Relative position breakpoints, Relative position breakpoints -12 – National Instruments NI-Motion User Manual
Page 162
Chapter 12
Synchronization
12-12
ni.com
}
Sleep (10); //Check every 10 ms
}while (!(axisStatus & NIMC_POS_BREAKPOINT_BIT));
// Wait for breakpoint to be triggered
}
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
}
Relative Position Breakpoints
Relative position breakpoints trigger events based on a change in position
relative to the position at which the breakpoint was enabled.
Instead of keeping track of absolute positions and the current position,
you can use relative breakpoints to specify the breakpoint relative to the
position where the breakpoint is enabled.
For example, if you are creating a motion control system to control the
two-dimensional movement of a microscope, you might use relative
position breakpoints to move the microscope a specific distance in a
direction, and then hit a breakpoint that triggers a camera snap. The relative