Hi Kent:
Take note you have to set MachView->m_PrinterOn = false in the myInitControl function to indicate an external device plugin
as well as have set MainPlanner->ExternalType = EX_VMS; for variable ms timing, and set the MainPlanner->ExTime == .001 for 1ms timed waypoints..
Then, you have to set the axis maximums , then motor tuning can work..
This woudl set the max to 75K steps/second for example.. The user can then tune the motors with the motor tuning..
for( int x = 0; x < 7; x++ )
MainPlanner->ExternalPulseRates
Now if you command a move, the positions will be in the RingBuffer at
MainPlanner->Movements[Engine->TrajIndex].sx; sy,sz..ect..
I believe the ncPod plugin shows incremental motion from the .ex, .ey, .ez var's, and the sx, sy, sz vars show absolute position..
Art