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Simotion Easy Basics reviewed 2.2.3 Structure of the OMAC – mode manager The mode manager comprises a total of three units (OmacVar, OmacStUp and OmacMain), that contain the variable declarations and two programs. One program is used to initialize all of the relevant variables when the controller runs-up - the second program contains the actual mode manager and runs cyclically in the BackgroundTask. As far as the program is concerned, when implementing, a differentiation is not made between the various modes (manual, automatic, ...) and states (stopped, producing, ...). This is the reason that in the following text, only the term state is used. The change between the individual states is realized by setting a global variable. 2.2.3.1 OmacVar unit The OmacVar unit includes the declaration of all of the type definitions and global variables of the mode manager. The EnumStates enum includes all of the states according to the OMAC definition. To display the actual machine states, there is on one hand, the g_eActualState variable, type EnumStates - and on the other hand, thirteen boolean variables that are precisely assigned to one state. If the machine is, for example, in the Manual state, then the g_eActualState variable has the value OM_Manual and the g_boOM_Manual variable is TRUE. Further, a diagnostics array is declared (g_asDiagnosticsArray) that logs a history of the state transitions with an associated time stamp. The DIAG_ARRAY_MAX_ELEMENT constant can be used to define the size of the diagnostics array. All of the variables that start with the "PML_" prefix belong to the operating data that are defined according to the OMAC Tag Naming Guidelines. Some of these variables are declared as retain variables - in order to ensure that values are retained even after the power supply has been powereddown. A detailed description of these operating data is provided in Chapter 2.2.5. 2.2.3.2 OmacStUp unit The program in this unit is used to initialize all of the variables of the mode manager. It is assigned to the StartUp task and is executed at when the controller transitions from stop to run. In this program, the output state of the machine is pre-assigned the ESTOP state by setting the eLocalActState variables. This ensures that after being powered-up, the machine is in a safe, defined output state. Further, the elements of the diagnostics array g_asDiagnosticsArray are initialized with the values "OM_NoState" or "DT#0001-01-01-0:0:0.0". Operating data is also initialized according to OMAC, that is not declared as retain data. Version Date Page Document V3.0 15.11.04 20 User documentation Copyright © Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0.doc
Simotion Easy Basics reviewed 2.2.3.3 OmacMain unit The kernel of the mode manager is contained here: The OmacMain program. This program can be roughly sub-divided into two sections. The first section comprises a case structure - whose branches represent a state of the machine. Dependent on the value of the eLocalActState, in which the actual state is saved, the appropriate structure branch is run-through. The boolean variables to display the states are updated in these branches. Further, here, the user must integrate - as a function of the application – his various functions, motion tasks etc. for the particular states (refer to Chapter 2.2.3). It is the only position in the program that the user must process. The second section, a module (No changes necessary by user), contains functions to check the validity of a state change, the update of the diagnostics array and process operating data. The user does not have to make any changes/modifications in the module itself as no applicationdependent changes or modifications are required. Fig. 3: Excerpt from the OmacMain program A repeat-until loop (iCountStateChange count variable) is configured around these two program sections; this ensures, but only for a successful state change, that the last run of the old and the first run of the new state are processed in the same background cycle. Note: The repeat-until loop only becomes active for a successful state change and is then run precisely twice. If, as a result of this loop, a time overflow occurs in the BackgroundTask - and therefore results in the Simotion controller going into stop - then the state change has not been correctly programmed. State changes are then continuously executed which means that an endless loop is formed. Version Date Page Document V3.0 15.11.04 21 User documentation Copyright © Siemens AG 2003 All Rights Reserved For internal Use Only User_Manual_Simotion_Easy_Basics_V3_0.doc
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