Edge-triggered core functions

The command accepted by these core functions is usually called bExecute (with the exception of Power, which is described below).

The rising edge of bExecute triggers a series of checks to determine whether the execution conditions are met. If the execution conditions are not met, the command is rejected and the core function is set to FailedState (case 1 in the figure below). If the execution conditions are met, the command is accepted and the core function enters BusyState. The falling edge of bExecute does not directly trigger a response in BusyState (case b below). If the command was executed successfully, the core function enters the DoneState (case 2 below), otherwise it enters the FailedState (case 3 below). At this time it is checked if bExcute is still TRUE and the state of the core function is changed in the next PLC cycle. The state transition is shown in the figure below.

The following functions are edge-triggered core functions:

Corefunction	Description
DisableSoftEnd	Is used to temporarily disable and re-enable the soft limit switches of the axis.
Homing	Provides a range of homing methods.
Power	Used to activate and deactivate the axis.
Ptp	Is used to perform multi-segment PTP movements.
Reset	Is used to reset the error state of axis and devices.
SetPosition	Is used to change the actual position of the axis.
Estop	Command for emergency shutdown using the maximum dynamic parameters to stop the axis.
Stop	Command for stop with the standard dynamic parameters for stopping the axis.
TeachPosition	Used for referencing analog encoder systems.
TeachUpdate	Used for referencing analog encoder systems. Is used after TeachPosition to calculate the measured values.
AutoIdent	A special core function for hydraulic axes. It is used to identify the characteristic velocity behavior of the axis.
DirectOutput	A special core function for hydraulic axes. It is used to send output signals directly to the control device.
Tuning	A special core function for actuators. It is used for automatic optimization such as motion time measurement.

Timing Digram

State machine

Exceptional case: Power

	Power has a deviant behavior Although power is an edge-triggered core function, the command for Power is called `bEnable`. Power has a different state machine than other edge-triggered core functions: with `DoneState` it returns to `BusyState` when the `bEnable` signal changes.