7.12 SystemOperationStateMachineType

The SystemOperationStateMachineType represents the behaviour of a controller at the system level and can be used for monitoring and for external or direct operation. In robot systems, a distinction is typically made between external and direct operation, depending on the OperationalMode (see 7.7.2).

If the system takes a significant amount of time to transition from the Idle State to the Ready State, the Idle State can be extended by the sub state machine IdleSubstateMachine. Alternatively, a vendor/application specific Substate machine may also be used.

For certain stop modes, the transition from the Executing State to the Ready State can take a significant amount of time. In such cases, the Executing State can be extended by the sub state machine ExecutingSubstateMachine. Alternatively, an application or vendor specific Substate machine may also be used.

The Substate machines enable the client to get more information during the transition.

The SystemMonitor Server Facet supports monitoring of the activities performed by the operator or system internally. (e.g. monitor condition changes and base causes) The SystemOperation Server Facet extends on the SystemMonitor Server Facet and adds support to operate the system.

The overview of the SystemOperationStateMachine with the IdleSubstateMachine as Substate machine of Idle State and the ExecutingSubstateMachine as Substate machine of Executing State with all transitions is shown in Figure 8.

The transitions in this state machine can occur due to internal processes of the system or they may be triggered by a method call. In case the transition is triggered by a method call, the transition might not occur immediately (e.g. it will be delayed until internal conditions are met).

The SystemOperationStateMachineType is formally defined in Table 45.

The Idle State of SystemOperationStatemachineType has additional subcomponents which are defined in Table 46

To acknowledge the state changes in a system the Conditions within the Conditions folder of SystemOperationType must be taken under consideration. A client might need to acknowledge them so that the robot system can be activated. (e.g. operational mode change requires acknowledgement to start the system)

The components of the SystemOperationStateMachineType have additional references which are defined in the table below.

The component Variables of the SystemOperationStateMachineType have additional Attributes defined in the table below.

7.12.1 Start Method

The signature of this Method is specified below.

Signature

	Start (
	[out]	0:Int32	Status
	);

The Start Method is called by a Client to start execution of the system that is represented by the state machine. If the method is successfully called, the method should return with a Good or Uncertain result code.

The Start Method allows an authorized Client to command the system to the Executing State.

The possible Method result codes are formally defined in Table 52

The Start Method representation in the AddressSpace is formally defined in Table 53.

7.12.2 Stop Method

The signature of this Method is specified below.

Signature

	Stop (
	[in]	0:Int64 	StopMode
	[out]	0:Int32	Status
	);

The Stop Method allows an authorized Client to command the system to stop executing and leave the Executing state.

In conjunction with the usage of this method, the transient states can be expressed with Substate machines within the Executing state (e.g. the ExecutingSubstateMachine in 7.14)

The input argument StopMode must be either 0 or one of those listed in the PossibleStopModes Variable (see Table 31). If not, then a Bad_InvalidArgument Result Code is returned.

The possible Method result codes are formally defined in Table 55

The Stop Method representation in the AddressSpace is formally defined in Table 56

7.12.3 GetReady Method

The signature of this Method is specified below.

Signature

	GetReady (
	[out]	0:Int32	Status
	);

The GetReady Method allows an authorized Client to request the system to transition from the Idle state to the Ready state. Internally the system prepares to get started in the next step (e.g. switching on the intermediate circuit). If the internal preparations for this transition are successful, the system will transition from Idle to Ready. If the internal preparations are unsuccessful then the IdleToIdle transition occurs.

In conjunction with the usage of this method, the transient states can be expressed with Substate machines within the Idle state (e.g. the IdleSubstateMachine in 7.13)

The possible Method result codes are formally defined in Table 58

The Start Method representation in the AddressSpace is formally defined in Table 59.

7.12.4 StandDown Method

The signature of this Method is specified below.

Signature

	StandDown (
	[out]	0:Int32	Status
	);

The StandDown method allows an authorized Client to request the system to:

transition from the Ready state to the Idle state or

cancel an ongoing preparation of the system and causes the IdleToIdle transition.

In conjunction with the usage of this method, the transient states can be expressed with Substate machines within the Idle state (e.g. the IdleSubstateMachine in 7.13)

The possible Method result codes are formally defined in Table 61.

The StandDown Method representation in the AddressSpace is formally defined in Table 62.