About giustola69

Hello, I did some more test and what I saw is that to perform the complete blending path I had to issue the 3 position command in the same plc cycle as follow: IF bBlendSettingOk THEN bResultMoveAbsTest3:=ML_KinMoveLinAbs(Data:= stDataMoveAbsTest1); stGetCmdState.In.CmdID := stDataMoveAbsTest1.Out.CmdID; stGetCmdState.In.ObjName:= stDataMoveAbsTest1.In.KinName; bResultMoveAbsTest4:=ML_KinMoveLinAbs(Data:= stDataMoveAbsTest3);// eseguito al 3 normalemnte : eliminare da qui stGetCmdState.In.CmdID := stDataMoveAbsTest3.Out.CmdID;// eseguito al 3 normalemnte : eliminare da qui stGetCmdState.In.ObjName:= stDataMoveAbsTest3.In.KinName;// eseguito al 3 normalemnte : eliminare da qui bResultMoveAbsTest5:=ML_KinMoveLinAbs(Data:= stDataMoveAbsTest4);// eseguito al 3 normalemnte : eliminare da qui stGetCmdState.In.CmdID := stDataMoveAbsTest4.Out.CmdID;// eseguito al 4 normalemnte : eliminare da qui stGetCmdState.In.ObjName:= stDataMoveAbsTest4.In.KinName;// eseguito al 4 normalemnte : eliminare da qui IF bResultMoveAbsTest3 AND bResultMoveAbsTest4 AND bResultMoveAbsTest5 THEN // eseguito al 3 normalemnte : eliminare da qui AND bResultMoveAbsTest4 idxCyclePoly:=4; // 99 eseguito normalmente 4 idxCyclePolyNextStep:=4 ; //3 salto al 3 normalemnte 4 bBypassStepPolyTest:=FALSE; END_IF END_IF This is the result: If I just delay one plc cycle one of the 3 function calls the blengind is interrupt. This is the result: Since on a real machine is not alway possible to have the complete path at the start of the sequence ( from pick to place ) but maybe we have just 2 of the 3 needed point ( upPick and UnPlace ) executable and maybe the last point ( downPlace ) will become possible while the robot is moving througt the first 2 point, my question is: Is it possible in some way to delay at least one of the point that describe the complite path keeping the Poly Bledning working ? Many Thanks Giuseppe Attached the complete plc code ... View more

Hello, I tested the ML_KinPolyTransP together with the ML_KinContMotionP and the result is exactly what we were looking for But to reach this result I must take always active both blending functions. However in a pick and place cycle lie the one I'm performing above I need to stop at the end the pick position and place position and get the"Done" feedback in that point. If I let both blending functions active I never get the "Done" signal from the ML_GetCmdState fuction but I always get the "INBUFFER" signal. To avoid that I tried to disable both blending functions in before programming the down to pick and down to place positions and enable again the blending functions in the other commanded points but the result was that not blending at all was performed.  