Ptp

	Core function is not supported by inverter axes This core function is not supported by inverter axes. Any use will report DEVICE_NOTINIT and trigger an error message.

This core function is used to perform multi-segment movements with the possibility to switch to torque or constant output clamping at the end.

Syntax:

FUNCTION_BLOCK FB_Ptp EXTENDS FB_CorefunctionFeedback

Properties

FB_Ptp
ActiveSegment	INT	Get	The number of the point that is currently being approached.
IsClamping	BOOL	Get	TRUE if the core function has switched the axis to clamping.
MovingNegative	BOOL	Get	TRUE if the axis is actively moving in the negative direction.
MovingPositive	BOOL	Get	TRUE if the axis is actively moving in the positive direction.
NumberOfPoints	INT	Get	The number of points that the core function can store.
FB_CorefunctionFeedback
AbortedState	BOOL	Get, Set	Signals the abort of a command by another Corefunction.
BusyState	BOOL	Get, Set	Signals the active execution of a command.
DoneState	BOOL	Get, Set	Signals the successful execution of a command.
IdleState	BOOL	Get, Set	The Corefunction is ready for operation and commandable.
IsCommanded	BOOL	Get	Signals the pending of a command.
FB_Corefunction
FailedState	BOOL	Get, Set	If IsActivated is TRUE at the same time: Signals the failure of an accepted command. If IsActivated is FALSE at the same time: Signals the rejection of a command.
HasFeedback	BOOL	Get	The core function has responded to a pending command.
IsActivated	BOOL	Get	The core function has an accepted command pending.
IsLocalCmd	BOOL	Get	Signals that the axis is assigned with a command of this core function.
ReadyState	BOOL	Get, Set	The Corefunction is ready for operation, but is not commandable at this time. Possible reasons are: - The axis is not enabled. - Another Corefunction is active. - The Corefunction does not support any commands.

Methods

Name	Description
[`INTERN`] Cyclic()	This method is called cyclically by the axis.
FB_Ptp
CheckPoint()	The specified segment is compared with the axis parameters.
DoMove()	The execution is triggered.
GetClampPoint()	A segment of the clamping table is read back.
GetPoint()	A segment of the lookup table is read back.
GetUpdatedPoint()	A segment of the lookup table is read back.
InvalidateClampPoint()	All segments in the clamping table are marked as invalid.
InvalidateTable()	All segments in the lookup table are marked as invalid.
SetClampPoint()	A segment of the clamping table is defined.
SetPoint()	A segment of the lookup table is defined.
UpdatePosition()	The target position of the segment is changed after it is defined.

Interfaces

Type	Description
I_Corefunction	Standard interface on FB_Corefunction.
I_Ptp	Standard interface on FB_Ptp.
I_CorefunctionFeedback	Standard interface on FB_CorefunctionFeedback.

Example:

CASE nState OF
0:  // define 2 example points

    stLookupPtpPoint.Position := 100.0;       // [mm]
    stLookupPtpPoint.Velocity := 20.0;        // [mm/s]
    stLookupPtpPoint.Valid := TRUE;           // validate point
    
    // assign first point
    IF FAILED(iAxisBase.Ptp.SetPoint(1, stLookupPtpPoint)) THEN
        nState := -1;
    END_IF
    
    stLookupPtpPoint.Position := 20.0;        // [mm]
    stLookupPtpPoint.Velocity := 30.0;        // [mm/s]
    
    // assign second point
    IF FAILED(iAxisBase.Ptp.SetPoint(2, stLookupPtpPoint)) THEN
        nState := -1;
    END_IF
    
    // send the axis to travel
    IF FAILED(iAxisBase.Ptp.DoMove(TRUE)) THEN
        nState := -1;
    ELSIF nState >= 0 THEN
        nState := nState + 1;
    END_IF
    
1:  // observe the movement

    IF iAxisBase.Ptp.FailedState THEN
        nState := -1;
    ELSIF iAxisBase.Ptp.DoneState THEN
        nState := nState + 1;
    END_IF
    
2,  // done
-1: // error
    
    iAxisBase.Ptp.DoMove(FALSE);
    
END_CASE

Requirements

Development environment	Target platform	PLC libraries to include
TwinCAT v3.1.4024.35	PC or CX (x64, x86)	Tc3_PlasticFunctions v3.12.4.26 or higher

Further Information