7.14.1 Overview
Figure 27 – ExecutingSubstateMachineType Overview
The ExecutingSubstateMachineType is formally defined in the table below.
| Attribute | Value | ||||
| BrowseName | ExecutingSubstateMachineType | ||||
| IsAbstract | False | ||||
| References | Node Class | BrowseName | DataType | TypeDefinition | Other |
|---|---|---|---|---|---|
| Subtype of the FiniteStateMachineType defined in OPC 10000-5 | |||||
| 0:HasComponent | Variable | LastTransitionReason | 0:Int16 | 0:MultiStateValueDiscreteType | M |
| 0:HasComponent | Object | Running | 0:InitialStateType | ||
| 0:HasComponent | Object | Stopping | 0:StateType | ||
| 0:HasComponent | Object | RunningToStopping | 0:TransitionType | ||
| Inherited from FiniteStateMachineType | |||||
| 0:HasComponent | Variable | LastTransition | 0:LocalizedText | 0:FiniteTransitionVariableType | M |
| 0:GeneratesEvent | ObjectType | TransitionEventType | O | ||
| ConformanceUnits | |||||
|---|---|---|---|---|---|
| Rob System ExecutingSubstate | |||||
| Rob System Events |
The Variable LastTransitionReason provides the reason for the LastTransition. The EnumValues of this 0:MultiStateValueDiscreteType are described in Table 70.
Table 70 – ExecutingSubstateMachineType Attribute values for child nodes
| BrowsePath | Value Attribute | Description Attribute |
[ {"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 ExecutingSubstateMachineType are described in Table 71.
Table 71 – ExecutingSubstateMachineType State Descriptions
| StateName | Description |
| Running | The system is available, but cannot started because a preparation is needed |
| Stopping | The system was commanded to stop (internally or via Stop() and the needs some time for necessary background processes before entering the Ready state. |
The transitions are described in .
Table 72 – ExecutingSubstateMachineType Transition Descriptions
| TransitionName | Description |
| RunningToStopping | Changes from Running to Stopping because a system stop was initiated. |
The components of the ExecutingSubstateMachineType have additional references which are defined in the table below.
| SourceBrowsePath | Reference Type | Is Forward | TargetBrowsePath |
| RunningToStopping | 0:FromState | True | Running |
| 0:ToState | True | Stopping | |
| 0:HasEffect | True | TransitionEventType |
The component Variables of the IdleSubstateMachineType have additional Attributes defined in the table below.
| BrowsePath | Value Attribute |
| 1 | |
| 2 | |
| 1 |