So How can I do a pick & place cycle right using these blending function ? Here my PLC Code: // Declaration {attribute 'symbol' := 'readwrite'} PROGRAM PLC_PRG_1 VAR bEnPlcOpen: BOOL; bEnCXA_Motion: BOOL :=TRUE; /// ############################## Motion Library CXA_Motion #################################################### fbAx1_Power: FB_Power; fbAx2_Power: FB_Power; fbAx3_Power: FB_Power; fbKinGroup: FB_KinGroup; bKinGroup: BOOL; fbKinMoveLinAbsP1: FB_KinMoveLinAbs; bExkinMoveLinAbsP1: BOOL; arPosKinMoveLinAbsP1: ARRAY[0..15] OF LREAL; rVelKinMoveLinAbsP1: LREAL := 5000; rAccKinMoveLinAbsP1: LREAL := 10000; rDecKinMoveLinAbsP1: LREAL := 10000; rJerkKinMoveLinAbsP1: LREAL := 100000; enCoordSystemP1: STRING(15) := 'WCS'; ///I_BufferMode: MC_BUFFER_MODE; rTransitionParameterP1: ARRAY[0..1] OF LREAL; fbKinMoveLinAbsP2: FB_KinMoveLinAbs; bExkinMoveLinAbsP2: BOOL; arPosKinMoveLinAbsP2: ARRAY[0..15] OF LREAL; rVelKinMoveLinAbsP2: LREAL := 5000; rAccKinMoveLinAbsP2: LREAL := 10000; rDecKinMoveLinAbsP2: LREAL := 10000; rJerkKinMoveLinAbsP2: LREAL := 100000; enCoordSystemP2: STRING(15) := 'WCS'; ///I_BufferMode: MC_BUFFER_MODE; rTransitionParameterP2: ARRAY[0..1] OF LREAL; fbKinMoveLinAbsP3: FB_KinMoveLinAbs; bExkinMoveLinAbsP3: BOOL; arPosKinMoveLinAbsP3: ARRAY[0..15] OF LREAL; rVelKinMoveLinAbsP3: LREAL := 5000; rAccKinMoveLinAbsP3: LREAL := 10000; rDecKinMoveLinAbsP3: LREAL := 10000; rJerkKinMoveLinAbsP3: LREAL := 100000; enCoordSystemP3: STRING(15) := 'WCS'; ///I_BufferMode: MC_BUFFER_MODE; rTransitionParameterP3: ARRAY[0..1] OF LREAL; fbKinMoveLinAbsP4: FB_KinMoveLinAbs; bExkinMoveLinAbsP4: BOOL; arPosKinMoveLinAbsP4: ARRAY[0..15] OF LREAL; rVelKinMoveLinAbsP4: LREAL := 5000; rAccKinMoveLinAbsP4: LREAL := 10000; rDecKinMoveLinAbsP4: LREAL := 10000; rJerkKinMoveLinAbsP4: LREAL := 100000; enCoordSystemP4: STRING(15) := 'WCS'; ///I_BufferMode: MC_BUFFER_MODE; rTransitionParameterP4: ARRAY[0..1] OF LREAL; iAxsState: INT; oCmdResult: ML_oCmdResult; ioGetCmdState: ML_GetCmdStateData; bExPowerOnAx1: BOOL; stDataPowerOnAx1: ML_AxsPowerData; stDataMoveAx1: ML_AxsPosData; rTargetPosAx1: REAL := 100; rTargetVel: REAL := 10; rTargetAcc: REAL := 10; stOverrideData: ML_SetOverrideData; bML_SetOverride: BOOL; /// ############################## PlcOpen Library CXA_PlcOpen #################################################### fbMC_PowerAx1: MC_Power; bEnPowerOnAx1: BOOL; Axis_1: AXIS_REF; fbMC_PowerAx2: MC_Power; bEnPowerOnAx2: BOOL; Axis_2: AXIS_REF; fbMC_PowerAx3: MC_Power; bEnPowerOnAx3: BOOL; Axis_3: AXIS_REF; fbAddAxisToGroup_Ax1: MC_AddAxisToGroup; fbAddAxisToGroup_Ax2: MC_AddAxisToGroup; fbAddAxisToGroup_Ax3: MC_AddAxisToGroup; bAddAxisToGroup: BOOL; fbMC_GroupEnable: MC_GroupEnable; bExGroupEnable: BOOL; stKinGroup: AXES_GROUP_REF; fbMC_GroupDisable: MC_GroupDisable; fbMB_GroupJog: MB_GroupJog; bEnableKinJog: BOOL; arDirection: ARRAY[0..15] OF LREAL; rJogVel: REAL := 200; rJogAcc: REAL := 1000; rJogJerk: REAL := 0; enJogCoordSys: MC_COORD_SYSTEM; fbMC_MoveLinearAbsoluteP1: