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So ladies and gentlemen welcom on board

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With this lesson Siemens motion system and programming course

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at current chapter 7

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We will learn about the execution system and simotion firmware kernel

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So let's begin

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First of all I will double click my shortcut to simotion scout

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And open or development environment

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At the meantime I will use again

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sitrain simotion system

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And programming lecture notes

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With this chapter we will learn

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Automation technical process

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simotion execution System test structure of the execution system

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with new CPUs

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We are able to use servo Fast and IPO fast tasks

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Clock synchronization on profibus

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Setting system cycle clocks

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Time control task processing

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task trace

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Cycles at round-robin level

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Example of time slice allocation

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Assigning programs to tasks

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Is one of the most important thing

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Parameterizing the user interrupt tasks as an example

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Task runtimes and task status information are so important thing

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Task handling operations in MCC

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Operations to start motion tasks in ladder and FBD

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Stopping and resuming tasks in ladder and fbd diagrams

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Interrogation the task status in FBD or ladder

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state model for tasks

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These are the main contents of this

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Topics

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So...

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We will begin with this page automating the technical process

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By the meantime our last project opens

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It was an example project simoroll

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So for editing and controlling the execution system with double click

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This item on the left side

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This is just an example project we have here some you know the ST units

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And programs and function blocks already there

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And here you can see different tasks

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We will go in details and couple of minutes later on

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So...

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Lets starts with multitasking and multi-program operation concept

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So...

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With this picture you will see here at motion control and sub processes

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An example machine

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for cartoner

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I'm here all tasks mainly in start-up task motion tasks

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Background tasks lifecycle or there's a loop similar

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Like the main organization block ob1

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in simatic world

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It's also named as round Robin

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We will go and see more detailed

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In this lecture this chapter

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So with this system or approach is possible to operate

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Separate processes

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Almost Paralel

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With this logic

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As it is realtime of course

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you will see here some chart and graphic about simotion execution system

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On the lowest level is round Robin level and the next step is interrupt level

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Next step is timer level and the next step is IPO level and next step

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is servo level

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That's as you can see priority is going up

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With this direction

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Simotion provide such as execution system with individual execution levels and

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The test provides execuption framework for user programs a Task can assigned to one or several

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user programs

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So if motion control and logic this execution system

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allows motion-control task to be processed as cyclicly or

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acyclically is also possible

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There's a scheduler

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Inside the system

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Handles the task control

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 important thing it's specifies the rules of the load when processing task

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so next page...

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You see here the task structure of the execution system on the right side

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Is the priority

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For example system start and system stop tasks

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You would have cinsider as startup and shutdown test

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Is the lowest priority

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On the next step is there is a freely running execution level background task

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and motion tasks

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Also as you can imagine the user interrupt asks timer tasks

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System interrupts tasks have

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Also the higher priority at the medium level

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For example...

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There are also the time controlled execution levels

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System-level

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Or DP / PN communication level

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Is the highest priority

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Because it's time critical tasks

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Like servo synchronous tasks

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motion tasks

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also

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We will assigned our user programs

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to Tasks

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system interrupt tasks

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For example peripheral fault task and execution fault task is need to be assign

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by a program to go to Run State simotion

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User interrupt tasks that are two different user interrupt tasks are available to respond

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Events

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We can just assign a condition

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Here or equation

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and wait for condition commands when used in our motion tests

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When executing a wait Commands the motion task is stopped

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Activating condition is monitored in the type of IPO synchronous task

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So it's possible for example if you choose the IPO task into 2 milliseconds or 1 ms

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at the backgrounds

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Is automatically detected by the system

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when the condition is fulfilled the commands that are assigned to wait Target executive

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And or motion task will continue

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were It's stopped or were it waited

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Also at the backgrounds that are still some programs running and we can check

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Which system Commands

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Of the motion tasks for sure

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servo fast and IPO fast of the new type of Simotion CPUs

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Is available only for the D435 and the highest model of CPUs

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You see here on the hardware settings in isochronous Tasks

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 there is a checkbox

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If we want to select and use and Servo Fast and IPO fast

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It's possible to go cycle time will 1 mili seconds

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It's really fast CPU so...

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If it's necessary according to our machine or automation tasks

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Is possible to run the cycle in below or under the one milliseconds

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as firmware version 4.2

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Here you see a simple image of clock synchronization

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on profibus

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assigned Earlier chapters the TIA

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As many seconds to get the actual values from Drive via telegram on profibus

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For example

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you know...

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125 microseconds

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and TO

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Set points

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To drive via profibus for example 250 microseconds

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Here you see

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Tdb time

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we just aassigned last time 4 mili seconds as default ratio

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That's the some colored boxes you see here GC

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as Purple BT as pink

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What's that mean

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BT is processed on simotion site

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at this level is the background test

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Time of actual acquisition

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To time of set point transfer TDP constant DP cycle time here

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One cycle of DP

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IPO with Orange Box means

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And IPO task

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There's an acyclic part

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for the communication

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Satisfy the user acyclic communication functions like sending or receiving data

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here you see Tdx time

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Is the sum of the transfer for all slaves

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That means if you're running too much slave

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on Profibus line maybe you should arrange a higher TDP time

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For complete the one cycle

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in the required time

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So...

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Dotted or dashed line here is the beginning of one cycle and end of one cycle

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it Repeat again the same Cycles

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it's a good picture about clock synchronization

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It explains all the parameters

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effects to our

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DP cycle time

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So next page how do we set the Cycle System cycle clocks?

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We just right click on execution system of simotion

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Via context menu on the expert list and set system cycle clocks

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We see here IPO and IPO2 servo cycle clocks it possible to change the

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factor here

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The normally utilization of our CPU is based on master

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Bus. data cycle clock

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So

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if we use more than 16 access with simotion

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 d425-2

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Then maybe we have to increase the servo cycle to 8 milliseconds

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If it's possible to satisfy our

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Motion Control Functions

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For instance.

