From aa679246500c8f1dc4f31b02253d41fc98a02f87 Mon Sep 17 00:00:00 2001
From: Federico Rojas <federico.rojas@ess.eu>
Date: Tue, 1 Nov 2022 14:20:53 +0100
Subject: [PATCH] Add example to configure retore position of an axis in
 Axis_Template

---
 solution/_Config/PLC/tc_project_app.xti                       | 2 +-
 solution/solution.tsproj                                      | 4 ----
 .../POUs/Application_Specific/Axes/Axis_Template.TcPOU        | 1 +
 3 files changed, 2 insertions(+), 5 deletions(-)

diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti
index e29aaf0..30060c1 100644
--- a/solution/_Config/PLC/tc_project_app.xti
+++ b/solution/_Config/PLC/tc_project_app.xti
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.32" ClassName="CNestedPlcProjDef">
 	<Project GUID="{FB261665-FD20-4BF2-97F8-2854C82B752D}" Name="tc_project_app" PrjFilePath="..\..\tc_project_app\tc_project_app.plcproj" TmcFilePath="..\..\tc_project_app\tc_project_app.tmc" ReloadTmc="true" AmsPort="852" FileArchiveSettings="#x000e" SymbolicMapping="true">
-		<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc" TmcHash="{F6AA54B5-F77C-9A02-8F5F-CF39F7ABAB6B}">
+		<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc" TmcHash="{ADC2B2A9-6B59-ADAD-13BB-395B58F0375E}">
 			<Name>tc_project_app Instance</Name>
 			<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 			<Contexts>
diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index 44582e8..f495754 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -18,9 +18,5 @@
 		<Plc>
 			<Project File="tc_project_app.xti"/>
 		</Plc>
-		<Io/>
 	</Project>
-	<Mappings>
-		<MappingInfo Identifier="{05000010-2041-0850-1000-040340205008}" Id="#x02030010" Watchdog="14000000040000000400000004000000"/>
-	</Mappings>
 </TcSmProject>
diff --git a/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU b/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU
index 43513fc..5e9edcc 100644
--- a/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU
+++ b/solution/tc_project_app/POUs/Application_Specific/Axes/Axis_Template.TcPOU
@@ -16,6 +16,7 @@ END_VAR]]></Declaration>
     GVL.astAxes[1].stConfig.eHomeSeq := 0;
     GVL.astAxes[1].stConfig.fHomePosition := 0.0;
     GVL.astAxes[1].stConfig.fHomeFinishDistance := 0.0;
+    GVL.astAxes[1].stConfig.eRestorePosition := E_RestorePosition.eRestoreWithoutHome;
 END_IF*)
 
 //Define ACTIONS() or write exclusive code for an specific axis.