flex_load_pos_modulus

Device Compatibility Device Compatibility 7330 Y 7340 Y 7344 Y 7350 Y 7390 Y NI SoftMotion Controller for CANopen—Xenus N NI SoftMotion Controller for CANopen—Accelnet N

Load Position Modulus

Usage

status = flex_load_pos_modulus(u8 boardID, u8 axis, u32 positionModulus, u8 inputVector);

Purpose

Loads the position modulus for an axis.

Parameters

Name	Type	Description
boardID	u8	assigned by Measurement & Automation Explorer (MAX)
axis	u8	axis to control
positionModulus	u32	position modulus value in counts or steps
inputVector	u8	source of the data for this function

Parameter Discussion

axis is the axis to control. Valid values are NIMC_AXIS1 through NIMC_AXIS30. On motion controllers that support fewer than thirty axes, configuring non-existent axes returns error –70006 (NIMC_badResourceIDOrAxisError). Refer to Axes for axis resource IDs.

positionModulus is the position modulus value in counts (servo axes) or steps (stepper axes). The modulus range is from 0 (default) to 2³¹–1.

inputVector indicates the source of the data for this function. Available input vectors include immediate (0xFF), variable (0x01 through 0x78), or indirect variable (0x81 through 0xF8). Refer to Input and Return Vectors for more detailed information.

Using This Function

This function sets the modulus used when the axis is operating in Modulus Position mode. It has no effect when the axis is operating in other modes. When a target position is loaded, it is interpreted within the boundaries of a modulus range.

Refer to the Set Operation Mode function for a complete description of the Modulus Position mode.