National Instruments NI-Motion User Manual page 143

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// Configure the superimposed move (optional)
// Set to absolute mode
err = flex_set_op_mode(boardID, slaveAxis,
NIMC_ABSOLUTE_POSITION);
CheckError;
// Set the maximum velocity
data.doubleData = velocity;
err = flex_load_move_constraint(boardID, slaveAxis,
TnimcMoveConstraintVelocity, &data);
CheckError;
// Set the target position
err = flex_load_target_pos(boardID, slaveAxis,
targetPos, 0xFF);
CheckError;
// Start the master axis movement
err = flex_start(boardID, slaveAxis, 0x0);
CheckError;
// Wait for move to complete
err = flex_wait_for_move_complete (boardID,
slaveAxis, 0x1, 20000, 20, &moveComplete);
CheckError;
// Error Handling
//
nimcHandleError; //NIMCCATCHTHIS:
// Disable camming
flex_enable_camming_single_axis(boardID, slaveAxis,
FALSE, -1.0);
// Clear (delete) the buffer
flex_clear_buffer(boardID, buffer);
// Check to see if there were any Modal Errors
flex_read_csr_rtn(boardID, &csr);
if (csr & NIMC_MODAL_ERROR_MSG)
{
do
{
// Get the command ID, resource and the error code of the
modal
//error from the error stack on the board
10-21
Chapter 10 Electronic Gearing and Camming
NI-Motion User Manual