National Instruments NI-Motion User Manual

Page 270

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Chapter 15

Scanning

© National Instruments Corporation

15-19

NI-Motion User Manual

if

(backlog >= 300){

downloadData =

malloc(sizeof(i32)*backlog);

dataCopied = 0;

for

(i=0;i

if

(currentDataPoint >

numPoints) break;

downloadData[i] =

points[currentDataPoint];

currentDataPoint++;

dataCopied++;

}

err = flex_write_buffer (boardID, 1

/*buffer number*/, dataCopied, 0,

downloadData, 0xFF);

free(downloadData);

downloadData = NULL;

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

any modal //errors

//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;

}

// Check the motor off status on all the axes

err = flex_read_axis_status_rtn(boardID,

NIMC_AXIS1, &status);

CheckError;

axisStatus |= status;