7.16.1 OverviewFigure 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 IdleToIdle 0:TransitionNumber
1 IdleToReady 0:TransitionNumber
2 ReadyToIdle 0:TransitionNumber
3 ReadyToExecuting 0:TransitionNumber
4 ExecutingToReady 0:TransitionNumber
5 ExecutingToIdle 0:TransitionNumber
6
