Overview

Description

The MOTION_STATE block returns an enumeration of the Motion Supervisor state. A Zero value means the Motion Supervisor is Idle, and a non-zero state means it is not idle.

Note: These are not the same values returned by mpiMotionStatus() and do not correspond to MPIState.

Example

The following example illustrates a simple PID control loop set up for Axis 0, and the Motion State block is used to trigger the Controller IO Bit 0.

The Sign block takes any value coming out of the Motion State and turns it into a 1 (when the Motion State is greater than 0) or 0 (when the Motion State is 0). That value is converted to an integer (1 or 0) and written to the Control IO Output Bit 0..

The configuration values for this block are as follows:

Motion Supervisor Number	The number of the motion supervisor from which to get the state. 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 Motion Supervisor Number of the Motion State block specifies which Motion object will be used for input.

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_STATEBlock

Declaration

Public Method

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

Description

The Motion Status block provides information about the execution state of the associated motion supervisor.

Parameters

long

MSNumber

Motion Supervisor number

Methods

Block Methods