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Simotion Easy Basics reviewed 2.2.4 Incorporating state functions motion task, ... The user must incorporate the various functions (motion control, logic, …) of the individual states into the case structure of the OmacMain program. The user has various ways of doing this. Three possibilities will be now described in more detail. 2.2.4.1 Using state functions The first way of incorporating motion control and logic functions is to use functions that are cyclically called in the case structure in the relevant branch (refer to the diagram). Fig. 4: Calling a state function The procedure is precisely the same as in the original OMAC version. In this case, the difference is that no state functions are entered in the form of empty ST functions. The advantage is that users are no longer tied down to a particular programming language (ST). All of the programming languages that Simotion supports can now be used (ST, MCC, LAD, FBD). It is also possible to mix programming languages. For instance, the MANUAL state can be programmed in MCC and the AUTOMATIC_STOPPED state in ST. If all of the state functions are used, then these should contain, as return value, the data type of the enum for the machine states (EnumStates). If a state change is not made within the function, then the actual state should be cyclically assigned to it as it loses its last value at each call. If a state change is made, then the function must be assigned the new state. Example: A state function is used for the AUTOMATIC_READY state that is cyclically called from the OmacMain program. If the state is not to be changed, then the function is cyclically assigned the current state � FCAutomaticReady := OM_AutomaticReady. If the state should change to AUTOMATIC_STANDBY, the function is assigned the new state � FCAutomaticReady := OM_AutomaticStandby. The actual state change itself is initiated after the state function is called by assigning the return value to the variable g_eNewState � g_eNewState := FCAutomaticReady. Version Date Page Document V3.0 15.11.04 22 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 2.2.4.2 Using motion tasks Another possibility is to use motion tasks. These can also be generated using any programming language. The user can generate sequential program runs in the motion tasks. When incorporating these in the CASE structure it must be ensured that the motion task is also always cyclically started by the cyclic run of the CASE structure. This can, for example, be interlocked by using global variables. Fig. 5: Starting a motion task When using motion tasks, the state change (assigning the g_eNewState variable) can either be realized after the motion task has been run or from within the motion task. Version Date Page Document V3.0 15.11.04 23 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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