National Instruments NI-Motion User Manual
Page 90
Chapter 6
Arc Moves
6-12
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// Check the following error/axis off status for
axis 1
err = flex_read_axis_status_rtn(boardID,
NIMC_AXIS1, &status);
CheckError;
axisStatus |= status;
// Check the following error/axis off status for
axis 2
err = flex_read_axis_status_rtn(boardID,
NIMC_AXIS2, &status);
CheckError;
axisStatus |= status;
// Check the following error/axis off status for
axis 3
err = flex_read_axis_status_rtn(boardID,
NIMC_AXIS3, &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
{