Service Mode Control | Planar Motor

Use this function block to make the PMC enter/exit service mode.

Fieldbus Interface

PMC_ServiceModeCtrl

Inputs

Name	Data Type	Description
Execute	BOOL	Execution of the function block begins on a rising edge of this input.
Level	USINT	0: Enter service mode; 1: Exit service mode
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 EnterServiceMode()

Returns

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

PMCRTN ExitServiceMode()

Returns

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

Operating Conditions
Preconditions	None
Postconditions	PMC enters/exits service mode

Use this function block to make the PMC enter/exit service mode. During service mode, motion commands are blocked, but you can:

Service mode will be exited if the same command is used to exit service mode, or if the PMC is rebooted.

This should not be used as a safety feature!