ItpRetraceMoveBackward

from library version 6.1.24 and anticipated with TwinCAT version 2.10 Build 1308

ItpRetraceMoveBackward 1:

The function block ItpRetraceMoveBackward deals with the geometric entries at the actual position at the start of the part program (G-Code).

Procedure

1. Activate feeder backup list (see ItpEnableFeederBackup)

The NC program is stopped with ItpEStopEx

2. Wait and ensure that all axes in the group are at standstill

3. Call ItpRetraceMoveBackward

4. Stop backward movement with ItpEStop, otherwise the program returns to the start

5. Call ItpRetraceMoveForward to move forward again

6. Call ItpEStopEx and ItpRetraceMoveBackward etc., if required.

Notice Do not use in conjunction with vertex blending. M-functions are suppressed during reversing.

The function block has the following inputs

VAR_INPUT
    bExecute       : BOOL;
    tTimeOut       : TIME;
END_VAR

VAR_IN_OUT
    sNciToPlc      : NciChannelToPlc;
END_VAR

VAR_OUTPUT
    bBusy          : BOOL;
    bErr           : BOOL;
    nErrId         : UDINT;
END_VAR

Input	Data type	Description
bExecute	BOOL	The command is triggered by a rising edge at this input.
tTimeOut	TIME	ADS Timeout-Delay

Input/output	Data type	Description
sNciToPlc	NciChannelToPlc	The structure of the cyclic channel interface from the NCI to the PLC. This structure is only accessed for reading.

Output	Data type	Description
bBusy	BOOL	This output remains TRUE until the function block has executed a command, but at the longest for the duration supplied to the 'Timeout' input. While Busy = TRUE, no new command will be accepted at the inputs. Please note that it is not the execution of the service but its acceptance whose time is monitored.
bErr	BOOL	This output is switched to TRUE as soon as an error occurs during the execution of a command. The command-specific error code is contained in ‘nErrId’. Is reset to FALSE by the execution of a command at the inputs.
nErrId	UDINT	Contains the command-specific error code of the most recently executed command. Is reset to 0 by the execution of a command at the inputs. The error numbers in ErrId can be looked up in the ADS error documentation or in the NC error documentation (error codes above 0x4000).

Development Environment	Target System Type	PLC Libraries to include
TwinCAT v2.10.0	PC (i386)	TcNci.lib