National Instruments NI-Motion - page 105

Chapter 7 Contoured Moves
© National Instruments Corporation 7-9 NI-Motion User Manual
CheckError;
}
}
// Check the move complete status
err = flex_check_move_complete_status(boardID,
vectorSpace, 0, &moveComplete);
CheckError;
if(moveComplete) break;
// Check for axis off status/following error or
modal errors
//Read the communication status register 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;
}
// Check the motor off status on all the axes or
axis
err = flex_read_axis_status_rtn(boardID,
NIMC_AXIS1, &status);
CheckError;
axisStatus |= status;
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;