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runReferencing

Short Summary​

This method contains instructions and sequences for the referencing mode. This mode is intended for referencing a machine with relative components, e.g. axes without absoulute position encodeing, torque driven axes (e.g. a press), coupling of master/slave axes. If the node should do nothing, return a 'SUCCESS'. It should run until all devices are referenced or the mode is stopped immedtiately or a stop request is raised (THIS^.modeControl.stopRequest). 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
pauseBOOL-input

Code​

Declaration​

METHOD runReferencing : CNM_ReturnTypes.SingleExecutionState
VAR_INPUT
	execute	: BOOL;
	pause :BOOL;
END_VAR

Implementation​

runReferencing := CNM_ReturnTypes.SingleExecutionState.SUCCESS;