C/c++ code, C/c++ code -22 – National Instruments NI-Motion User Manual

Page 230

Chapter 14

Onboard Programs

NI-Motion User Manual

14-22

ni.com

C/C++ Code

The following example code is not necessarily complete, and may
not compile if copied exactly. Refer to the

examples

folder on the

NI-Motion CD for files that are complete and compile as is.

// Main Function

void main(void)

{

boardID;// Board identification number

axis; // Axis number

u16

csr = 0;// Communication status register

//Variables for modal error handling

u16

commandID;// The commandID of the function

u16

resourceID;// The resource ID

i32

errorCode;// Error code

///////////////////////////////

// Set the board ID

boardID = 1;

// Set the axis number

axis = NIMC_AXIS1;

////////////////////////////////

// Begin onboard program storage - program number 1

err = flex_begin_store(boardID, 1);

CheckError;

// Load Velocity in RPM

err = flex_load_rpm(boardID, axis, 100.00, 0xFF);

CheckError;

// Load Acceleration and Deceleration in RPS/sec

err = flex_load_rpsps(boardID, axis, NIMC_BOTH,

50.00, 0xFF);

CheckError;

// Set the operation mode to relative

err = flex_set_op_mode(boardID, axis,

NIMC_RELATIVE_POSITION);

CheckError;

// Insert Label number 1

err = flex_insert_program_label(boardID, 1);

CheckError;

// Load Target Position to move relative 5000

counts(steps)