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enable

Short Summary​

This method enables a node. It can take mutliple cycles. It has to be implemented for every node/device. The intention is to enable devices here, e.g. axes, laser, dispenser etc. The execute input needs a rising edge to execute the method. If there is nothing to enable, just return a 'SUCCESS' state.

This method is called automatically by the operation mode handler.

Attention: If this method returns the state 'ERROR', the operation mode handler automatically disables the whole machine!

Parameters​

NameTypeCommentKind
executeBOOL-input

Code​

Declaration​

METHOD ABSTRACT enable : CNM_ReturnTypes.SingleExecutionState
VAR_INPUT
	execute	: BOOL;
END_VAR