How to reInit Axis and Kin Interface during PLC RUN

[Renk]

Is it possible after PLC is already started and in RUN, to do another whole Axis and Kinematic Interface reinitialisation???
This function is normaly called/done be PLC_Cold restart.

Can You give some example code for this (v2.6_LTS).

[Jochen_Mueller]

Hello @Renk 

A reinit of the AxisInterface will be done automatically during a motion state changing to running. No need to do it manual.

Details:

•  After add the MotIF template the TE_AxisInterfaceMainProg(...) of the (open) library CXA_MOTION_IF_USER will be called by the AxisIfPLCProg. A sucessful initialisation will be signals with TE_AxisInterfaceMainProg.InitDone.
  

• The TE_AxisInterfaceMainProg(...) always check the motion state via the IMC interface. 

  • If the motion is coming in state "RUNNING" a reinit of the motion interface will be initiated.... User signal: "InitDone = TRUE"

  • If the motion is leaving the state "RUNNING" the "InitDone = FALSE".

For more details please open the TE_AxisInterfaceMainProg at the library manager. If necessary (currently I don't know why) you can modify it.

Regards

Jochen

[Renk]

That's my code for reinit. It's seems to work (video attached).

// ------------------------------------------------------------------------------
100: // Axis and Kinematic Interface reset/Reinit
ImcCtrl.Admin._OpMode := MB_IMC_MODE_CONTROL .IMC_MODE_CTRL_CONF;
IF ImcStatus.Admin._OpModeAck = MB_IMC_MODE_STATUS.IMC_MODE_STATUS_CONF THEN
iResetStep := 110;
END_IF

110: // Start again
ImcCtrl.Admin._OpMode := MB_IMC_MODE_CONTROL .IMC_MODE_CTRL_RUN;
IF ImcStatus.Admin._OpModeAck = MB_IMC_MODE_STATUS.IMC_MODE_STATUS_RUN THEN
iResetStep := 120;
END_IF

120: // Normal Reset command
IF NOT fbMotIfReset.Q THEN
iResetStep := 10;
END_IF