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State Controller

The project has a built-in state controller that controls which machine state is active. A set of variables are used to move the state machine between states. For more information see Standard MachineThe complete assembly of all connected parts or devices, of which at least one is movable Template for PN Motion with SFC"Sequential function chart" It can be used to program processes that can be split into steps. The main components of SFC are: - Steps with associated actions - Transitions with associated logic conditions - Directed links between steps and transitions/ST"Structured text" A high-level language that is block structured and syntactically resembles Pascal programming language and the document KAS_MachineTemplate_V1_1.pdf for more information.

State	Description
Standby	No faults, drives not enabled
Manual	No Faults, Manual Jog operation
Automatic	No Faults, Multi-axis machine operation
Error Stop	Fault state, not a fatal fault
Error Fatal	Fault state, fatal fault(s)

Main

Program Type: SFC

The Main Program is automatically executed when the project starts. This program initializes the pipe network motion and EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs network:

Code Location: Main Program Step 1 and 2:

Parameter	Description
MLMotionInit(1000.0)	Initializes the motion engine
Profiles(MLPR_CREATE_PROFILES);	Creates all CAM profiles
PipeNetwork(MLPN_CREATE_OBJECTS)	Creates all motion objects
MLMotionStart()	Starts the motion engine

In the Main program step 3 there are other sections of code to:

Connect the pipe network max torqueTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist and torque feed forward cyclic commands to the left and right winder drives
Continually update the max torque (tension) of the right and left winders based on the radius of the roll
Change the pipe network die cutter output position scaling for selected lengths (150, 300, 450, and 600 mm) between holes in the web
Calculate correction distance after high speed registration input received from marker on the web

M1_StateController

Program Type: SFC

M1_StateController controls the state or operation mode of the application. The following states are supported: Standby, Manual, Automatic, Error Stop and Error Fatal. On application start-up, the state machine goes into the Standby mode. The state or mode is then changed to one of the others in one of the following ways:

An opmode change is requested from the internal control panel or Kollmorgen AKI through the M1_Interface program. The M1_StateController then sends a request to A1_StateController and A2_StateController, waits for confirmation the axis have changed to the new state then sends an acknowledgement to the control panel controller log screen.
The following code executes this process when going into the Manual state:
In each state, M1_StateController monitors the main status word (M1_StatusWord). When an issue occurs, M1_StatusWord bits 14 or 15 are set and M1_StateController changes the state to Error Stop or Error Fatal state depending on the error condition.

After the error condition is cleared, clicking on the reset button in the internal Control Panel or Kollmorgen AKI will send the M1_State controller back to the previous state (typically Manual or Automatic Mode).

M1_StateController contains functions to perform the multi-axis motion defined in the Automatic Mode and shown in the M1_Panel control panel.

Parameter	Description
M1_CmdState	Contains the actual state command value. It is automatically set to state ‘Standby’ during power up //******************************************* // State Defines //********************************************* #define DEF_StateUndefined 0 #define DEF_StateStandby 1 #define DEF_StateManual 2 #define DEF_StateAutomatic 3 #define DEF_StateBusy 4 #define DEF_StateErrorStop 5 #define DEF_StateErrorFatal 6.
M1_AckState	Contains the actual state acknowledge value, as a result of a successfully performed state command (M1_CmdState)..
M1_ReqState	Contains the internally active state. It is used for internal purposes only, to keep the actual state value, e.g. while performing a function. Possible values are the same as for the state commands (see above).
M1_StatusWord	Main Status Word
bM1_CallAutomaticFunction1	Received from M1_Interface and used to execute a Run Master Endless Operation
bM1_CallAutomaticFunction2	Received from M1_Interface and used to execute a Run Master One Cycle Operation

Ax_StateController

Program Type: SFC

There is one for each axis. Ax_StateController controls the state or operation mode of an individual axis. The following states are supported: Standby, Manual, Automatic, Error Stop and Error Fatal. On application start-up the state machine goes into the Standby state, as requested from the M1_StateController. The state is then changed to one of the other states in one of the following ways:

An opmode change is requested from the M1_StateController. The A1_StateController and/or A2_StateController, if presently not in an error state, makes the change, and then sets A1_AckState and A2_Ackstate to indicate to the M1_StateController that the change has been made. The following code shows this process when going into the Manual state:

The M1_StateController Manual Mode section then waits for both axes to be in the manual mode before executing any function calls:
A1_StateController and A2_StateController monitor the Axis Status word (A1_StatusWord and A2_StatusWord). When an issue occurs, the A1_StateController and A2_StateController are placed in the Error Stop or Error Fatal mode.

Parameter	Description
A1_CmdState A2_CmdState	Contains the actual state command value. It is automatically set to state ‘Standby’ during power up //******************************************* // State Defines //********************************************* #define DEF_StateUndefined 0 #define DEF_StateStandby 1 #define DEF_StateManual 2 #define DEF_StateAutomatic 3 #define DEF_StateBusy 4 #define DEF_StateErrorStop 5 #define DEF_StateErrorFatal 6
A1_AckState A2_AckState	Contains the actual state acknowledge value, as a result of a successfully performed state command (M1_CmdState).
A1_ReqState A2_ReqState	Contains the internally active state. It is used for internal purpose only, to keep the actual state value, e.g. while performing a function. Possible values are the same as for the state commands (see above). The change is made when AckState changes to Busy
A1_StatusWord A2_StatusWord	Axis Status Word
bA1_CallManualFunction1 bA2_CallManualFunction1	Received from the M1_Interface program and used to execute a Run Master Endless Operation
bA1_ CallManualFunction2 bA2_CallManualFunction2	Received from the M1_Interface program and used to execute a Run Master One Cycle Operation

M1_ErrorHandler

M1_ErrorHandler executes the MainErrorHandler subprogram which outputs the machine status parameter: M1_StatusWord. For more detail see section 6: ErrorHandler.

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