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It's not possible The Next Step

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it's i think

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We have to increase our profibus DP Bus data cycle from to 2 milliseconds

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to 6 milliseconds for instance

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After that maybe we will reduce the utilization of CPU and we are able to

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To execute our motion control commands with 16 aXes

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Anyway it's not possible

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It's sometimes then enter last possibility and we have to

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Replace the CPU with higher level

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Type of cpu

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In this case it should be a

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D435 - 2

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You'll see here the explanations of the parameters bus cycle

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Servo Cycle IPO cycle

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By the way sometimes we use IPO cycle for RUN

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Our function blocks

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as PID control

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For instance.

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The next page...

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you see here time controlled task processing

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We see here our dp cycle

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Tdx time

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IPO cycle clock

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There's a cyclic communication at a cyclic

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That's one cycle

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You see here the Round-Rubin level

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And our interrupt tasks of simotion execution systems

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Timer interrupt task system interrupts task

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The all boxes have some meanings for position control tasks

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There is a

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Little time requirement with Red-box

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And with green box

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For this example no interrupt task is active and default setting

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DP cycle Servo cycle IPO cycle one

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IPO cycle Clock 2

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The factors

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Depends on your technology object number and utilization

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There's a tool

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for

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Optimize this task processing sometimes there's an overflow

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The TDP cycle or the utilization of CPU is too much

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you have to Adjust

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the Timings

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so Round Rubin level has the lowest priority in execution system and processed

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In the remaining time

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So with Round Rubin Level here there's an factor so we can just adjust

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The background task timing

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I have mentioned Task Trace and TASK processing

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after we right click on CPU

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Sure here

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And Target device and device Diagnostics

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There's a window about task manager

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Here we can monitor online current tasks

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For instance background tasks is running state

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Refresh rate is default 500 milliseconds

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in Automatic

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The current cycle time is 43

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Microseconds

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Minimum cycle time of background task is 20 microseconds

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and Maximum cycle time

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Is 146 microseconds

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So we can see which task takes the longest time to process

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There's also two buttons

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about task Trace display and create snapshot

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when we click display another window pops up

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So we can here easily monitor the timing of our execution

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System and we can

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Adjust here in necessary tasks to reduce the cycle time and optimize

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The CPU utilization

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It's also possible to do that with simotion ITDIAG and web based operation

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So next page...

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Cycles at the Round Rubin Level there's an Loop here it starts with

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Background task

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Then it's processed Motion tasks one by one

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If there is an wait comments or wait for condition

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Positioning or Loop whatever

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There are some cycles that are some time for each motion task

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If motion task take longer time than expected

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It's interrupted

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00:19:53,215  -->  00:19:54,495
By the system

261

00:19:55,007  -->  00:19:58,079
and continiues with the next motion Task 2

262

00:19:59,103  -->  00:20:03,455
until the other motion task if there's a program attached of course

263

00:20:03,967  -->  00:20:07,295
Then after that there are some internal tasks

264

00:20:07,551  -->  00:20:09,343
simotion to handle

265

00:20:10,367  -->  00:20:13,183
The Loop continues so on...

266

00:20:18,303  -->  00:20:24,447
for the Round Rubin level the time remaining after execution high-priority user and system tasks

267

00:20:25,727  -->  00:20:28,031
Is used by motion tasks

268

00:20:28,287  -->  00:20:30,079
background task

269

00:20:30,847  -->  00:20:35,199
Time is allocated to background task and motion test

270

00:20:35,455  -->  00:20:37,247
In the time slice technique

271

00:20:37,759  -->  00:20:39,807
Is name that Round Rubin

272

00:20:40,831  -->  00:20:46,975
And background task if the background or Motion task is not complete the executive within a time slice

273

00:20:48,255  -->  00:20:49,535
As I mentioned

274

00:20:49,791  -->  00:20:53,631
It's allocated additional time slice for processing

275

00:20:53,887  -->  00:20:55,679
Maybe next Loop cycle

276

00:20:55,935  -->  00:21:01,055
If the processing has also not been completed after the second time slice

277

00:21:01,823  -->  00:21:05,663
At the next task the round rubin level is changed

278

00:21:07,199  -->  00:21:13,343
So there's a setting when configuring background task or the motion task using time

279

00:21:13,599  -->  00:21:14,623
alLocation button

280

00:21:17,952  -->  00:21:21,536
it Is possible to adjust by user with this button

281

00:21:22,048  -->  00:21:28,192
Motion tasks are very efficient support programming sequencer motion sequences

282

00:21:28,960  -->  00:21:34,592
programming engineer is provided appropriate mechanism to control task

283

00:21:35,104  -->  00:21:41,248
At the backgrounds you can just monitor via assistant functions if

284

00:21:41,504  -->  00:21:46,880
The Motion task is running or interrupted or finished

285

00:21:47,136  -->  00:21:49,696
We can handle it at the background

286

00:21:51,744  -->  00:21:53,024
So...

287

00:21:54,048  -->  00:21:59,168
Example of time Slice Allocation at Round Rubin Level

288

00:21:59,424  -->  00:22:03,264
This is the button and adjustment mentioned here

289

00:22:06,080  -->  00:22:09,152
So on execution system

290

00:22:11,968  -->  00:22:16,064
Let's see we have here and start-up task

291

00:22:18,368  -->  00:22:24,512
One user program is attached and assigned to start up task

292

00:22:25,792  -->  00:22:31,936
Each task has its own program assignment tab and task configuration tab

293

00:22:32,448  -->  00:22:38,592
So there are here some user functions like fault unit

294

00:22:38,848  -->  00:22:41,664
On the program block peripheral faults

295

00:22:42,176  -->  00:22:43,456
Technical fault

296

00:22:43,968  -->  00:22:48,576
And simoroll units and background program

297

00:22:49,600  -->  00:22:55,744
you will see here 11110

298

00:22:56,000  -->  00:22:58,048
assigment Count of the programs

299

00:22:58,304  -->  00:23:01,632
Is possible to assign one program

300

00:23:02,144  -->  00:23:07,264
Two different motion tasks for example

301

00:23:10,080  -->  00:23:13,152
So at the task configuration

302

00:23:13,408  -->  00:23:17,504
you will see here size of local data stack

303

00:23:18,272  -->  00:23:24,416
That's what we'll see more CPU do or how do we react

