National Instruments NI-Motion, User Manual

Page: 166 / 305

Chapter 12 Synchronization
NI-Motion User Manual 12-16 ni.com
return ;// Exit the Application
///////////////////////////////////////////////////
// Error Handling
//
nimcHandleError; // NIMCCATCHTHIS:
// Check to see if there were any Modal Errors
if (csr & NIMC_MODAL_ERROR_MSG){
do {
// Get the command ID, resource ID, and the
error code of the // modal error from the
error stack on the device
flex_read_error_msg_rtn (boardID,&commandI
D,&resourceID, &errorCode);
nimcDisplayError(errorCode,commandID,res
ourceID);
// Read the communication status register
flex_read_csr_rtn (boardID,&csr);
} while (csr & NIMC_MODAL_ERROR_MSG);
}
else // Display regular error
nimcDisplayError(err,0,0);
return ;// Exit the Application
}
Periodically Occurring Breakpoints
NI-Motion allows you to program the motion controller to generate
multiple breakpoints at fixed and exact intervals, regardless of the direction
of travel or velocity.
There are two ways to create periodically occurring breakpoints using
NI-Motion functions, depending on which motion controller you have.
For the NI 7350 controller, use periodic breakpoints. For NI 7330, NI 7340,
and NI 7390 controllers, use modulo breakpoints.
Note All breakpoints can be affected by jitter in the motion control system. For example,
if you have a very small breakpoint window, the jitter in the motion control system could
cause the position to change enough to reach the breakpoint when a breakpoint is not
intended. Increase the size of the breakpoint window to compensate for system jitter.