Enable Shutdown Enables the shutdown (E-Stop) functionality of the controller. Details     Remarks

Device Compatibility Device Compatibility 7330 Y 7340 Y 7344 Y 7350 Y 7390 Y NI SoftMotion Controller for CANopen—Accelnet Y NI SoftMotion Controller for CANopen—Xenus Y

	Board ID is a unique number assigned by Measurement & Automation Explorer (MAX) used to send and receive commands and data to or from a specific NI motion controller.
	error in (no error) describes error conditions that occur before this VI runs. The default input of this cluster is no error. If an error already occurred, this VI returns the value of error in in error out. The VI runs normally only if no incoming error exists. Otherwise, the VI passes the error in value to error out. The error in cluster contains the following parameters: status is TRUE if an error occurred before this VI was called, or FALSE if not. If status is TRUE, code is a nonzero error code. If status is FALSE, code is zero or a warning code. code is a number identifying an error or warning. If status is TRUE, code is a nonzero error code. If status is FALSE, code is zero or a warning code. Use the error handler VIs to look up the meaning of this code and display the corresponding error message. source is a string that indicates the origin of the error, if any. Typically, source is the name of the VI in which the error occurred.
	Bd ID Out is provided for flow control. You can string together NI-Motion VIs by wiring the Bd ID Out terminal of one VI to the Board ID terminal of the next VI.
	error out contains error information. If error in indicates an error, error out contains the same error information. Otherwise, it describes the error status that this VI produces. status is TRUE if an error occurred, or FALSE if not. If status is TRUE, code is a nonzero error code. If status is FALSE, code is zero or a warning code. code is a number identifying an error or warning. If status is TRUE, code is a nonzero error code. If status is FALSE, code is zero or a warning code. Use the error handler VIs to look up the meaning of this code and display the corresponding error message. source is a string that indicates the origin of the error, if any. Typically, source is the name of the VI in which the error occurred.

Using This VI

The Enable Shutdown VI enables the controller to react to the shutdown (E-Stop) input. When the shutdown (E-Stop) 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 VI.
• 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 VI, the digital I/O is re-initialized to the user defaults. Otherwise, the digital I/O is re-initialized to the factory defaults.
• All currently executing onboard programs are stopped.
• The controller does not accept any commands, except for the following ones:
  • Get Motion Board Information
  • Read Error Message
  • Enable Auto Start

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 cycle its power 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 VI differs among the controllers that support it.

NI SoftMotion Controller Considerations

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

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