304

00:23:25,440  -->  00:23:26,720
error reaction

305

00:23:27,488  -->  00:23:28,768
with program error

306

00:23:29,024  -->  00:23:33,376
Normally as default setting CPU goes to stop

307

00:23:34,144  -->  00:23:37,216
if Is there's a fault during startup

308

00:23:37,728  -->  00:23:42,592
we can change here if we select here execution fault task

309

00:23:42,848  -->  00:23:45,152
And the program jumps

310

00:23:45,664  -->  00:23:48,736
under system interrupts task to execution fault task

311

00:23:51,296  -->  00:23:53,600
So at this case

312

00:23:53,856  -->  00:23:57,952
It's necessary to assign a program to execution fault task

313

00:24:01,024  -->  00:24:07,168
Normally it's a must to assign tasks

314

00:24:07,424  -->  00:24:13,568
Sorry programs to this task to handle the simotion if you don't want

315

00:24:13,824  -->  00:24:15,872
to Set the stop mode

316

00:24:19,456  -->  00:24:23,296
Other Case we could have set CPU to run mode

317

00:24:25,344  -->  00:24:29,184
So you can just easily create an empty program

318

00:24:29,440  -->  00:24:30,976
and assign here

319

00:24:31,744  -->  00:24:34,304
timefault task background task

320

00:24:34,560  -->  00:24:40,448
Technological fault task for execution fault task

321

00:24:43,008  -->  00:24:44,544
So...

322

00:24:45,568  -->  00:24:50,176
There's a similar task here the name is shut down tusk

323

00:24:51,712  -->  00:24:56,320
it Is executed before CPU goes to stop mode from run mode

324

00:24:59,392  -->  00:25:05,536
but when we just switch off the power

325

00:25:06,304  -->  00:25:12,448
There's no time to execute to CPU your shutdown task so it's only executed when power is on

326

00:25:13,984  -->  00:25:18,080
when we set to simotion to stop from Run mode

327

00:25:21,152  -->  00:25:22,688
keep that in mind

328

00:25:24,736  -->  00:25:30,880
So no program assign to this task so we can easily just select some

329

00:25:31,904  -->  00:25:36,000
program to Assign here another program is assign here

330

00:25:37,536  -->  00:25:43,680
So we will see on the right side it's also possible to set the order of the

331

00:25:45,728  -->  00:25:51,872
programs From up and down or we just cancel the assignment here with this button

332

00:25:52,384  -->  00:25:53,920
Please select the program

333

00:25:54,432  -->  00:25:55,712
On click this button

334

00:25:58,784  -->  00:26:04,928
Let's see the task configuration is also the similar of the startup task there's a size of Local data stack

335

00:26:06,720  -->  00:26:08,512
Is default value

336

00:26:09,536  -->  00:26:13,888
Another parameter name is Time Watch dog

337

00:26:15,168  -->  00:26:19,008
Is almost a 15 seconds

338

00:26:20,032  -->  00:26:25,920
So CPU if the CPU couldn't execute the shutdown task

339

00:26:27,200  -->  00:26:30,016
until 15 seconds past

340

00:26:30,528  -->  00:26:32,064
So watchdog

341

00:26:32,320  -->  00:26:33,600
Timer

342

00:26:33,856  -->  00:26:37,952
It's says and on automatically switch CPU. to stop

343

00:26:38,208  -->  00:26:44,096
error reaction on program error there's only one.

344

00:26:46,400  -->  00:26:47,680
setting set cpu to stop So...

345

00:26:52,544  -->  00:26:58,432
Our other operation levels motion tasks normally we have here

346

00:26:59,200  -->  00:27:01,504
32 motion tasks

347

00:27:03,040  -->  00:27:08,928
but right now there's no program assigned to our motion tasks

348

00:27:09,952  -->  00:27:13,792
So by defaults it is checked

349

00:27:14,304  -->  00:27:19,680
usage in execution system for motion task 1 for example

350

00:27:21,472  -->  00:27:27,616
if We don't use motion tests we can just easily deselects and removed from execution

351

00:27:27,872  -->  00:27:31,456
Is a good thing for utilization

352

00:27:32,992  -->  00:27:36,064
On the test configuration tab

353

00:27:36,576  -->  00:27:42,208
We have here in same setting size of local data stack

354

00:27:42,464  -->  00:27:45,280
There's another checkbox

355

00:27:45,536  -->  00:27:48,608
It says activation after the startup task

356

00:27:49,376  -->  00:27:55,520
When we select this checkbox we can just activate this motion task 1

357

00:27:55,776  -->  00:27:59,104
After startup test automatically

358

00:28:02,176  -->  00:28:08,064
And our MCC program begins with start command

359

00:28:09,088  -->  00:28:14,208
Now we will insert an MCC unit and unit name

360

00:28:14,464  -->  00:28:16,256
will be MCC 1

361

00:28:17,024  -->  00:28:18,816
You will

362

00:28:19,072  -->  00:28:23,936
See here existing program names you can just enter here

363

00:28:24,448  -->  00:28:27,008
Alter version

364

00:28:30,080  -->  00:28:36,224
So next thing is compiler settings as I mentioned at the last chapter

365

00:28:38,016  -->  00:28:42,624
Normally we use Global compiler settings

366

00:28:44,160  -->  00:28:45,952
If you want to

367

00:28:46,208  -->  00:28:48,512
exclude source from compilation

368

00:28:49,280  -->  00:28:50,816
you just select

369

00:28:51,072  -->  00:28:56,192
Then our simotion don't compiled the source and program

370

00:28:57,472  -->  00:29:01,056
If you don't want to use global settings

371

00:29:01,824  -->  00:29:07,968
For example I don't want to permit program status to this MCC unit

372

00:29:09,504  -->  00:29:11,552
I just deselect that

373

00:29:14,112  -->  00:29:15,392
So...

374

00:29:15,904  -->  00:29:22,048
at the Options and settings of simotion scout we select compiler option settings.