MC_MoveLinearAbsolute; bExMoveLinAbsKinP1: BOOL; arPosMoveLinAbsP1: ARRAY[0..15] OF LREAL; rVelMoveLinAbsP1: REAL := 200; rAccMoveLinAbsP1: REAL := 1000; rJerkMoveLinAbsP1: REAL := 100000; enMoveLinAbsCoordSysP1: MC_COORD_SYSTEM; enBufferModeP1: MC_BUFFER_MODE; arTranstionParameterP1: ARRAY[0..1] OF LREAL; fbMC_MoveLinearAbsoluteP2: MC_MoveLinearAbsolute; bExMoveLinAbsKinP2: BOOL; arPosMoveLinAbsP2: ARRAY[0..15] OF LREAL; rVelMoveLinAbsP2: REAL := 200; rAccMoveLinAbsP2: REAL := 1000; rJerkMoveLinAbsP2: REAL := 100000; enMoveLinAbsCoordSysP2: MC_COORD_SYSTEM; enBufferModeP2: MC_BUFFER_MODE; arTranstionParameterP2: ARRAY[0..1] OF LREAL; fbMC_MoveLinearAbsoluteP3: MC_MoveLinearAbsolute; bExMoveLinAbsKinP3: BOOL; arPosMoveLinAbsP3: ARRAY[0..15] OF LREAL; rVelMoveLinAbsP3: REAL := 200; rAccMoveLinAbsP3: REAL := 1000; rJerkMoveLinAbsP3: REAL := 100000; enMoveLinAbsCoordSysP3: MC_COORD_SYSTEM; enBufferModeP3: MC_BUFFER_MODE; arTranstionParameterP3: ARRAY[0..1] OF LREAL; fbMC_MoveLinearAbsoluteP4: MC_MoveLinearAbsolute; bExMoveLinAbsKinP4: BOOL; arPosMoveLinAbsP4: ARRAY[0..15] OF LREAL; rVelMoveLinAbsP4: REAL := 200; rAccMoveLinAbsP4: REAL := 1000; rJerkMoveLinAbsP4: REAL := 100000; enMoveLinAbsCoordSysP4: MC_COORD_SYSTEM; enBufferModeP4: MC_BUFFER_MODE; arTranstionParameterP4: ARRAY[0..1] OF LREAL; iCycle: INT; bStartCycle: BOOL; rBlendingRadius: REAL := 20; fbMC_GroupReadStatus: MC_GroupReadStatus; bEnReadKinStatus: BOOL; fbMC_GroupReadActualPosition: MC_GroupReadActualPosition; bEnReadKinPos: BOOL; fbMC_MoveAbsolute: MC_MoveAbsolute; bExMovePlcOpenAbsAx1: BOOL; arActualKinPos: ARRAY[0..15] OF LREAL; i: UINT; fbMC_GroupReadActualVelocity: MC_GroupReadActualVelocity; fbMC_GroupReadActualAcceleration: MC_GroupReadActualAcceleration; rPathVel: LREAL; rPathAcc: LREAL; bSetAllData: BOOL; rSetVelAll: REAL := 5000; rSetAccAll: REAL := 5000;   pluto: BOOL; pippo_count: INT; enSlopeSetting: EN_SlopeType;   // KinInterface FB Call NO TEMPLATE fbKinInterfaceInit:MB_KinematicsInit; fbKinInterfaceBase:MB_KinematicsInterfaceBase ;   bExKinInterfaceInit: BOOL; uiKinIndex: UINT; stKinAdmin: CXA_MotionInterface.MB_KINEMATICS_ADMINISTRATION; stKinStatus: CXA_MotionInterface.MB_KINEMATICS_ADMIN_STATUS; stKinDataStatus: CXA_MotionInterface.MB_KINEMATICS_DATA; stKinDiagStatus: CXA_MotionInterface.MB_KINEMATICS_DIAGNOSIS; stCoordCtrl: CXA_MotionInterface.MB_KINEMATICS_COORDINATED; bEnKinInterface: BOOL; stDataMoveAbsTest: CXA_Motion.ML_KinMoveLinData; bResultMoveAbsTest: BOOL; bEnMoveAbsTest: BOOL; bResultKinMCS: BOOL; stML_KinMCSP: CXA_Motion.ML_KinMCSPData; bEnML_KinMCSP: BOOL; bBypassSetMoveAbs: BOOL; fbAddToKinAxis1: FB_AddAxisToKin; fbAddToKinAxis2: FB_AddAxisToKin; fbAddToKinAxis3: FB_AddAxisToKin; bAddAxisToKin: BOOL; fbRemFromKinAxis1: FB_RemAxisFromKin; fbRemFromKinAxis2: FB_RemAxisFromKin; fbRemFromKinAxis3: FB_RemAxisFromKin; bRemAxisToKin: