National Instruments NI-Motion Modulo Breakpoints (NI 7330, NI 7340 and NI 7390 only)

Chapter 12 Synchronization
© National Instruments Corporation 12-21 NI-Motion User Manual
nimcHandleError;
// Check to see if there were any Modal Errors
if (csr & NIMC_MODAL_ERROR_MSG){
do{
//Get the command ID, resource and the
error code of the modal
//error from the error stack on the board
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
}
Modulo Breakpoints (NI 7330, NI 7340 and NI 7390 only)
Modulo breakpoints use a breakpoint window, which defines an area
around the current position. The two breakpoints around the current
position are always enabled.
The breakpoint modulus creates a repeat period for the breakpoints, and the
breakpoint position is the offset from absolute zero.
For example, to create a breakpoint every 500 counts, set the repeat period
to 500 and the breakpoint position to 0. If the breakpoint is enabled when
the axis is at 710, the breakpoints at 1000 and 500 are both armed, as shown
in Figure 12-11.