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States and Errors

How States and Errors are treated

The figure below shows how states and errors are treated.

StateChange (state manager)

Activates the new state required by M1_ReqState

StateName (state macro)

init state

- Initializes exceptions on new state M1_CmdState <><> means Not Equal M1_ReqState and on errors set in M1_StatusWord

- Goes to exit state when an exception occurs

- Performs all actions to properly enter this state (init variables, pipes, ...)

- Sends commands to the submitted axis modules by setting Ai_CmdState to StateName and waits for their acknowledgement in Ai_AckState

- Acknowledges end of initialization by setting M1_AckState to M1_ReqState

run state

- Waits for any function calls, activate function if called

exit state

- Performs all actions to properly leave this state

- Acknowledges running by setting M1_AckState to 'busy'

- If error stop occurs, activates STATE_ErrStop, otherwise sets new requested state M1_ReqState to M1_CmdState and activates StateChange

To add a new state, do as follows:

copy a similar existing state sequence
replace the old state name by the new one (e.g. 'Standby' by 'MyState')
modify both init and exit sections of the new state to perform the relevant actions
insert the needed function calls into the states run part
add the state call command line into the state change sequence
add the state definition values to the general declaration

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