375

00:29:25,376  -->  00:29:31,520
This additional checkbox permit opc-ua XML

376

00:29:31,776  -->  00:29:33,312
Load symbols to runtime

377

00:29:34,848  -->  00:29:37,152
If you don't select this checkbox

378

00:29:38,176  -->  00:29:42,528
After that it's not possible to reach read or write

379

00:29:42,784  -->  00:29:44,320
The variables

380

00:29:44,576  -->  00:29:48,928
of The symbols inside this unit is not possible

381

00:29:49,696  -->  00:29:51,488
Or OPC

382

00:29:53,280  -->  00:29:58,656
So another thing is ignore Global compiler settings

383

00:29:59,424  -->  00:30:01,984
All of the compiler settings will be ignored

384

00:30:02,752  -->  00:30:08,896
And the program is then not recompiled when the global settings are changed or extended

385

00:30:10,944  -->  00:30:13,760
So here at locally

386

00:30:14,016  -->  00:30:18,112
We can adjust which setting

387

00:30:18,368  -->  00:30:21,440
For each unit is also possible

388

00:30:24,256  -->  00:30:28,608
There are some additional settings for compile options

389

00:30:30,912  -->  00:30:31,936
So...

390

00:30:36,544  -->  00:30:37,824
we use

391

00:30:38,080  -->  00:30:41,920
Global settings for this unit and

392

00:30:42,432  -->  00:30:46,528
Units under this folder MCC unit 1

393

00:30:51,136  -->  00:30:52,928
There are two sections

394

00:30:53,184  -->  00:30:55,488
At this page interface

395

00:30:55,744  -->  00:30:57,792
Is exported declarations

396

00:30:58,304  -->  00:31:04,448
Parameters here or IO symbols or structures and enumerations

397

00:31:04,704  -->  00:31:09,312
Are globally reachable here

398

00:31:09,568  -->  00:31:11,616
and in Implementation section

399

00:31:12,896  -->  00:31:14,176
That are same tabs

400

00:31:15,200  -->  00:31:20,832
parameters and symbols here is only reachable

401

00:31:21,344  -->  00:31:24,416
The units on the MCC units

402

00:31:24,928  -->  00:31:26,720
MCC unit 1

403

00:31:27,744  -->  00:31:28,768
So...

404

00:31:30,304  -->  00:31:31,584
You just

405

00:31:32,096  -->  00:31:35,168
can consider this unit as a folder

406

00:31:35,424  -->  00:31:38,496
You will be insert MCC charts

407

00:31:38,752  -->  00:31:41,824
Program files on this folder

408

00:31:42,336  -->  00:31:46,176
i will double click to insert MCC chart

409

00:31:47,712  -->  00:31:48,992
So...

410

00:31:49,248  -->  00:31:51,808
You will create a new program

411

00:31:53,344  -->  00:31:59,488
And combobox a function block and function selections you enter here Author

412

00:31:59,744  -->  00:32:01,280
And version

413

00:32:05,888  -->  00:32:06,656
So...

414

00:32:07,936  -->  00:32:11,008
we can use namespace here

415

00:32:13,824  -->  00:32:17,920
Program name in MCC program 1

416

00:32:22,016  -->  00:32:24,064
I clicked okay

417

00:32:28,160  -->  00:32:33,280
So normally an empty MCC chart looks like this

418

00:32:34,304  -->  00:32:35,840
there is a  start section

419

00:32:36,096  -->  00:32:41,216
and there's an end section labeling default

420

00:32:41,984  -->  00:32:43,776
So...

421

00:32:44,800  -->  00:32:46,336
When we select

422

00:32:46,592  -->  00:32:48,896
Activation of the starter task

423

00:32:50,432  -->  00:32:53,760
after CPU goes in run mode

424

00:32:55,040  -->  00:33:01,184
Then I assign the MCC program one to motion task one is automatically

425

00:33:01,440  -->  00:33:04,000
Executed one cycle

426

00:33:04,512  -->  00:33:06,560
from start to end.

427

00:33:07,584  -->  00:33:13,728
There are some comments here basic commands task commands program structures

428

00:33:13,984  -->  00:33:15,520
Communication comments

429

00:33:16,800  -->  00:33:18,848
the green backgrounds

430

00:33:19,104  -->  00:33:22,432
Comments our motion control commands

431

00:33:23,200  -->  00:33:29,344
Single-axis Commands external encoder and measuring system Cummins gear and camming commands

432

00:33:29,600  -->  00:33:34,464
And the blue comments are for logic

433

00:33:35,488  -->  00:33:36,768
Of the CPU

434

00:33:37,536  -->  00:33:42,144
So let's pick one of the table

435

00:33:42,400  -->  00:33:45,728
Wait time for instance

436

00:33:46,496  -->  00:33:48,032
We just double-click

437

00:33:48,544  -->  00:33:53,408
On this button and there is a pop-up window the enter here

438

00:34:04,160  -->  00:34:05,440
1 second

439

00:34:06,208  -->  00:34:07,744
if you want to Making Loop

440

00:34:09,280  -->  00:34:10,560
Do you have to use

441

00:34:11,328  -->  00:34:13,376
It look here or just

442

00:34:13,632  -->  00:34:14,912
jump comments

443

00:34:15,680  -->  00:34:18,752
Because after this executed

444

00:34:19,008  -->  00:34:21,568
motion task will go to end state

445

00:34:22,080  -->  00:34:23,616
and

446

00:34:24,128  -->  00:34:26,176
It doesn't automatically

447

00:34:26,688  -->  00:34:28,736
goes Start label

448

00:34:32,576  -->  00:34:37,440
By the way it's an easy way to handle the motion tasks

449

00:34:38,208  -->  00:34:44,352
If you want to do make some changes and download the program during CPU run mode

450

00:34:45,376  -->  00:34:49,216
You can't use this checkbox it prevents

451

00:34:49,472  -->  00:34:52,800
Cpu download in running mode

452

00:34:53,312  -->  00:34:59,456
So if you use this option if you make some changes here if you want to download in run mode

453

00:34:59,712  -->  00:35:01,760
It's not possible CPU

454

00:35:02,016  -->  00:35:04,832
Has to go and stop State

455

00:35:06,880  -->  00:35:10,976
so That's why we will use background tasks to handle motion tasks

456

00:35:12,256  -->  00:35:16,096
So there's a button here time of allocation

457

00:35:21,984  -->  00:35:26,592
time allocation in the round-robin execution level

458

00:35:27,360  -->  00:35:33,504
So is default setting here complete task at servo Cycles 13.

