How do I program an Interpolated Position Mode sequence in IEC-61131 Structured Text using the Maxon EPOS Libraries?

Question

The Maxon EPOS libraries define some Function Blocks that seemingly handle Interpolated Position Mode, however there are no samples, as far as I can determine, that specify how to use them.

Here is what I have so far but at the moment it just skips right through it when called with Execute set to TRUE

FUNCTION_BLOCK FB_MAIN_Routine1

TYPE
    POSITIONS: ARRAY[1..64] OF DINT;
    VELOCITIES: ARRAY[1..64] OF DINT;
    TIME_VALUES: ARRAY[1..64] OF USINT;
END_TYPE

VAR_EXTERNAL
    Axis1: AXIS_REF;
END_VAR

VAR_INPUT
    Execute: BOOL;
END_VAR

VAR_OUTPUT
    Done: BOOL;
END_VAR

VAR

    Start: BOOL := FALSE;    
    LoadPointsAx1: BOOL := FALSE;

    fbClearIpmBufferAx1: MU_ClearIpmBuffer;
    fbAddPvtValuesAx1: MU_AddPvtValues;
    fbStartIpmTrajectoryAx1: MU_StartIpmTrajectory;
    fbGetIpmStatusAx1: MU_GetIpmStatus;
    fbGetIpmTrajectoryStatusAx1: MU_GetIpmTrajectoryStatus;

    PositionsAx1:  POSITIONS  := [49500, 47703, 45906, 44109, 42312, 40516, 38719, 36922, 35125, 33329, 31532, 29735, 27938, 26142, 24345, 22548, 20751, 21834, 23037, 24240, 25443, 26646, 27848, 29051, 30254, 31457, 32660, 33863, 35065, 36268, 37471, 38674, 39877, 41080, 42282, 43485, 44688, 45891, 47094, 48297, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500, 49500];    
    VelocitiesAx1: VELOCITIES  := [-216, -216, -216, -216, -216, -216, -216, -216, -216, -216, -216, -216, -216, -216, -216, -216, -216, 144, 144, 144, 144, 144, 144, 144, 144, 144, 144, 144, 144, 144, 144, 144, 144, 144, 144, 144, 144, 144, 144, 144, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];
    TimeValuesAx1: TIME_VALUES := [250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 250, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0];

END_VAR

fbGetIpmStatusAx1(Axis := Axis1, Enable := Execute);

fbClearIpmBufferAx1(Axis := Axis1, Execute := Execute);

If fbClearIpmBufferAx1.Done Then    
    LoadPointsAx1 := TRUE;
END_IF;

fbAddPvtValuesAx1(Axis := Axis1, Execute := LoadPointsAx1, Position := PositionsAx1, Velocity := VelocitiesAx1, TimeValue := TimeValuesAx1);

If fbAddPvtValuesAx1.Done Then    
    Start := TRUE;
End_If; 

fbStartIpmTrajectoryAx1(Axis := Axis1, Execute := Start);

fbGetIpmTrajectoryStatusAx1(Axis := Axis1, Enable := fbStartIpmTrajectoryAx1.Done);

If (Execute = FALSE) Or fbGetIpmTrajectoryStatusAx1.TargetReached Then
    Done := Execute;
    Start := FALSE;
    LoadPointsAx1 := FALSE;
    fbAddPvtValuesAx1(Axis := Axis1, Execute := FALSE);
    fbStartIpmTrajectoryAx1(Axis := Axis1, Execute := FALSE);
    fbGetIpmTrajectoryStatusAx1(Axis := Axis1, Enable := FALSE);
End_If;

END_FUNCTION_BLOCK

Answer 1

Unlike other moves of operation (e.g. Velocity Mode or Position Mode), Interpolated Position Mode needs to be initialised.

A call to MU_ActivateInterpolatedPositionMode solves this.