Enable Shutdown

Usage

status = flex_enable_shutdown(u8 boardID);

Purpose

Enables the emergency shutdown functionality of the controller.

Tip  Refer to the Remarks section for information about how the behavior of this function differs between controllers.

Parameters

Using This Function

This function enables the controller to react to the shutdown (E-Stop) input. When the shutdown input transitions from low to high, the controller goes into a shutdown state. The following actions take place in the shutdown state:

• All the axes are killed. On servo axes, the control loop is disabled and the output DACs are zeroed, allowing frictional forces alone to stop the motion. On stepper axes, the stepper pulse generation is stopped. On both axis types, there is no trajectory profile. If enabled, the inhibit output is activated to inhibit (disable) the servo amplifier or stepper driver. You can enable the inhibit outputs and set their polarity as active high or active low with the Configure Inhibit Outputs function.
• All the axes, encoders and ADCs are disabled.
• All the digital I/O is re-initialized to defaults. If the user has saved defaults using the Save Default Parameters function, the digital IO is re-initialized to the user defaults, else it is re-initialized to the factory defaults.
• All currently executing onboard programs are stopped.
• The controller does not accept any functions, except for the following ones:
• Get Motion Board Information
• Read Error Message
• Enable Auto Start
• Read Variable

The shutdown functionality is disabled by default on power up. This functionality has to be enabled every time the controller is powered up. You must enable this feature only after the shutdown (E-Stop) circuit is properly configured and connected to the controller. After shutdown (E-Stop) is enabled, it can be disabled only by resetting or power cycling the controller.

Note  After the controller has shut down, you have to reset it or power cycle it before it can be used again.

Note  The active state of the shutdown (E-Stop) line is low. To prevent the controller from shutting down prematurely, the line must be high (inactive) when you enable shutdown (E-Stop).

Remarks

This section includes information about how the behavior of this function differs among the controllers that support it.

NI SoftMotion Controller Considerations

The following list includes considerations you must make when you are using this function with the NI SoftMotion Controller:

• All read functions are available when the NI SoftMotion Controller is in a shutdown state.
• All write functions, including Start Motion and Stop Motion, are unavailable when the NI SoftMotion Controller is in a shutdown state.