Use Callback 'stop_fcn' in a xpc-target application

Hi!

I have a problem with an actuator that I am using in my real-time environment:

If the actuator is still moving while I stop the model, it continues at the current speed that it had when the model stopped. As it is a linear actuator it normally destroys something when I don't react quick enough and turn it off.

The Actuator is controlled by velocity input and I realized a Positioning control (propotional) in the Simulink model I use. My Simulink model writes a speed and recieves the momentary position.

My Idea for stopping the Motor when the model stopps was the following:

As I know from other non- real time simulimk models that do not have to work on an xpc, there is the possibility of defining a Callback stop function in the model properties. I have a m-file which sets a certain parameter in the running xpc to another value. (I have a simple Gain Block with the value of 1 which I set to 0 with the M-file). With the gain of the control set to 0 the actuator stops immediately. When I include this M-FIle in the callback stop_fcn it does not work when I run the compiled model on the xpc.

Does anyone know a possibility to send a single parameter or start a m-file upon termination of the model on the xpc??

I would be greatful for some ideas for how to solve this problem

Thanks! Niko

Answer 1

[Kaustubha Govind]

Since the model that runs on the xPC Target is actually a binary generated from the model, I don't think the concept of a StopFcn callback exists there. However, the right solution in your situation seems to be that the driver block for the Motor (or whichever actuator needs to be stopped) should have a Terminate function that performs the appropriate action. If you have access to the driver source code for the actuator, I would recommend that you add this to the generated code. Otherwise, you could try performing a similar action by inserting relevant C code in the Terminate function section of the Code Generation>Custom Code pane.