100 ms

}while (!(axisStatus) && !(axisStatus &

NIMC_FOLLOWING_ERROR_BIT) && !(axisStatus &

NIMC_AXIS_OFF_BIT)); //Exit on move

complete/following error/axis off

// Decelerate the axis to a stop

err = flex_stop_motion(boardID, axis,

NIMC_DECEL_STOP, 0);

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

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