BOOL; rTargetPosX: LREAL := 0; rTargetPosY: LREAL := 0; rTargetPosZ: LREAL := -700; _speed: LREAL;   rVelAxisX: LREAL; rPosOld_AxisX: LREAL; rTaskClock: LREAL := 200; rVelAxisY: LREAL; rPosOld_AxisY: LREAL; rVelAxisZ: LREAL; rPosOld_AxisZ: LREAL; copy1: ARRAY [0..1] OF LREAL; fbTON: TON; bSetDynamicMoveData: BOOL; rCmdPathVel: LREAL := 5000;  // mm/min. rCmdPathAcc: LREAL := 500; // m/s2 rCmdPathJerk: LREAL := 5000; // m/s3 fbMoveCircular: FB_KinMoveCircAbs; bExMoveCircular: BOOL; arEndPosCirc: ARRAY [0..15] OF LREAL; arIntermPosCirc: ARRAY [0..15] OF LREAL; enCoordSystemCirc: ML_CoordSys := MCS; bManualCycle: BOOL; stTestML_KinPolyTransP: CXA_Motion.ML_KinPolyTransPData; bTestML_KinPolyTransP: BOOL; bEnablestTestML_KinPolyTransP: BOOL; rD1Poly: LREAL := 20; bTestML_KinPolyTransPDone: BOOL; bDisablestTestML_KinPolyTransP: BOOL; bCycleTestML_KinPolyTransP: BOOL; stDataMoveAbsTest1: CXA_Motion.ML_KinMoveLinData; bResultMoveAbsTest1: BOOL; stDataMoveAbsTest2: CXA_Motion.ML_KinMoveLinData; stDataMoveAbsTest3: CXA_Motion.ML_KinMoveLinData; stDataMoveAbsTest4: CXA_Motion.ML_KinMoveLinData; bResultMoveAbsTest2: BOOL; bResultMoveAbsTest3: BOOL; bResultMoveAbsTest4: BOOL; stDataMoveAbsTest5: CXA_Motion.ML_KinMoveLinData; stDataMoveAbsTest6: CXA_Motion.ML_KinMoveLinData; bResultMoveAbsTest5: BOOL; bResultMoveAbsTest6: BOOL; bTestMLML_KinPolyTransP_ML_ContSlope: BOOL; stTestML_KinPolyTransP_MLContSlope: CXA_Motion.ML_KinContMotionPData; stKinPathStatus: ST_KIN_PATH_STATUS; rBlendingRadiusDone: LREAL := 10; syGetCmdState: CXA_Motion.ML_GetCmdStateData; bKinMoveLinAbsBuffered: BOOL; O_bKinMoveLinAbsBuffered: BOOL; stGetCmdState: CXA_Motion.ML_GetCmdStateData; bKinMoveLinAbsDone: BOOL; O_bKinMoveLinAbsDone: BOOL; idxCyclePoly: INT; bBypassStepPolyTest: BOOL; idxCyclePolyNextStep: INT; bBlendSettingOk: BOOL; bBlendingOn: BOOL; bBlendAlways: BOOL; END_VAR       // Implementation CASE idxCyclePoly OF   0: bResultMoveAbsTest1:=FALSE; bResultMoveAbsTest2:=FALSE; bResultMoveAbsTest3:=FALSE; bResultMoveAbsTest4:=FALSE; bResultMoveAbsTest5:=FALSE; bResultMoveAbsTest6:=FALSE; bBlendSettingOk:=FALSE;   IF bCycleTestML_KinPolyTransP OR bBypassStepPolyTest THEN  IF bBlendAlways AND NOT bBlendingOn THEN // Enable Blending idxCyclePoly:=50; idxCyclePolyNextStep:=11; ELSE  idxCyclePoly:=1; END_IF END_IF 11: IF bBlendSettingOk THEN bResultMoveAbsTest1:=ML_KinMoveLinAbs(Data:= stDataMoveAbsTest1); stGetCmdState.In.CmdID := stDataMoveAbsTest1.Out.CmdID; stGetCmdState.In.ObjName:= stDataMoveAbsTest1.In.KinName; IF bResultMoveAbsTest1 THEN idxCyclePoly:=99; idxCyclePolyNextStep:=1; bBypassStepPolyTest:=FALSE; END_IF END_IF   1: IF bKinMoveLinAbsDone OR bKinMoveLinAbsBuffered OR bBypassStepPolyTest THEN // Disable Blend for move Done IF NOT bBlendAlways THEN idxCyclePoly:=60; idxCyclePolyNextStep:=22; ELSE bResultMoveAbsTest2:=ML_KinMoveLinAbs(Data:= stDataMoveAbsTest2); stGetCmdState.In.CmdID := stDataMoveAbsTest2.Out.CmdID; stGetCmdState.In.ObjName:= stDataMoveAbsTest2.In.KinName; IF bResultMoveAbsTest2 THEN idxCyclePoly:=99; idxCyclePolyNextStep:=2; bBypassStepPolyTest:=FALSE; END_IF END_IF END_IF   22: IF bBlendSettingOk THEN bResultMoveAbsTest2:=ML_KinMoveLinAbs(Data:= stDataMoveAbsTest2); stGetCmdState.In.CmdID := stDataMoveAbsTest2.Out.CmdID; stGetCmdState.In.ObjName:= stDataMoveAbsTest2.In.KinName; IF bResultMoveAbsTest2 THEN idxCyclePoly:=99; idxCyclePolyNextStep:=2; bBypassStepPolyTest:=FALSE; END_IF END_IF   2: IF bKinMoveLinAbsDone OR ( bKinMoveLinAbsBuffered AND bBlendAlways ) OR bBypassStepPolyTest THEN //bEnablestTestML_KinPolyTransP:=TRUE; //IF bTestML_KinPolyTransPDone THEN // Enable Blending IF NOT bBlendAlways THEN  idxCyclePoly:=50; idxCyclePolyNextStep:=33; ELSE bResultMoveAbsTest3:=ML_KinMoveLinAbs(Data:= stDataMoveAbsTest1); stGetCmdState.In.CmdID := stDataMoveAbsTest1.Out.CmdID; stGetCmdState.In.ObjName:= stDataMoveAbsTest1.In.KinName; IF bResultMoveAbsTest3 THEN idxCyclePoly:=99; idxCyclePolyNextStep:=3; bBypassStepPolyTest:=FALSE; END_IF END_IF   END_IF 33: IF bBlendSettingOk THEN bResultMoveAbsTest3:=ML_KinMoveLinAbs(Data:= stDataMoveAbsTest1); stGetCmdState.In.CmdID := stDataMoveAbsTest1.Out.CmdID; stGetCmdState.In.ObjName:= stDataMoveAbsTest1.In.KinName; IF bResultMoveAbsTest3 THEN idxCyclePoly:=99; idxCyclePolyNextStep:=3; bBypassStepPolyTest:=FALSE; END_IF END_IF //END_IF 3: IF bKinMoveLinAbsDone OR bKinMoveLinAbsBuffered OR bBypassStepPolyTest THEN bResultMoveAbsTest4:=ML_KinMoveLinAbs(Data:= stDataMoveAbsTest3); stGetCmdState.In.CmdID := stDataMoveAbsTest3.Out.CmdID; stGetCmdState.In.ObjName:= stDataMoveAbsTest3.In.KinName; IF bResultMoveAbsTest4 THEN idxCyclePoly:=99; idxCyclePolyNextStep:=4; bBypassStepPolyTest:=FALSE; END_IF END_IF 4: IF bKinMoveLinAbsDone OR bKinMoveLinAbsBuffered OR bBypassStepPolyTest THEN // Disable Blend for move Done IF NOT bBlendAlways THEN  idxCyclePoly:=60; idxCyclePolyNextStep:=44; ELSE bResultMoveAbsTest5:=ML_KinMoveLinAbs(Data:= stDataMoveAbsTest4); stGetCmdState.In.CmdID := stDataMoveAbsTest4.Out.CmdID; stGetCmdState.In.ObjName:= stDataMoveAbsTest4.In.KinName; IF bResultMoveAbsTest5 THEN idxCyclePoly:=99; idxCyclePolyNextStep:=5; bBypassStepPolyTest:=FALSE; END_IF END_IF END_IF 44: IF bBlendSettingOk THEN bResultMoveAbsTest5:=ML_KinMoveLinAbs(Data:= stDataMoveAbsTest4); stGetCmdState.In.CmdID := stDataMoveAbsTest4.Out.CmdID; stGetCmdState.In.ObjName:= stDataMoveAbsTest4.In.KinName; IF bResultMoveAbsTest5 THEN idxCyclePoly:=99; idxCyclePolyNextStep:=5; bBypassStepPolyTest:=FALSE; END_IF END_IF //END_IF 5: IF bKinMoveLinAbsDone OR ( bKinMoveLinAbsBuffered AND bBlendAlways ) OR bBypassStepPolyTest THEN // Enable Blending IF NOT bBlendAlways THEN  idxCyclePoly:=50; idxCyclePolyNextStep:=55; ELSE