Commanded core functions (FB_CorefunctionFeedback)

These Corefunctions are activated by a command. The functions of this group are derived from a ABSTRACT FB_CorefunctionFeedback. As a result, all Corefunctions of this group have additional properties compared to the variants derived from FB_Corefunction.

Non-functional situation

A situation that does not allow the use of the core function. This may be caused by a failed or missing initialization or any other problem that causes damage to the axis or its sub-components. In this case the axis is permanently in InitState.

Idling situation

In this situation, the axis has no active, failed or completed command pending. As a rule, there are some requirements that must be considered when activating the core function. If it can be activated, it reports IdleState, otherwise ReadyState. Refer to the core function documentation for details.

	No command The core functions of the always active group do not support a command (and do not need one). Consequently, they will not report `IdleState` at any time.

Active situation

While the core function is actively performing its task, it reports BusyState. This situation ends when a fault is detected in the controlled component or device, or when another function has taken over control. For edge-triggered core functions and some statically controlled core functions, this situation ends when the task is successfully completed. In these cases, the core function is changed to the final situation.

	Performed task is aborted Statically controlled core functions leave this situation by terminating the executed task and falling back into idle mode as soon as the command of the core function is cleared.

Final situation

In this situation, the signals are determined by the result of the previous active situation. A DoneState reports a successfully completed task. A FailedState or AbortedState indicates a failed result or an abort by another function.

	Check the command input In the next cycle, after the result of the above active situation has been signaled, the core function starts checking the command input. If the input is `FALSE`, the core function falls back to idle.

Syntax:

FUNCTION_BLOCK ABSTRACT FB_CorefunctionFeedback EXTENDS FB_Corefunction

Properties

Name	Type	Access	Description
AxisState	E_AxisState	Get, Set	[INTERNAL] The current state of the axis state machine.
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.
Connected	BOOL	Get	[INTERNAL] The Corefunction is connected to an axis.
CycleTime	LREAL	Get, Set	[INTERNAL] The cycle time of the PLC task from which the method `Cyclic()` of the Corefunction is executed.
CycleTimeValid	BOOL	Get, Set	[INTERNAL] A TRUE indicates that the `CycleTime` of the Corefunction is defined.
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.
InitState	BOOL	Get, Set	The core function is not completely and successfully initialized.
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.
NextCore	I_Corefunction	Get, Set	[INTERNAL] This property is part of the execution chain and must not be affected by the application task.
OnlineChangeMark	BOOL	Get, Set	[INTERNAL] The axis uses this property to signal an Online Change to the Corefunction.
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
ApplyCommand()	[INTERNAL] Applies the command to the axis.
ClearStates()	[INTERNAL] Clears up some of the possible states.
Cyclic()	[INTERNAL] This method is called cyclically by the axis.
DoReset(b)	[INTERNAL] This method is called when the axis is reset.
RemoveCommand()	[INTERNAL] Removes the command from the axis.

Interfaces

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

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