flex_read_reference_status |
Read Reference Status
Usage
status = flex_read_reference_status(u8 boardID, u8 axisOrVectorSpace, u16 axisOrVSMap, u16 attribute, u8 returnVector);
Purpose
Reads the currently selected reference status for the given set of axes or coordinate (vector) space.
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 start |
| attribute | u16 | type of reference to read |
| returnVector | u8 | destination for the return data |
Parameter Discussion
axisOrVectorSpace can select 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 reading multiple axes or vector spaces, the axisOrVSMap parameter indicates which axes or vector spaces are involved. 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.
axisOrVSMap is the bitmap of axes or vector spaces to read. 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.
attribute is the type of reference on which to read the status.
You can choose the following attributes:
| Attribute | Number | Description |
| NIMC_HOME_FOUND | 0x0 | returns True if the last Find Home executed successfully |
| NIMC_INDEX_FOUND | 0x1 | returns True if the last Find Index executed successfully |
| NIMC_CENTER_FOUND | 0x2 | returns True if the last Find Center executed successfully |
| NIMC_FORWARD_LIMIT_FOUND | 0x3 | returns True if the last Find Forward Limit executed successfully |
| NIMC_REVERSE_LIMIT_FOUND | 0x4 | returns True if the last Find Reverse Limit executed successfully |
| NIMC_REFERENCE_FOUND | 0x5 | returns True is the last Find Reference executed successfully |
| NIMC_CURRENT_SEQUENCE_PHASE | 0x6 | returns the current phase of a sequence that is currently executing |
| NIMC_FINDING_REFERENCE | 0x7 | returns True if a Find Reference is currently executing |
returnVector indicates the desired 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 do not return 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 reads the currently selected reference status for the given set of axes or coordinate (vector) space.
If multiple axes in a coordinate space are selected using the axis bitmap, all axes must have successfully found their last reference for NIMC_HOME_FOUND, NIMC_INDEX_FOUND, NIMC_CENTER_FOUND, NIMC_FORWARD_LIMIT_FOUND, NIMC_REVERSE_LIMIT_FOUND, and NIMC_REFERENCE_FOUND to be true.
If any of the selected axes are currently executing a Find Reference, NIMC_FINDING_REFERENCE is true. Wait until NIMC_FINDING_REFERENCE is false before checking the status of any other attribute. The status of the NIMC_HOME_FOUND, NIMC_INDEX_FOUND, NIMC_CENTER_FOUND, NIMC_FORWARD_LIMIT_FOUND, NIMC_REVERSE_LIMIT_FOUND, and NIMC_REFERENCE_FOUND attributes are undefined when NIMC_FINDING_REFERENCE is true. The Wait Reference function does this for you, but you cannot execute any other functions while Wait Reference is running.