How do I program an Interpolated Position Mode sequence in IEC-61131 Structured Text using the Maxon EPOS Libraries? - iec61131-3

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.