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Chapter 13 Torque Control
NI-Motion User Manual 13-16 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)
{
u8 boardID;// Board identification number
u8 axis;// Axis number
u16 csr = 0;// Communication status register
u16 axisStatus;// Axis status
i32 constant;// Constant multiplier
i16 adcValue;// ADC value read
//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;
// constant to multiply the ADC value read to
calculate the //required velocity
constant = 10;
////////////////////////////////
// Set the velocity for the move (in counts/sec)
err = flex_load_velocity(boardID, axis, 10000,
0xFF);
CheckError;
// Set the acceleration for the move (in
counts/sec^2)
err = flex_load_acceleration(boardID, axis,
NIMC_ACCELERATION, 100000, 0xFF);
CheckError;
// Set the deceleration for the move (in
counts/sec^2)
err = flex_load_acceleration(boardID, axis,
NIMC_DECELERATION, 100000, 0xFF);
CheckError;