I'm working on an AGV controlled by a Beckhoff PLC. I would like to perform "safe" Online-change, i.e. only allow online change when the program is in a safe, known state (maybe use a flag bEnableOnlineChange).
https://infosys.beckhoff.com/english.php?content=../content/1033/tc3_plc_intro/2528041355.html&id=
"Damage to property and persons due to unexpected behavior of the machine or system", that's what I absolutely want to avoid
Is there a way to Enable/Disable Online change from the PLC program ?
I know there are pragmas like {attribute 'call_after_online_change_slot' := ''} and implicit functions FB_Init/FB_ReInit/FB_Exit to execute code but it is not exactly what I'm looking for.
All in all, I want my program to check that I'm in a stable state (no agv movement) to authorize the online change. Then after the online change with the pragma call_after_online_change put my agv in error so that a rearmament is necessary.
Thanks for any help !