National Instruments NI-Motion User Manual page 129

© National Instruments Corporation
// Load the target position for the registration
(superimposed) //move
err = flex_load_target_pos(boardID, slaveAxis, 5000,
0xFF);
CheckError;
// Start registration move on the slave
err = flex_start(boardID, slaveAxis, 0);
CheckError;
err = flex_wait_for_move_complete (boardID,
slaveAxis, 0, 1000/*ms timeout*/,
20/*ms pollInterval*/, &moveComplete);
CheckError;
//-------------------------------------------------
// Disable gearing on slave axis
//-------------------------------------------------
err = flex_enable_gearing_single_axis (boardID,
slaveAxis, NIMC_FALSE);
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
flex_read_csr_rtn(boardID,&csr);
}while(csr & NIMC_MODAL_ERROR_MSG);
}
else// Display regular error
nimcDisplayError(err,0,0);
return;// Exit the Application
}
Chapter 10
10-7
Electronic Gearing and Camming
NI-Motion User Manual