Overview

Description

The Stop block is used to trigger a stop event on a given motion supervisor. This stops motion on all mapped axes within the pre-configured stopping time. During the course of a stop, the motion state changes from stopping to stopped. No fault flags are raised and the related amps remain enabled.

Note: A motion reset is not required in order to perform further motions.

Example

The frist example shows 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 simple PID Filter is 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

The configuration values for this block are as follows:

Motion Supervisor Number	The number of the motion supervisor whose axes will be stopped. 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 2 is triggered by the Stop block, the trajectory information is used to simulate a Stop Motion to a Zero Velocity using the Stop Time parameter specified in the Trajectory Planner.

The Motion Supervisor Number of the Stop block specifies which motion supervisor to stop (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

STOPBlock

Declaration

Public Method

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

Description

The STOP block provides a controlled way to bring motors to a stop by using their motion supervisor. The rate of deceleration is implied by the motion supervisor�s pre-configured stopping time (MotionConfig.decelTime.stop). The stop 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

STOPBlock

See Also