Fixed AxisPTP Busy and Done outputs

- Busy and Done outputs of FB_AxisPTP should now be correct
 - Also fixed same cycle new command possibility on FB_AxisPTP

BaseComponents.tsproj

@@ -136,7 +136,7 @@
 		</System>
 		<Plc>
 			<Project GUID="{4E62D9E7-436C-457D-8DC4-82D2FEF91C96}" Name="BasicComponents" PrjFilePath="BasicComponents\BasicComponents.plcproj" TmcFilePath="BasicComponents\BasicComponents.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" CopyTmcToTarget="true" CopyTpyToTarget="false" SymbolicMapping="true">
-				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcHash="{63E07965-E818-C034-FD63-DBA12806D3FA}" TmcPath="BasicComponents\BasicComponents.tmc">
+				<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcHash="{CC57F9F8-FD4D-8A3D-E8DE-220E6C379AE4}" TmcPath="BasicComponents\BasicComponents.tmc">
 					<Name>BasicComponents Instance</Name>
 					<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
 					<Vars VarGrpType="2" AreaNo="1">

BasicComponents/POUs/Components/AxisPTP/FB_AxisPTP.TcPOU

@@ -212,9 +212,6 @@ IF _fbHalt.Error THEN
 	_xError := TRUE;
 END_IF
 
-// Can the axis perform a new move command
-_xCanExecNewCmd := (NOT _xBusy) AND _fbPower.Status AND (NOT _xError);
-
 // ====================
 // Handle state machine
 // ====================
@@ -224,6 +221,7 @@ CASE _eState OF
 		IF xEnable THEN
 			_xEnable := TRUE;
 			_xBusy := TRUE;
+			_xDone := FALSE;
 			_eState := E_AXIS_PTP_STATE.WAIT_FOR_ENABLE;
 		END_IF
 		
@@ -248,18 +246,15 @@ CASE _eState OF
 		
 		
 	E_AXIS_PTP_STATE.ENABLED:
-		_xDone := FALSE;
 		
 		IF _xExecuteMoveAbs THEN
 			_xExecuteMoveAbs := FALSE;
-			_xBusy := TRUE;
 			_xStartMoveAbsolute := TRUE;
 			_eState := E_AXIS_PTP_STATE.MOVING_ABSOLUTE;
 		END_IF
 				
 		IF _xExecuteMoveRel THEN
 			_xExecuteMoveRel := FALSE;
-			_xBusy := TRUE;
 			_xStartMoveRelative := TRUE;
 			_eState := E_AXIS_PTP_STATE.MOVING_RELATIVE;
 		END_IF
@@ -267,27 +262,25 @@ CASE _eState OF
 		IF _xExecuteHoming THEN
 			_xExecuteHoming := FALSE;
 			_xStartHomeing := TRUE;
-			_xBusy := TRUE;
 			_eState := E_AXIS_PTP_STATE.HOMING;
 		END_IF
 		
 		IF _xExecuteMoveVelocity THEN
 			_xExecuteMoveVelocity := FALSE;
 			_xStartMoveVelocity := TRUE;
-			_xBusy := TRUE;
 			_eState := E_AXIS_PTP_STATE.MOVING_VELOCITY;
 		END_IF
 		
 		IF _xExecuteMoveModulo THEN
 			_xExecuteMoveModulo := FALSE;
 			_xStartMoveModulo := TRUE;
-			_xBusy := TRUE;
 			_eState := E_AXIS_PTP_STATE.MOVING_MODULO;
 		END_IF
 	
 		IF (NOT xEnable) AND (NOT _xError) THEN
 			_xEnable := FALSE;
 			_xBusy := TRUE;
+			_xDone := FALSE;
 			_eState := E_AXIS_PTP_STATE.WAIT_FOR_DISABLE;
 		END_IF
 		
@@ -452,6 +445,8 @@ CASE _eState OF
 		_xError := TRUE;
 END_CASE
 
+// Can the axis perform a new move command
+_xCanExecNewCmd := (NOT _xBusy) AND _fbPower.Status AND (NOT _xError);
 
 // Copy internal buffers to outputs
 xEnabled := _fbPower.Status;
@@ -469,6 +464,10 @@ END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[IF _xBusy THEN
 	_xExecuteHalt := TRUE;
+	_xDone := FALSE;
+	xDone := FALSE;
+	_xBusy := TRUE;
+	xBusy := TRUE;
 END_IF]]></ST>
       </Implementation>
     </Method>
@@ -480,10 +479,17 @@ VAR_INPUT
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[IF _xCanExecNewCmd THEN
-	_xBusy := TRUE;
+	_xCanExecNewCmd := FALSE;
+	
 	_lrHomingPos := lrHomingPosition;
 	_eHomingMode := eHomingMode;
 	_xExecuteHoming := TRUE;
+	
+	_xDone := FALSE;
+	xDone := FALSE;
+	_xBusy := TRUE;
+	xBusy := TRUE;
+	
 	M_Homing := TRUE;
 ELSE
 	M_Homing := FALSE;
@@ -497,9 +503,16 @@ VAR_INPUT
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[IF _xCanExecNewCmd THEN
-	_xBusy := TRUE;
+	_xCanExecNewCmd := FALSE;
+
 	_lrTargetPosition := lrTargetPos;
 	_xExecuteMoveAbs := TRUE;
+	
+	_xDone := FALSE;
+	xDone := FALSE;
+	_xBusy := TRUE;
+	xBusy := TRUE;
+	
 	M_MoveAbs := TRUE;
 ELSE
 	M_MoveAbs := FALSE;
@@ -515,10 +528,17 @@ VAR_INPUT
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[IF _xCanExecNewCmd THEN
-	_xBusy := TRUE;
+	_xCanExecNewCmd := FALSE;
+	
 	_lrTargetPosition := lrTargetPos;
 	_eMoveDirection := eMoveDirection;
 	_xExecuteMoveModulo := TRUE;
+	
+	_xDone := FALSE;
+	xDone := FALSE;
+	_xBusy := TRUE;
+	xBusy := TRUE;
+	
 	M_MoveModulo := TRUE;
 ELSE
 	M_MoveModulo := FALSE;
@@ -532,9 +552,17 @@ VAR_INPUT
 END_VAR]]></Declaration>
       <Implementation>
         <ST><![CDATA[IF _xCanExecNewCmd THEN
+	_xCanExecNewCmd := FALSE;
+	
 	_xBusy := TRUE;
 	_lrRelativeDistance := lrRelDist;
 	_xExecuteMoveRel:= TRUE;
+	
+	_xDone := FALSE;
+	xDone := FALSE;
+	_xBusy := TRUE;
+	xBusy := TRUE;
+	
 	M_MoveRel := TRUE;
 ELSE
 	M_MoveRel := FALSE;
@@ -549,9 +577,17 @@ END_VAR
 ]]></Declaration>
       <Implementation>
         <ST><![CDATA[IF _xCanExecNewCmd THEN
+	_xCanExecNewCmd := FALSE;
+	
 	_xBusy := TRUE;	
 	_xExecuteMoveVelocity := TRUE;
 	_eMoveDirection := eDirection;
+	
+	_xDone := FALSE;
+	xDone := FALSE;
+	_xBusy := TRUE;
+	xBusy := TRUE;
+	
 	M_MoveVelocity := TRUE;
 ELSE
 	M_MoveVelocity := FALSE;