National Instruments NI-Motion - Manual (Page 85)

Chapter 6 Arc Moves
© National Instruments Corporation 6-7 NI-Motion User Manual
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
}
Spherical Arcs
A 3D spherical arc defines a 2D circular arc in the X'Y' plane of a
coordinate system that is transformed by rotation in pitch and yaw from the
normal 3D coordinate space (XYZ), as shown in Figures 6-6 and 6-7.
Figure 6-6. Changing Pitch by Rotating the X Axis
Z
X
Y