From 10ef1a594d2cfaef8c914ff97d553ef595628af2 Mon Sep 17 00:00:00 2001
From: Paul Barron <paul.barron@esss.se>
Date: Wed, 11 Dec 2019 15:02:11 +0100
Subject: [PATCH] Remove MAIN.SHUTDOWN from ordinary PLC cycle

This created a problem in that MAIN.STARTUP wasn't working correctly
because it takes a couple of cycles to complete and MAIN.SHUTDOWN
was overriding the values stored after a power loss. Thus the restore won't work
for a user cold reset. It can be catered for by adding it back into the ordinary PLC
cycle but only executing if bPositionRestoreDone is set.
---
 solution/tc_project_app/POUs/MAIN.TcPOU | 10 ++++------
 1 file changed, 4 insertions(+), 6 deletions(-)

diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU
index 0485dbc..ac81a90 100644
--- a/solution/tc_project_app/POUs/MAIN.TcPOU
+++ b/solution/tc_project_app/POUs/MAIN.TcPOU
@@ -69,13 +69,12 @@ END_IF
 STARTUP();
 PROG();
 AXES();
-ERROR();
-SHUTDOWN();]]></ST>
+ERROR();]]></ST>
     </Implementation>
     <Action Name="AXES" Id="{7eb32732-9b53-4934-8cd9-20ba971dd8ff}">
       <Implementation>
-        <ST><![CDATA[gvl.axes[1].config.eRestorePosition:=RestorePosition.RestoreWithoutHome;
-gvl.axes[2].config.eRestorePosition:=RestorePosition.RestoreWithHome;
+        <ST><![CDATA[gvl.axes[1].config.eRestorePosition:=RestorePosition.DontRestore;
+gvl.axes[2].config.eRestorePosition:=RestorePosition.RestoreWithoutHome;
 
 FOR GVL.iAxis:=1 TO gvl_app.axisNum DO
     aFbAxes[GVL.iAxis](stAxisStruct:=gvl.axes[GVL.iAxis]);
@@ -223,7 +222,7 @@ IF bPositionRestoreDone = FALSE THEN
         PrepareToRestore:
         // Prepare to home for axes that opt in for mode 2 RestoreWithHome i.e. normal direct home
             FOR i:=1 TO gvl_app.axisNum DO
-                IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) AND gvl.axes[i].config.eRestorePosition=2 THEN
+                IF fbReadEncRefSys[i].Value=0 AND NOT(bMovingAtShutdown[i]) AND gvl.axes[i].config.eRestorePosition=RestorePosition.RestoreWithHome THEN
                     gvl.axes[i].control.eCommand:=MotionFunctions.Home;
                     gvl.axes[i].config.nHomeSeq:=15;
                     gvl.axes[i].config.fHomePosition:=iPositionAtShutdown[i];
@@ -279,7 +278,6 @@ END_IF]]></ST>
       <LineId Id="135" Count="0" />
       <LineId Id="134" Count="0" />
       <LineId Id="81" Count="1" />
-      <LineId Id="241" Count="0" />
     </LineIds>
     <LineIds Name="MAIN.AXES">
       <LineId Id="19" Count="1" />