Figure 32 – ReadySubstateMachineType Overview
The ReadySubstateMachineType is formally defined in Table 104.
Table 104 – ReadySubstateMachineType Definition
|
Attribute |
Value |
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|
BrowseName |
ReadySubstateMachineType |
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|
IsAbstract |
False |
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|
References |
Node Class |
BrowseName |
DataType |
TypeDefinition |
Other |
|
Subtype of the FiniteStateMachineType defined in OPC 1000-5 |
|||||
|
0:HasComponent |
Variable |
LastTransitionReason |
0:Int16 |
0:MultiStateValueDiscreteType |
M |
|
0:HasComponent |
Object |
AtProgramStart |
|
0:StateType |
|
|
0:HasComponent |
Object |
Suspended |
|
0:StateType |
|
|
0:HasComponent |
Object |
ProgramStartToSuspended |
|
0:TransitionType |
|
|
0:HasComponent |
Object |
SuspendedToProgramStart |
|
0:TransitionType |
|
|
0:HasComponent |
Method |
ResetToProgramStart |
|
|
O |
|
Inherited from FiniteStateMachineType |
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|
0:HasComponent |
Variable |
LastTransition |
0:LocalizedText |
0:FiniteTransitionVariableType |
M |
|
0:GeneratesEvent |
ObjectType |
TransitionEventType |
|
|
O |
|
ConformanceUnits |
|||||
|
Rob Task Control ReadySubstate |
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|
Rob Task Control Ready Reset |
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The Variable LastTransitionReason provides the reason for the LastTransition. The EnumValue and ValueAsText of this 0:MultiStateValueDiscreteType are described in .
Table 105 – ReadySubstateMachineType Attribute values for child nodes
|
BrowsePath |
Value Attribute |
Description Attribute |
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|
[ {"Value":0,"DisplayName":"Unknown","Description":"Caused by an unknown reason"}, {"Value":1,"DisplayName":"External","Description":"Caused by external operation"}, {"Value":2,"DisplayName":"Direct","Description":"Caused by direct operation"}, {"Value":3,"DisplayName":"System","Description":"Caused by system specific behavior"}, {"Value":4,"DisplayName":"Error", "Description": "Caused by an error"}, {"Value":5,"DisplayName":"Application","Description":"Caused explicitly by end user program logic"} ] |
|
The states of the ReadySubstateMachineType are described in Table 106.
Table 106 – ReadySubstateMachineType State Descriptions
|
StateName |
Description |
|
AtProgramStart |
The program pointer of the program loaded in the task control is at the starting point. |
|
Suspended |
The program pointer of the program loaded in the task control is anywhere in the program, but not at starting point. |
The components of the ReadySubstateMachineType have additional references which are defined in Table 107.
Table 107 – ReadySubstateMachineType Additional References
|
SourceBrowsePath |
Reference Type |
Is Forward |
TargetBrowsePath |
|
ProgramStartToSuspended |
0:FromState |
True |
AtProgramStart |
0:ToState |
True |
Suspended |
0:HasEffect |
True |
TransitionEventType |
|
SuspendedToProgramStart |
0:FromState |
True |
Suspended |
0:ToState |
True |
AtProgramStart |
0:HasEffect |
True |
TransitionEventType |
0:HasCause |
True |
ResetToProgramStart |
The transitions are described in Table 108 – ReadySubstateMachineType Transition Descriptions.
Table 108 – ReadySubstateMachineType Transition Descriptions
|
TransitionName |
Description |
|
ProgramStartToSuspended |
Changes from AtProgramStart to Suspended. |
|
SuspendedToProgramStart |
Changes from Suspended to AtProgramStart because program was restarted. (Direct, External, System) |
The component Variables of the ReadySubstateMachineType have additional Attributes defined in Table 109.
Table 109 – ReadySubstateMachineType Attribute values for child Nodes
|
BrowsePath |
Value Attribute |
||
|
1 |
||
|
2 |
||
|
1 |
||
|
2 |