flex_read_follow_err

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

Read Following Error

Usage

status = flex_read_follow_err(u8 boardID, u8 axisOrVectorSpace, u8 returnVector);

Purpose

Reads the instantaneous following error for an axis or vector space.

Parameters

Name	Type	Description
boardID	u8	assigned by Measurement & Automation Explorer (MAX)
axisOrVectorSpace	u8	axis or vector space to read
returnVector	u8	destination for the return data

Parameter Discussion

axisOrVectorSpace is the axis or vector space to read. Valid values are NIMC_AXIS1 through NIMC_AXIS30 or NIMC_VECTOR_SPACE1 through NIMC_VECTOR_SPACE15. On motion controllers that support fewer than thirty axes, reading non-existent axes or vector spaces returns error –70006 (NIMC_badResourceIDOrAxisError). Refer to Axes and Vector Spaces for axis and vector space resource IDs.

returnVector indicates the destination for the return data generated by this function. Available return vectors include return data to the host (0xFF), to a variable (0x01 through 0x78), to an indirect variable (0x81 through 0xF8), and return no data (0). Refer to Input and Return Vectors for more detailed information.

Note  The suffix _rtn on the function indicates that the data must be returned to the host. When this calling convention is used, no returnVector is required.

Using This Function

This function returns the instantaneous following error for the axis or vector space specified. For vector spaces, following error is the root-mean-square of the following errors for the individual axes that make up the vector space.