bResultMoveAbsTest6:=ML_KinMoveLinAbs(Data:= stDataMoveAbsTest3); stGetCmdState.In.CmdID := stDataMoveAbsTest3.Out.CmdID; stGetCmdState.In.ObjName:= stDataMoveAbsTest3.In.KinName; IF bResultMoveAbsTest6 THEN idxCyclePoly:=99; idxCyclePolyNextStep:=6; bBypassStepPolyTest:=FALSE; END_IF END_IF END_IF 55: IF bBlendSettingOk THEN bResultMoveAbsTest6:=ML_KinMoveLinAbs(Data:= stDataMoveAbsTest3); stGetCmdState.In.CmdID := stDataMoveAbsTest3.Out.CmdID; stGetCmdState.In.ObjName:= stDataMoveAbsTest3.In.KinName; IF bResultMoveAbsTest6 THEN idxCyclePoly:=99; idxCyclePolyNextStep:=6; bBypassStepPolyTest:=FALSE; END_IF END_IF //END_IF 6: IF bKinMoveLinAbsDone OR bKinMoveLinAbsBuffered OR bBypassStepPolyTest THEN bResultMoveAbsTest1:=ML_KinMoveLinAbs(Data:= stDataMoveAbsTest1); stGetCmdState.In.CmdID := stDataMoveAbsTest3.Out.CmdID; stGetCmdState.In.ObjName:= stDataMoveAbsTest3.In.KinName; IF bResultMoveAbsTest1 THEN idxCyclePoly:=99; idxCyclePolyNextStep:=0; bBypassStepPolyTest:=FALSE; END_IF //END_IF END_IF   50: bBlendSettingOk:=FALSE; // Enable Blending for Move Via stTestML_KinPolyTransP.In.D1:=rD1Poly; stTestML_KinPolyTransP.In.D2:=rD1Poly; stTestML_KinPolyTransP.In.KinName:='Delta'; stTestML_KinPolyTransP.In.SwitchOff:=FALSE; bTestML_KinPolyTransP:=ML_KinPolyTransP(Data:= stTestML_KinPolyTransP); stTestML_KinPolyTransP_MLContSlope.In.KinName:='Delta'; stTestML_KinPolyTransP_MLContSlope.In.SwitchOff:=FALSE; bTestMLML_KinPolyTransP_ML_ContSlope:=ML_KinContMotionP(Data:= stTestML_KinPolyTransP_MLContSlope); IF bTestML_KinPolyTransP AND bTestMLML_KinPolyTransP_ML_ContSlope THEN idxCyclePoly:=idxCyclePolyNextStep; bBlendSettingOk:=TRUE; bBlendingOn:=TRUE; END_IF 60: bBlendSettingOk:=FALSE; // Disable Blend for move Done stTestML_KinPolyTransP.In.D1:=0; stTestML_KinPolyTransP.In.D2:=0; stTestML_KinPolyTransP.In.KinName:='Delta'; stTestML_KinPolyTransP.In.SwitchOff:=TRUE; bTestML_KinPolyTransP:=ML_KinPolyTransP(Data:= stTestML_KinPolyTransP); stTestML_KinPolyTransP_MLContSlope.In.KinName:='Delta'; stTestML_KinPolyTransP_MLContSlope.In.SwitchOff:=TRUE; bTestMLML_KinPolyTransP_ML_ContSlope:=ML_KinContMotionP(Data:= stTestML_KinPolyTransP_MLContSlope); IF bTestML_KinPolyTransP AND bTestMLML_KinPolyTransP_ML_ContSlope THEN idxCyclePoly:=idxCyclePolyNextStep; bBlendSettingOk:=TRUE; bBlendingOn:=FALSE; END_IF 99: //Check Command State bKinMoveLinAbsBuffered:=FALSE; bKinMoveLinAbsDone:=FALSE; ML_GetCmdState(Data:= stGetCmdState); IF ( stGetCmdState.Out.State='INBUFFER' OR stGetCmdState.Out.State='ACTIVE'  ) THEN bKinMoveLinAbsBuffered:=TRUE; ELSE bKinMoveLinAbsBuffered:=FALSE; END_IF IF stGetCmdState.Out.State='DONE'  THEN bKinMoveLinAbsDone:=TRUE; ELSE bKinMoveLinAbsDone:=FALSE; END_IF IF (bKinMoveLinAbsBuffered AND bBlendingOn ) OR bKinMoveLinAbsDone THEN idxCyclePoly:=idxCyclePolyNextStep; END_IF END_CASE     ... 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