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startMode

Short Summary​

This method starts the currently selected operation mode if all safety requirements are met.

Example​

CASE step OF
	0:	// choose and set mode
		IF (handler.setMode(automaticMode) = SUCCESS ) THEN
			step := 1;
		END_IF
	1:	// start mode
		IF (handler.startMode() = SUCCESS) THEN
			step := 2;
		END_IF
	2: // stop mode if requested
		IF ( stopRequested ) THEN
			IF ( handler.stopMode() = SUCCESS ) THEN
				step := 0;
			END_IF
		END_IF
END_CASE

Parameters​

NameTypeCommentKind
nodeCNM_OpModeHandlingInterfaces.INodeoptionally: a specified node in the tree that is not the subtree (if 0, the rootNode will be adressed)input

Code​

Declaration​

METHOD startMode :CNM_ReturnTypes.SingleExecutionResult
VAR_INPUT
	(* optionally: a specified node in the tree that is not the subtree (if 0, the rootNode will be adressed) *)
	node : CNM_OpModeHandlingInterfaces.INode := 0;
END_VAR
VAR
	apiNode :INodeApi;
END_VAR

Implementation​

IF ( THIS^.safetyRelease ) AND_THEN (THIS^.root.nodeState <> CNM_ReturnTypes.SingleExecutionState.BUSY) THEN
	THIS^.modeControlGlobal.stop := FALSE;
	THIS^.root.enableStepping := FALSE;
	THIS^.pause := FALSE;
	THIS^.runMode := TRUE;	
	startMode := CNM_ReturnTypes.SingleExecutionResult.SUCCESS;
ELSE
	startMode := CNM_ReturnTypes.SingleExecutionResult.ABORTED;
END_IF