Figure 30 – TaskControlStateMachineType with the ReadySubstateMachine
The TaskControlStateMachineType is formally defined in Table 65.
Table 65 – TaskControlStateMachineType Definition
|
Attribute |
Value |
||||
|
BrowseName |
TaskControlStateMachineType |
||||
|
IsAbstract |
False |
||||
|
References |
Node Class |
BrowseName |
DataType |
TypeDefinition |
Other |
|
|
|
|
|
|
|
|
Subtype of the OperationStateMachineType |
|||||
|
|
|||||
|
0:HasComponent |
Object |
ReadySubstateMachine |
|
ReadySubstateMachineType |
O |
|
0:HasComponent |
Method |
LoadByNodeId |
|
|
O |
|
0:HasComponent |
Method |
LoadByName |
|
|
O |
|
0:HasComponent |
Method |
UnloadProgram |
|
|
O |
|
0:HasComponent |
Method |
UnloadByNodeId |
|
|
O |
|
0:HasComponent |
Method |
UnloadByName |
|
|
O |
|
Inherited from OperationStateMachineType |
|||||
|
0:HasComponent |
Variable |
LastTransitionReason |
0:Int16 |
0:MultiStateValueDiscreteType |
M |
|
0:HasComponent |
Variable |
PossibleStopModes |
0:EnumValueType[] |
0:BaseDataVariableType |
O |
|
0:HasComponent |
Variable |
ConfiguredDefaultStopMode |
0:Int16 |
0:BaseDataVariableType |
O |
|
|
|
|
|
|
|
|
0:HasComponent |
Object |
Idle |
|
0:StateType |
|
|
0:HasComponent |
Object |
Ready |
|
0:StateType |
|
|
0:HasComponent |
Object |
Executing |
|
0:StateType |
|
|
0:HasComponent |
Object |
IdleToIdle |
|
0:TransitionType |
|
|
0:HasComponent |
Object |
ReadyToIdle |
|
0:TransitionType |
|
|
0:HasComponent |
Object |
IdleToReady |
|
0:TransitionType |
|
|
0:HasComponent |
Object |
ExecutingToReady |
|
0:TransitionType |
|
|
0:HasComponent |
Object |
ReadyToExecuting |
|
0:TransitionType |
|
|
0:HasComponent |
Object |
ExecutingToIdle |
|
0:TransitionType |
|
|
0:HasComponent |
Method |
Start |
|
|
O |
|
0:HasComponent |
Method |
Stop |
|
|
O |
|
0:HasComponent |
Variable |
LastTransition |
0:LocalizedText |
0:FiniteTransitionVariableType |
M |
|
0:GeneratesEvent |
ObjectType |
TransitionEventType |
|
|
O |
|
ConformanceUnits |
|||||
|
Rob Task Control Monitor |
|||||
|
Rob Task Control Operation |
|||||
|
Rob Task Control ReadySubstate |
|||||
|
Rob System Events |
|||||
The Ready State of TaskControlStateMachineType has additional subcomponents which are defined in Table 66.
Table 66 – TaskControlStateMachineType Additional Subcomponents
|
Source Path |
Reference |
NodeClass |
BrowseName |
DataType |
TypeDefinition |
Others |
|
Ready |
0:HasSubStateMachine |
Object |
ReadySubstateMachine |
|
ReadySubstateMachineType |
O |
The states of the TaskControlStateMachineType are described in Table 67.
Table 67 – TaskControlStateMachineType State Descriptions
|
StateName |
Description |
|
Idle |
The task control is not loaded with a program. |
|
Ready |
The task control is loaded with a program and is not executing the program. |
|
Executing |
The task control is loaded with a program and is executing the program. If the task control automatically starts the program at the beginning, after reaching the end, it shall stay in Executing state (continuously executing). |
The transitions are described in the table below.
Table 68 – TaskControlStateMachineType Transition Descriptions
|
TransitionName |
Description |
|
IdleToIdle |
Occurs if the program could not be loaded correctly. |
|
IdleToReady |
Occurs in response to LoadProgram() or internal events, when loading a program to the task control. |
|
ReadyToIdle |
Occurs in response to UnloadProgram() or internal events, when unloading a program from the task control. |
|
ReadyToExecuting |
Occurs in response to Start() or internal events, when starting a loaded program in the task control. |
|
ExecutingToReady |
Occurs in response to Stop() or internal events, when stopping a loaded program in the task control. |
|
ExecutingToIdle |
Occurs in response to internal events, when stopping a loaded program in the task control and unloading the task control. |
The components of the TaskControlStateMachineType have additional references which are defined in Table 69.
Table 69 – TaskControlStateMachineType Additional References
|
SourceBrowsePath |
Reference Type |
Is Forward |
TargetBrowsePath |
|
IdleToIdle |
0:FromState |
True |
Idle |
0:ToState |
True |
Idle |
0:HasEffect |
True |
TransitionEventType |
|
IdleToReady |
0:FromState |
True |
Idle |
0:ToState |
True |
Ready |
0:HasCause |
True |
LoadByNodeId |
0:HasCause |
True |
LoadByName |
0:HasEffect |
True |
TransitionEventType |
|
ReadyToIdle |
0:FromState |
True |
Ready |
0:ToState |
True |
Idle |
0:HasCause |
True |
UnloadProgram |
0:HasCause |
True |
UnloadByNodeId |
0:HasCause |
True |
UnloadByName |
0:HasEffect |
True |
TransitionEventType |
|
ReadyToExecuting |
0:FromState |
True |
Ready |
0:ToState |
True |
Executing |
0:HasCause |
True |
Start |
0:HasEffect |
True |
TransitionEventType |
|
ExecutingToReady |
0:FromState |
True |
Executing |
0:ToState |
True |
Ready |
0:HasCause |
True |
Stop |
0:HasEffect |
True |
TransitionEventType |
|
ExecutingToIdle |
0:FromState |
True |
Executing |
0:ToState |
True |
Idle |
0:HasEffect |
True |
TransitionEventType |
The component Variables of the TaskControlStateMachineType have additional Attributes defined in Table 70.
Table 70 – TaskControlStateMachineType Attribute values for child Nodes
|
BrowsePath |
Value Attribute |
||
|
1 |
||
|
2 |
||
|
3 |
||
|
1 |
||
|
2 |
||
|
3 |
||
|
4 |
||
|
5 |
||
|
6 |