7.16.1 Overview

Figure 30 – TaskControlStateMachineType with the ReadySubstateMachine

The TaskControlStateMachineType is formally defined in Table 65.

Table 65 – TaskControlStateMachineType Definition
Attribute Value
BrowseNameTaskControlStateMachineType
IsAbstractFalse
References Node Class BrowseName DataType TypeDefinition Other
Subtype of the OperationStateMachineType
0:HasComponentObjectReadySubstateMachineReadySubstateMachineTypeO
0:HasComponentMethodLoadByNodeIdO
0:HasComponentMethodLoadByNameO
0:HasComponentMethodUnloadProgramO
0:HasComponentMethodUnloadByNodeIdO
0:HasComponentMethodUnloadByNameO
Inherited from OperationStateMachineType
0:HasComponentVariable LastTransitionReason0:Int160:MultiStateValueDiscreteTypeM
0:HasComponentVariable PossibleStopModes0:EnumValueType[]0:BaseDataVariableTypeO
0:HasComponentVariable ConfiguredDefaultStopMode0:Int160:BaseDataVariableTypeO
0:HasComponentObjectIdle0:StateType
0:HasComponentObjectReady0:StateType
0:HasComponentObjectExecuting0:StateType
0:HasComponentObjectIdleToIdle0:TransitionType
0:HasComponentObjectReadyToIdle0:TransitionType
0:HasComponentObjectIdleToReady0:TransitionType
0:HasComponentObjectExecutingToReady0:TransitionType
0:HasComponentObjectReadyToExecuting0:TransitionType
0:HasComponentObjectExecutingToIdle0:TransitionType
0:HasComponentMethodStart O
0:HasComponentMethodStopO
0:HasComponentVariableLastTransition0:LocalizedText0:FiniteTransitionVariableTypeM
0:GeneratesEventObjectTypeTransitionEventTypeO
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
Ready0:HasSubStateMachineObjectReadySubstateMachineReadySubstateMachineTypeO

The states of the TaskControlStateMachineType are described in Table 67.

Table 67 – TaskControlStateMachineType State Descriptions
StateName Description
IdleThe task control is not loaded with a program.
ReadyThe 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
IdleToIdleOccurs if the program could not be loaded correctly.
IdleToReadyOccurs in response to LoadProgram() or internal events, when loading a program to the task control.
ReadyToIdleOccurs in response to UnloadProgram() or internal events, when unloading a program from the task control.
ReadyToExecutingOccurs in response to Start() or internal events, when starting a loaded program in the task control.
ExecutingToReadyOccurs in response to Stop() or internal events, when stopping a loaded program in the task control.
ExecutingToIdleOccurs 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
IdleToIdle0:FromStateTrueIdle
0:ToStateTrueIdle
0:HasEffectTrueTransitionEventType
IdleToReady0:FromStateTrueIdle
0:ToStateTrueReady
0:HasCauseTrueLoadByNodeId
0:HasCauseTrueLoadByName
0:HasEffectTrueTransitionEventType
ReadyToIdle0:FromStateTrueReady
0:ToStateTrueIdle
0:HasCauseTrueUnloadProgram
0:HasCauseTrueUnloadByNodeId
0:HasCauseTrueUnloadByName
0:HasEffectTrueTransitionEventType
ReadyToExecuting0:FromStateTrueReady
0:ToStateTrueExecuting
0:HasCauseTrueStart
0:HasEffectTrueTransitionEventType
ExecutingToReady0:FromStateTrueExecuting
0:ToStateTrueReady
0:HasCauseTrueStop
0:HasEffect TrueTransitionEventType
ExecutingToIdle0:FromStateTrueExecuting
0:ToStateTrueIdle
0:HasEffectTrueTransitionEventType

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