TMS320F28055: SPINTAC-MOTION Problem How can I detect the status of position plan without lost its control

Hi TI,

  Every time when I tried to detect the status of position plan or move status using code below. The whole motion profile crashed, motor just disconnected and lost control.

gSelectedPlan = HOME;
ST_setupPosPlan_Home(stHandle);

gMotorVars.SpinTAC.PosPlanRun = ST_PLAN_START;//Run Home Plan
			   
while(gMotorVars.SpinTAC.PosPlanStatus !=ST_PLAN_IDLE){};//wait until it's finished

SCI_putDataBlocking(obj->sciHandle, 0);//Return 0 after position plan HOME is finished

My purpose to detect the status, it's to make sure my position plan is completely finished before it send back a feedback.

If I delete the while loop to wait, I am not able know whether the position plan is finished or not.

If I continuously sending commands without using while() loop to wait the movement to be completed, none of the movements will be finished.

if you have any suggestions or ideas, please let me know! Thank you!