459

00:35:33,760  -->  00:35:36,320
Computing time for background task

460

00:35:36,576  -->  00:35:38,112
For complete cycle

461

00:35:38,624  -->  00:35:44,768
i think it is default at 10 servo cycle in the middle

462

00:35:47,840  -->  00:35:51,424
List check or lecture notes

463

00:35:53,472  -->  00:35:59,616
There's an example of time slice allocation here the task

464

00:35:59,872  -->  00:36:01,152
Background task

465

00:36:01,664  -->  00:36:06,528
gray box motion task one with green box

466

00:36:06,784  -->  00:36:09,600
motion task 2 with blue box

467

00:36:09,856  -->  00:36:13,440
Communication task with purple box

468

00:36:14,464  -->  00:36:20,608
And allocation time in round rubin execution level

469

00:36:22,400  -->  00:36:25,472
What will happen if you select

470

00:36:25,984  -->  00:36:29,568
One servo cycle for computing time

471

00:36:29,824  -->  00:36:30,848
The backgrounds

472

00:36:31,872  -->  00:36:36,992
What will happen when we select 10 servo cycle

473

00:36:37,248  -->  00:36:39,552
For computing time

474

00:36:40,832  -->  00:36:46,976
There's an example here to different selections and compilation

475

00:36:47,232  -->  00:36:48,768
On the right site

476

00:36:49,536  -->  00:36:55,680
if i select 2 Servo cycles for round rubin for background actually

477

00:36:55,936  -->  00:37:00,032
There are two gray boxes for backgrounds

478

00:37:01,312  -->  00:37:04,640
There are two green boxes for motion test mode

479

00:37:04,896  -->  00:37:08,992
There are two blue boxes for motion Task 2

480

00:37:11,808  -->  00:37:15,648
So after that there's a communication box

481

00:37:16,928  -->  00:37:20,000
and loop is completed cycle ends

482

00:37:20,512  -->  00:37:22,816
New cycle begins

483

00:37:24,096  -->  00:37:30,240
You will see here how much time we spent

484

00:37:30,752  -->  00:37:33,568
With two servo cycle settings

485

00:37:34,848  -->  00:37:37,664
Computing time for complete cycle

486

00:37:37,920  -->  00:37:39,712
On the left side

487

00:37:39,968  -->  00:37:43,808
If we select 5 servo Cycles

488

00:37:44,320  -->  00:37:48,672
For round rubin execution level you will see here

489

00:37:48,928  -->  00:37:52,000
Five green boxes for backgrounds

490

00:37:52,256  -->  00:37:56,352
2 green boxes for motion control 1

491

00:37:57,120  -->  00:38:00,704
and two blue boxes for motion Task 2

492

00:38:02,496  -->  00:38:04,032
at the end

493

00:38:04,544  -->  00:38:10,688
Our cycle our round rubin cycle takes longer time when we compare

494

00:38:10,944  -->  00:38:11,712
to

495

00:38:11,968  -->  00:38:12,992
other selection

496

00:38:17,600  -->  00:38:22,464
So according to your program if assigned

497

00:38:22,976  -->  00:38:26,560
Too much user programs to background

498

00:38:27,328  -->  00:38:30,912
That means your programming cyclically

499

00:38:31,936  -->  00:38:33,984
Your motion controller commands

500

00:38:35,264  -->  00:38:41,408
then you have to select maybe more servo cycles for round rubin

501

00:38:42,176  -->  00:38:43,712
To optimize

502

00:38:43,968  -->  00:38:46,528
Your execution cycle

503

00:38:48,064  -->  00:38:52,672
If you're going to use motion tasks for

504

00:38:53,184  -->  00:38:54,976
Motion control comments

505

00:38:55,488  -->  00:38:58,560
It's more logical to

506

00:38:58,816  -->  00:39:02,400
Take this slider to

507

00:39:03,424  -->  00:39:07,264
Few select few servo cycles to optimize

508

00:39:08,288  -->  00:39:10,080
You're round rubin cycle

509

00:39:11,360  -->  00:39:14,688
So it depends your program also

510

00:39:16,992  -->  00:39:18,528
you need to check

511

00:39:18,784  -->  00:39:23,904
and  adjust Monitor and see what will happen during commissioning States

512

00:39:29,536  -->  00:39:35,424
So between 20% and 80% is possible to adjust

513

00:39:35,936  -->  00:39:37,472
on background task

514

00:39:39,776  -->  00:39:45,664
So next-page assigned programs to tasks

515

00:39:46,176  -->  00:39:50,784
double click on execution system and open the window

516

00:39:51,552  -->  00:39:53,856
we just select

517

00:39:54,112  -->  00:40:00,256
The desired motion task for instance or program

518

00:40:01,536  -->  00:40:05,120
after that we click

519

00:40:05,376  -->  00:40:09,216
This button to assign the program to task

520

00:40:09,984  -->  00:40:16,128
and for motion tasks the checkbox used task in execution system must be select

521

00:40:17,664  -->  00:40:18,944
For execute.

522

00:40:22,784  -->  00:40:26,880
So what about user interrupt tasks?

523

00:40:28,928  -->  00:40:31,232
there are 2 different user interrupt task

524

00:40:32,768  -->  00:40:38,912
at this Example Define condition is the sensor

525

00:40:39,168  -->  00:40:45,056
variable is true than using internal task is executed

526

00:40:46,336  -->  00:40:48,128
Our program

527

00:40:48,384  -->  00:40:50,176
in auto mode unit

528

00:40:50,432  -->  00:40:53,760
sync filler red program

529

00:40:54,272  -->  00:40:56,576
Is executed at this case

530

00:40:57,856  -->  00:41:04,000
If your IPO cycle is one millisecond is possible to

531

00:41:05,024  -->  00:41:06,048
Catch

532

00:41:06,304  -->  00:41:11,680
This condition and interrupts in each one milisecond

533

00:41:17,824  -->  00:41:18,848
so...

