flex_check_reference |
Check Reference
Usage
status = flex_check_reference(u8 boardID, u8 axisOrVectorSpace, u16 axisOrVSMap, u16* found, u16* finding);
Purpose
Checks the status of a search sequence initiated by Find Reference.
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Tip Refer to the Remarks section for information about how the behavior of this function differs between controllers. |
Parameters
| Name | Type | Description |
|---|---|---|
| boardID | u8 | assigned by Measurement & Automation Explorer (MAX) |
| axisOrVectorSpace | u8 | axis or vector space selector |
| axisOrVSMap | u16 | bitmap of axes or vector spaces to check |
| found | u16* | returns true if the reference is found |
| finding | u16* | returns true if the reference find is ongoing |
Parameter Discussion
axisOrVectorSpace selects an axis (NIMC_AXIS1 through NIMC_AXIS30), vector space (NIMC_VECTOR_SPACE1 through NIMC_VECTOR_SPACE15), multiple axes (NIMC_AXIS_CTRL), or multiple vector spaces (NIMC_VECTOR_SPACE_CTRL). When simultaneously checking multiple axes or vector spaces, the axisOrVSMap parameter indicates which axes or vector spaces to check. On motion controllers that support fewer than thirty axes, configuring non-existent axes or vector spaces returns error 70006 (NIMC_badResourceIDOrAxisError). Refer to Axes and Vector Spaces for axis and vector space resource IDs.
axisOrVSMap is the bitmap of axes or vector spaces to check. It is only required when multiple axes or vector spaces are selected with the axisOrVectorSpace parameter. NI-Motion ignores additional axes and vector spaces if you select non-existent axes.
When starting axes (axisOrVectorSpace = NIMC_AXIS_CTRL):
| D15 | ... | D10 | D9 | D8 | D7 | D6 | D5 | D4 | D3 | D2 | D1 | D0 |
| Axis 15 | ... | Axis 10 | Axis 9 | Axis 8 | Axis 7 | Axis 6 | Axis 5 | Axis 4 | Axis 3 | Axis 2 | Axis 1 | 0 |
For D1 through D15:
1 = Start axis
0 = Do not start axis
When starting vector spaces (axisOrVectorSpace = NIMC_VECTOR_SPACE_CTRL):
| D15 | ... | D10 | D9 | D8 | D7 | D6 | D5 | D4 | D3 | D2 | D1 | D0 |
| VS 15 | ... | VS 10 | VS 9 | VS 8 | VS 7 | VS 6 | VS 5 | VS 4 | VS 3 | VS 2 | VS 1 | 0 |
For D1 through D15:
1 = Start vector space
0 = Do not start vector space
To wait on a single axis or vector space, set axisOrVectorSpace to the specified axis or vector space. The axisOrVSMap bitmap is ignored.
To wait on multiple axes, the axisOrVectorSpace selector is set to NIMC_AXIS_CTRL and the axisOrVSMap bitmap defines the axes to start. Similarly, to wait on multiple vector spaces, axisOrVectorSpace is set to NIMC_VECTOR_SPACE_CTRL and the axisOrVSMap bitmap defines the vector spaces to start.
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Note It is not possible to combine a Check Reference on an axis and a vector space in a single use of this function. To accomplish this, create a single axis vector space and then execute a multicoordinate space Check Reference. |
found is a returned Boolean value that indicates the success of the search or searches the function is waiting for. It does not matter if different searches are being executed on different axes. When all searches are complete on all the axes or vector spaces specified, found is true if all of the searches were successful. If any search did not complete successfully, found is false.
finding is a returned Boolean value that indicates the status of the search. finding returns true if the find reference is actively searching for the reference, and false if the find reference has stopped.
Using This Function
This function indicates if the reference on the indicated axes is found. There is no need to specify what type of find to wait for because the controller knows what searches are being done on what axes. This function waits for and reports on the success of the current or last executed find on an axis, vector space, or a given set of axes or vector spaces as a whole.
If a Find Reference is executed with the Run Sequence option the Check Reference function does not require an axisOrVectorSpace or axisOrVSMap. When waiting on a Run Sequence, the Check Reference function returns the status of the entire sequence. The found Boolean returns True only if and when all of the operations in the sequence are successful.
Wait until the finding parameter is false before checking the status of the found parameter. The status of the found parameter is undefined when finding is true. The Wait Reference function does this for you, but you cannot execute any other functions while Wait Reference is running.
Example
You initiated a Find Home on Axis 1, and Find Center on Axis 2 and Axis 3, and you want to check if all axes have found their reference. Simply call Check Reference with the following parameters:
axisOrVectorSpace: Axis Control (NIMC_AXIS_CTRL)
axisOrVSMap: 00001110 (axis 1, 2, & 3 enabled)
Remarks
This section includes information about how the behavior of this function differs among the controllers that support it.
NI SoftMotion Controller Considerations
The following list includes considerations you must make when you are using this function with the NI SoftMotion Controller:
You cannot execute this function on multiple axes using the NIMC_AXIS_EX_CTRL resource parameter with axes sixteen through thirty.