Debugging

• If you need to see the return value of a function such as:

    UINT foo() {
      return bar();
    }
  

  Then put the brakepoint on the closing curly brace - or step to that brace, and then put the following into the debugger window:

    (UINT)$eax
  

  that should show you the value that's being returned. There are aparently restrictions, see this posting: http://stackoverflow.com/a/267682

• according to B&R support, when rebuilding the CF card, the ARSim instance needs to be restarted twice otherwise motion control will not execute correctly.