534

00:41:19,104  -->  00:41:25,248
task runtime and task status information you see here

535

00:41:25,504  -->  00:41:28,320
target system Device Diagnostics

536

00:41:28,832  -->  00:41:30,368
Or we just

537

00:41:32,160  -->  00:41:38,304
I said I was like this you just right click on CPU you at your target device

538

00:41:38,560  -->  00:41:41,376
on device Diagnostics

539

00:41:41,632  -->  00:41:47,776
Is passive right now because we are at the offline mode we need to go online when we want to use

540

00:41:48,032  -->  00:41:50,848
this Function

541

00:41:54,687  -->  00:41:55,711
So...

542

00:41:56,223  -->  00:41:58,271
After you click

543

00:41:58,527  -->  00:42:00,831
Our shortcuts ctrl + d

544

00:42:01,343  -->  00:42:04,159
You will see here some tabs

545

00:42:05,183  -->  00:42:07,487
with diagnostics information

546

00:42:08,511  -->  00:42:13,887
In task manager window you will see here regulations

547

00:42:17,215  -->  00:42:23,359
It's also possible to get the state of Tasks in user program with the system

548

00:42:23,615  -->  00:42:25,151
function

549

00:42:28,991  -->  00:42:33,087
So before we will look at the next page

550

00:42:33,599  -->  00:42:37,439
Let's check out the settings at our scout project

551

00:42:39,743  -->  00:42:45,887
we selected motion task 1 it's possible to select execution fault task

552

00:42:46,911  -->  00:42:47,935
Run error

553

00:42:48,447  -->  00:42:52,543
Program error exit in our user program

554

00:42:53,567  -->  00:42:58,431
So for background tasks that are some user programs assigned

555

00:42:58,687  -->  00:43:01,247
When I go to task configuration

556

00:43:01,503  -->  00:43:03,551
There's some parameters

557

00:43:03,807  -->  00:43:06,879
Size of local data

558

00:43:07,135  -->  00:43:08,927
Time watch dog

559

00:43:09,439  -->  00:43:15,583
This parameter must be multiplier Factor

560

00:43:15,839  -->  00:43:17,631
Of the servo cycle

561

00:43:17,887  -->  00:43:19,935
Or DP cycle

562

00:43:22,239  -->  00:43:24,287
error reaction on timeout

563

00:43:26,079  -->  00:43:27,871
if background cycle

564

00:43:28,639  -->  00:43:29,919
Couldn't finish

565

00:43:30,175  -->  00:43:31,455
one cycle

566

00:43:32,223  -->  00:43:37,855
In defined watchdog time than are program interrupts

567

00:43:38,111  -->  00:43:40,415
to time fault background task

568

00:43:40,671  -->  00:43:41,439
Here

569

00:43:43,743  -->  00:43:45,535
time fault background task

570

00:43:45,791  -->  00:43:51,935
Right now no program assigned here so we need to assign some program to handle

571

00:43:52,191  -->  00:43:53,471
This error

572

00:43:57,311  -->  00:44:02,687
Another parameter selection is error reAction Program

573

00:44:03,455  -->  00:44:09,599
When we use project generated its automatically selects

574

00:44:09,855  -->  00:44:11,647
fault tasks here

575

00:44:12,671  -->  00:44:18,815
so during production at running projects normally experts and programmers

576

00:44:19,071  -->  00:44:23,167
Don't want to go CPU at stop state

577

00:44:24,703  -->  00:44:25,983
It's not wanted

578

00:44:26,239  -->  00:44:28,799
That's why we will use

579

00:44:29,311  -->  00:44:33,663
Interrupt and fault tasks to handle the error

580

00:44:34,175  -->  00:44:39,551
And you have some messages to operator to

581

00:44:39,807  -->  00:44:44,671
find and solve these issues and continue to production

582

00:44:47,743  -->  00:44:53,119
So let's check your servo synchronous task

583

00:44:53,887  -->  00:44:55,935
that Progression

584

00:44:56,959  -->  00:45:02,079
Monitored during execution synchronous functions CPU goes to stop

585

00:45:04,383  -->  00:45:10,527
Sometimes if the CPU utilization is too much and there are too many tasks

586

00:45:11,551  -->  00:45:17,695
In synchronous operations sometimes the cycle time is not good enough

587

00:45:17,951  -->  00:45:20,511
then we here select

588

00:45:20,767  -->  00:45:26,911
leave time monitor Active or discontiniu time monitoring and interrupt tasks

589

00:45:30,751  -->  00:45:32,287
for...

590

00:45:32,543  -->  00:45:34,847
for IPO sync. task

591

00:45:39,199  -->  00:45:41,503
It's not used in task here

592

00:45:43,807  -->  00:45:45,343
When do you want to use?

593

00:45:45,855  -->  00:45:49,695
There are also similar settings for this task

594

00:45:56,095  -->  00:45:57,119
So...

595

00:45:59,679  -->  00:46:01,983
for synchronous task

596

00:46:02,751  -->  00:46:06,079
We were here additional settings

597

00:46:07,359  -->  00:46:13,503
Number of level overflow in IPO cycle and servo  task

598

00:46:16,319  -->  00:46:22,463
As I say when the utilization is too much sometimes we just

599

00:46:23,231  -->  00:46:24,511
enter here

600

00:46:25,023  -->  00:46:26,303
3 times

601

00:46:26,815  -->  00:46:30,143
Overflow is possible

602

00:46:31,679  -->  00:46:35,263
Monitoring during execution of central functions

603

00:46:35,519  -->  00:46:37,823
Leave the time monitoring active

604

00:46:39,871  -->  00:46:46,015
And there's a rate between IPO synchronous task and IPO cycle clock

605

00:46:46,783  -->  00:46:52,671
It depends or our program is to use the IPO tasks

606

00:46:52,927  -->  00:46:59,071
The cycle clock will be much higher and longer than usual

607

00:47:00,863  -->  00:47:03,679
According our synchronous operation

608

00:47:03,935  -->  00:47:05,983
Maybe at this case

609

00:47:06,239  -->  00:47:12,383
we can adjust here with the selection by

610

00:47:12,639  -->  00:47:14,943
One of the three options

611

00:47:15,711  -->  00:47:21,855
error action with program error exit we'll select

612

00:47:22,111  -->  00:47:23,647
For instance

613

00:47:26,719  -->  00:47:32,351
These are so important parameters about execution system

