typedef struct MPISqNodeConfigIoAbort {
  MPISqNodeConfigTrigger  synqLost;    /* communication error */
  MPISqNodeConfigTrigger  nodeDisable; /* external input */
  MPISqNodeConfigTrigger  powerFault;  /* analog power failure */
  MPI_BOOL                userFault;   /* TRUE = user fault causes ioabort */
} MPISqNodeConfigIoAbort;

Change History: Modified in the 03.03.00


MPISqNodeConfigIoAbort specifies the SynqNet node configurations to generate an I/O Abort action.

When an ioAbort is triggered, the SynqNet node's outputs are disabled (set to the power-on condition) and all axes on motion supervisors associated with the node are aborted and enter the error state.

NOTE: The outputs are disabled on all SynqNet partner nodes, with the exception of the remote motion block's (rmb's) user outputs. For the rmb only, a user limit must be configured to disable the rmb's user output when an ioAbort occurs.

When the I/O Abort conditions are cleared, the states of the axes may be cleared with a call to mpiMotionAction(..., MPIActionRESET). The IoAbort is triggered when any one or more of the following enabled configurations occur.

synqLost Occurs when a SynqNet node drops out of SYNQ (cyclic) mode to SYNQ_LOST mode. See MPISqNodeConfigTrigger.
nodeDisable An input bit to the SynqNet node. The node disable circuit is node specific, but is intended to shutdown the node via the IoAbort. See MPISqNodeConfigTrigger.
powerFault An input bit to the SynqNet node. The power fault circuit is node specific, but is usually connected to an analog power monitor. Typically, when the DAC power or other analog component power is either too high or drops below a threshold, the power fault is triggered. Please see the node/drive manufacturer's documentation for details. See MPISqNodeConfigTrigger.
userFault A user configurable trigger condition. A value of TRUE enables the trigger, FALSE disables the trigger.

See Also

mpiSqNodeConfigGet | mpiSqNodeConfigSet | mpiMotionAction | IO Abort