Installation guide

Keyword Reference Guide
MN1270 02.2002 27
6.3 Mint Keywords
ABORTMODE/ABM
Purpose:
Controls the default action taken in the event of an abort.
Controllers Supported:
NextMove PCI NextMove PC NextMove BX MintDrive ServoNode 51
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Format:
ABORTMODE[axes] = <expression> {,<expression> …}
v = ABORTMODE[axis]
Dot Parameters:
Axis – Axis No.
Attributes:
Controller Read Write Command Multi-
Axis
Scaled Default Range
All
  
1
0 ≤ x ≤ 6
Description:
Sets the default action to be taken when a ‘software abort’ motion error is generated.
The following modes are available.
Mode Action
0 Ignore. The axis will be unaffected and a motion error is not generated if an abort
condition exists. The
AXISSTATUS keyword will indicate the abort condition.
1 Performs a crash stop on the axis and deactivates the drive enable output and drops
the enable relay.
2 Performs a crash stop on the axis. The drive and enable relay are left enabled.
3 Performs a controlled stop on the axis. The axis will decelerate at the ERRORDECEL
rate. The drive and enable relay are left enabled.
4 Not applicable
5 The error handler is called.
6 Not applicable
Example:
AXES[0,1,2]
ABORTMODE = 2; : REM set default action
LOOP
IF INKEY = ‘E’ DO
ABORT
EXIT
ENDIF
ENDL
The above code will sit in a LOOP..ENDL until the key ‘E’ is pressed, when it will generate an abort
error on all axis in the axes string. In this can axes 0, 1 and 2.
As
ABORTMODE is set to 2, when the abort error occurs the axes will crash stop any motion but the drive
enable will not be dropped.
See also:
ABORT, #ONERROR