614

00:47:32,607  -->  00:47:38,751
with experience when you develop in projects time to time

615

00:47:39,775  -->  00:47:41,311
So you have to

616

00:47:41,823  -->  00:47:43,615
Examine yourself

617

00:47:43,871  -->  00:47:50,015
And see what will change and what will happen in the real machines

618

00:47:51,807  -->  00:47:57,951
Is Diagnostics function Simotion is really handy

619

00:47:58,207  -->  00:47:59,999
You can trace

620

00:48:00,255  -->  00:48:01,791
here the task

621

00:48:02,047  -->  00:48:02,815
Timing

622

00:48:03,583  -->  00:48:06,143
And Trace the curves

623

00:48:06,911  -->  00:48:13,055
And you have the feedback from real system so you can adjust here these parameters

624

00:48:14,591  -->  00:48:16,127
According to

625

00:48:16,895  -->  00:48:18,687
Your program

626

00:48:20,735  -->  00:48:24,063
soTC input task

627

00:48:24,831  -->  00:48:28,159
It's not used in our execution system

628

00:48:28,927  -->  00:48:31,231
Time control tasks

629

00:48:31,487  -->  00:48:33,791
Is not s executed

630

00:48:34,815  -->  00:48:40,447
There arel also timer interrupt ask 1 2 3 4 5 different tasks

631

00:48:43,263  -->  00:48:45,311
it Is similar like

632

00:48:45,823  -->  00:48:49,663
OB35 in simatic systems

633

00:48:49,919  -->  00:48:53,759
Startup task is similar like ob100

634

00:48:54,015  -->  00:48:57,343
When you compare the simotion to simatic systems

635

00:48:58,879  -->  00:49:05,023
And the timer interrupt as if you use as selecting execution system

636

00:49:05,279  -->  00:49:10,655
Is possible to define the time level 1 mili seconds

637

00:49:10,911  -->  00:49:13,983
to 9 miliseconds...

638

00:49:18,591  -->  00:49:21,919
So these are main settings in a 

639

00:49:22,175  -->  00:49:24,735
Execution task system

640

00:49:27,039  -->  00:49:30,879
Let's continue with lecture notes.

641

00:49:32,159  -->  00:49:38,303
So on the program insights there are some tasks handling

642

00:49:38,559  -->  00:49:44,703
Comments and operations in MCC of course for sure there are some system functions

643

00:49:44,959  -->  00:49:47,007
We can use

644

00:49:47,263  -->  00:49:53,407
To manage our execution system in St or ladder or fbd

645

00:49:54,431  -->  00:49:56,223
Whatever we want

646

00:49:57,247  -->  00:49:58,271
So...

647

00:49:59,295  -->  00:50:04,159
at this page you see here this blue box

648

00:50:04,927  -->  00:50:06,207
and groups

649

00:50:06,463  -->  00:50:08,255
All of the tests comments

650

00:50:09,535  -->  00:50:12,351
The first one is start task

651

00:50:14,143  -->  00:50:20,287
The task is not running we can start the test from beginning with this command

652

00:50:21,311  -->  00:50:24,127
Interrupt task

653

00:50:24,895  -->  00:50:29,759
if You want to pause the test Second Command is interrupt task

654

00:50:31,807  -->  00:50:37,951
Continue task comments is used for continue one task

655

00:50:38,719  -->  00:50:40,767
After we interrupt the task

656

00:50:41,791  -->  00:50:47,935
Because when we use the START task after interrupt task command

657

00:50:48,191  -->  00:50:53,055
task goes to start section at the beginning and the restart again

658

00:50:53,567  -->  00:50:56,127
When we want to continue

659

00:50:57,919  -->  00:50:58,943
Whatever

660

00:50:59,199  -->  00:51:01,759
It's stops reviews computer task

661

00:51:03,551  -->  00:51:07,135
Reset TASK means

662

00:51:07,391  -->  00:51:09,183
Interrupt the task

663

00:51:09,695  -->  00:51:12,255
Reset to initial state

664

00:51:12,511  -->  00:51:18,655
with task State comments we can learn and get the

665

00:51:18,911  -->  00:51:23,007
Task states of motion tests for example

666

00:51:23,775  -->  00:51:27,871
Determine task ID function the last one

667

00:51:28,383  -->  00:51:33,247
We can determine the ID of the motion task for instance

668

00:51:36,063  -->  00:51:40,671
So here you see corresponding

669

00:51:41,183  -->  00:51:43,231
System functions

670

00:51:43,999  -->  00:51:48,607
For MCC to use in St

671

00:51:52,191  -->  00:51:55,263
Operations to

672

00:51:55,519  -->  00:52:00,895
Start motion tasks in ladder or FBD looks like this

673

00:52:02,175  -->  00:52:06,271
It's similar like a box in function block

674

00:52:06,527  -->  00:52:09,855
But these are the system functions

675

00:52:10,623  -->  00:52:14,207
the here there are two inputs

676

00:52:14,719  -->  00:52:17,535
And enable boolean

677

00:52:17,791  -->  00:52:20,351
and ID we need to

678

00:52:20,607  -->  00:52:22,911
know task ID

679

00:52:24,447  -->  00:52:27,263
And as an output

680

00:52:27,519  -->  00:52:28,799
And double words

681

00:52:29,567  -->  00:52:34,687
we get of feedback of the command is executed

682

00:52:34,943  -->  00:52:35,967
Or not.

683

00:52:42,879  -->  00:52:47,231
So there are other task comments for stopping

684

00:52:47,487  -->  00:52:50,047
And resuming task

685

00:52:50,303  -->  00:52:52,351
In LAD or FBD

686

00:52:54,399  -->  00:53:00,543
These are the same commands in MCC for reset interrupt and continiue

687

00:53:05,663  -->  00:53:11,551
For determine Task State we will get state of Task ID function

688

00:53:11,807  -->  00:53:17,951
The return value at the outputs daa type is double word

689

00:53:19,999  -->  00:53:22,303
you will see.

