Recover Safety Sector

This command is used to remove the fence around a Safety Sector and recovers all deactivated xbots inside the sector.

See the Safety Sector state diagram (Safety Sector) for when a fence is created around a Safety Sector.

Fieldbus Interface

PMC_Sector_Recover

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
SectorID	USINT	ID of the Safety Sector to recover / remove fence for
PM_Controller	PMControllerType	Data structure that specifies which PMC to connect to. There should be only 1 instance of this variable for each connected PMC.

Outputs

Name	Data Type	Description
Done	BOOL	Execution successful. Function block is finished. (Note: Done will not become TRUE if Execute is already FALSE)
Busy	BOOL	Function block is active and must continue to be called.
Aborted	BOOL	Command aborted by another command.
Error	BOOL	If there is an error in processing the command, then Error = TRUE, otherwise, FALSE.
ErrorID	UINT	0x0: All OK. Otherwise, please see Fieldbus Reply Codes.

PMCRTN SectorRecover(int sectorID)

Parameters

Name	Type	Description
sectorID	int	Sector ID (>0)

Returns

Name	Type	Description
PMCRTN	PMCRTN enum	ALLOK (0): Command Accepted. Otherwise, please see Ethernet Reply Codes.

Operating Conditions
Preconditions	The specified Safety Sector is in the Active_Fenced state
Postconditions	The specified Safety Sector enters the Operation state Sector fence is removed Accident xbots with their centre inside the sector are recovered, if possible Accident xbots with their centre outside the sector OR that have an accident zone that overlaps another disabled sector will not be recovered (Recover Accident Mover command can be called for those xbots)

This command is used to remove the fence around a Safety Sector and recovers all deactivated xbots inside the sector.

See the Safety Sector state diagram (Safety Sector) for when a fence is created around a Safety Sector.