Overview

Overview

Description

The Abort block is used to trigger an abort event on a given motion supervisor. This disables the amps on all related motors and results in an Error state. In order to perform further motions on the mapped axes, a motion reset must be issued and followed by re-enabling all related motor amps.

For more information about motor brakes and their relationship with disabling motor amps, see Motor Brake.

Example

The configuration values for this block are as follows:

Matlab/Simulink

Simulink Interface

The Itrp (opt) output is an output which only relates to simulation.

Note: This output is only used when simulating within Simulink and is ignored when the model is downloaded to a controller.

The Interrupt pin is used on all Motion Simulation blocks to allow them to communicate with a central trajectory planner, interpret events, and change the trajectory as required. When Bit 1 is triggered by the Abort block, the trajectory planner disables the amplifier and allows the motor drift to a stop under its own frictional forces, simulating an amp abort.

The Motion Supervisor Number of the Abort block specifies which motion supervisor to issue an abort action to (axis or motor number when using default mappings).

The block has two user data fields (User Data 0, User Data 1) to store application-specific data for convenient storage and retrieval. For more information, see User Data Storage.

The block's update schedule is determined by the Evaluate Block. The following Parameter Dialog Box can be opened by double-clicking on the block in a Simulink model:

C++ API

ABORTBlock

Declaration

Public Method

class ABORTBlock: public virtual Block
{
public:
	// User accessible coefficients
	long MSNumber;
};

Description

On the rising-edge of the ABORT block’s Execute input value, an abort action is issued to the configured motion supervisor disabling all related motor amps.

Parameters

Methods

Block Methods