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 first example is a simple PID Filter controlling Axis 0. It shows how to abort an axis based on an Analog Input, and enable/disable the amplifier based on a Digital Input.

The second example shows an analog input that is read into the model and passed through a Deadband filter. The Deadband filter rejects any inputs up to 7500, at which point the output of the deadband is non-zero causing the Abort action to occur.

The configuration values for this block are as follows:

Motion Supervisor Number	The number of the motion supervisor on which to perform the abort 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) or background. 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 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; };
	Required Header: mechaware.h

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

long

MSNumber

Motion Supervisor number

Methods

Block Methods

Overview

Overview

Matlab/Simulink

Simulink Interface

C++ API

ABORTBlock

See Also