Overview

Description

The MOTION_RESET block is used to return a Motion Supervisor’s state to idle, clearing all clearable faults. This is used to restore the Error states resulting from either an EStop or Abort action. However, such a reset action does not re-enable any motor amps.

Example

The first example is a simple PID Filter controlling Axis 0. It also has a Move block which is controlled by a Node Digital Input and a Motion Stop followed by a Motion Reset which is also controlled by a Node Digital Input

In this second example, a Digital Input triggers a Stop Motion command, after the axis has been stopped, the Axis will be in a Stopped State. To put the axis back in an Idle state, the Stop signal is delayed to give the axis time to stop, and command a Motion Reset.

The configuration values for this block are as follows:

Motion Supervisor Number	The number of the motion supervisor on which to perform the reset action.This number may be absolute or linked to the Model Number.
Evaluate Block	This block allows you to specify whether the block executes Every Sample, Every Other Sample (Odd or Even), or Every Fourth Sample (and specify the First, Second, Third, or Fourth). This provides greater flexibility in controlling the execution of a model and to preserve performance for other areas of motion control.
User Defined Block Priority	When selected, allows you to enter a Priority Code to modify Execution Ordering of this block. For more information, see Block Execution Order and User Defined Block Priority.
Priority	For an explanation of how the Priority field is used by the MechaWare Model Downloader, see Block Execution Order and User Defined Block Priority.
User Data 0	Application-specific data. See User Data Storage.
User Data 1	Application-specific data. See User Data Storage.

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 4 is triggered by the Motion Reset block, it clears all previous faults that may have been triggered by the Abort block. Once the Reset block has cleared the errors, the amp enable can be used to re-enable the motor.

The Motion Supervisor Number of the MOTION_RESET block specifies which motion supervisor to reset (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

MOTION_RESETBlock

Declaration

Public Method

	class MOTION_RESETBlock: public virtual Block { public: // User accessible coefficients long MSNumber; };
	Required Header: mechaware.h

Description

The MOTION_RESET block provides a way to restore the state of a motion supervisor. If the error state was caused by an Abort action, the command position of the associated axes is set equal to the actual position during the Reset. See MPIState. The reset action is issued on the rising-edge of the block’s Execute input value.

Parameters

long

MSNumber

Motion Supervisor number

Methods

Block Methods

Overview

Overview

Matlab/Simulink

Simulink Interface

C++ API

MOTION_RESETBlock

See Also