690

00:53:22,815  -->  00:53:25,887
The possibilities of the outputs

691

00:53:26,399  -->  00:53:31,007
0 means task does not exists

692

00:53:31,775  -->  00:53:36,895
This is an enumeration available corresponds

693

00:53:37,151  -->  00:53:38,943
task state invalid

694

00:53:41,503  -->  00:53:46,879
I returned value one means transition run to stop

695

00:53:47,135  -->  00:53:50,719
Task stop Task state stopped and pending

696

00:53:53,023  -->  00:53:57,375
Return value 2 means tasks that is stopped

697

00:53:58,655  -->  00:54:00,959
That means we are here

698

00:54:03,007  -->  00:54:07,103
at the end our program is stopped

699

00:54:11,967  -->  00:54:16,063
return value 4 means task is running

700

00:54:16,319  -->  00:54:21,951
Task is running but is not at this comments

701

00:54:22,207  -->  00:54:24,767
Maybe there are some other comments

702

00:54:26,303  -->  00:54:27,583
Like...

703

00:54:28,095  -->  00:54:29,375
Calculation

704

00:54:30,143  -->  00:54:32,959
Some variable assignment here

705

00:54:35,519  -->  00:54:36,799
For instance.

706

00:54:37,055  -->  00:54:38,847
we can easily

707

00:54:39,103  -->  00:54:43,199
select drag and drop variable here

708

00:54:44,479  -->  00:54:47,807
in Exploration.

709

00:54:50,367  -->  00:54:55,743
maybe the Task is running and at this command right now

710

00:54:59,071  -->  00:55:01,375
return value

711

00:55:01,631  -->  00:55:06,751
10 as hexadecimal means tasks take waiting

712

00:55:08,287  -->  00:55:14,431
at the background task when I execute to get state of task command if task is

713

00:55:15,199  -->  00:55:21,343
Executing this command and this is a waiting command simotion

714

00:55:21,599  -->  00:55:24,671
will wait for one second

715

00:55:25,695  -->  00:55:28,767
And when you get this return with you

716

00:55:29,023  -->  00:55:30,303
for this case

717

00:55:33,375  -->  00:55:38,239
Find the other return value 20 as hexadecimal

718

00:55:38,495  -->  00:55:41,567
Means task State suspended

719

00:55:43,359  -->  00:55:46,175
This is a special case

720

00:55:47,711  -->  00:55:53,599
Return when your 40 as hexadecimal means-task state with next cycle

721

00:55:55,647  -->  00:56:01,279
So that means timer interrupt task waiting for Next cycle

722

00:56:04,607  -->  00:56:10,751
This is another special case hexadecimal when your 18 means tasks

723

00:56:11,007  -->  00:56:13,567
wait Next interrupt

724

00:56:13,823  -->  00:56:19,455
User interrupt test or system interrupts test waiting for next event

725

00:56:19,967  -->  00:56:22,527
The last one

726

00:56:22,783  -->  00:56:28,927
Hexadecimal return value 100 means TASK_STATE_LOCKED

727

00:56:33,279  -->  00:56:34,815
at this case task Has to be

728

00:56:35,071  -->  00:56:39,167
Locked by disable scheduler function

729

00:56:41,727  -->  00:56:42,751
So...

730

00:56:44,031  -->  00:56:48,639
there is a good chart of state model for task

731

00:56:49,151  -->  00:56:55,295
you'll see here normally task States should be a running mode

732

00:56:56,319  -->  00:56:57,599
or Run States

733

00:56:57,855  -->  00:57:01,439
return value is 4 as hexadecimal

734

00:57:02,463  -->  00:57:06,559
When we use the reset Task ID function

735

00:57:07,071  -->  00:57:12,191
or reset TASK command in MCC or ladder or whatever

736

00:57:12,447  -->  00:57:18,591
and motion task 1 for instance goes to task state of stopping States

737

00:57:19,871  -->  00:57:23,711
After that it's automatically change

738

00:57:24,223  -->  00:57:28,063
It's state to TS_STOPPED

739

00:57:31,135  -->  00:57:35,743
When we use restart task command and then

740

00:57:36,511  -->  00:57:40,095
task state goes to running State again

741

00:57:41,119  -->  00:57:47,263
as similar way after our motion test completed task State

742

00:57:47,519  -->  00:57:52,383
Will be change automatically from running to stop state

743

00:57:55,455  -->  00:57:58,527
So when we use a acyclic commands

744

00:57:58,783  -->  00:58:04,927
we will see later on with motion comments or transition conditions or wait for

745

00:58:05,183  -->  00:58:07,743
Condition or wait time commands

746

00:58:12,351  -->  00:58:17,983
 state will be changed from running to rating state

747

00:58:18,751  -->  00:58:21,567
After the conditions

748

00:58:21,823  -->  00:58:25,151
fullfilled it is automatically continues

749

00:58:25,407  -->  00:58:31,551
To execute our program the same as state will be changed to running

750

00:58:33,599  -->  00:58:34,623
Normally...

751

00:58:38,463  -->  00:58:44,607
and When will you suspend task ID comments at tasks date

752

00:58:44,863  -->  00:58:47,167
Change to TS_SUSPEND

753

00:58:47,935  -->  00:58:53,055
we can use resume ID common to set again running States

754

00:58:53,823  -->  00:58:57,919
Because suspended state or user program

755

00:58:58,175  -->  00:58:59,711
Doesn't executed

756

00:59:03,039  -->  00:59:04,319
So...

757

00:59:06,623  -->  00:59:10,719
if there is an interrupt related to our task

758

00:59:11,487  -->  00:59:15,327
It's my go to ts wait next cycle

759

00:59:15,839  -->  00:59:21,983
Or it may go to ts wait with next interrupt after that it's automatically change

760

00:59:22,239  -->  00:59:23,519
Stop state.

761

00:59:24,287  -->  00:59:27,871
TS locked is a special case

762

00:59:28,383  -->  00:59:32,991
Is possible to Go State when we disable scheduler

763

00:59:33,503  -->  00:59:38,623
After we use enable schedule a comment it goes to

764

00:59:39,391  -->  00:59:43,231
you will see here bidirectional arrows

765

00:59:43,743  -->  00:59:45,791
possible to go each way

766

00:59:46,559  -->  00:59:51,423
Normally is not directly goes to running States

767

00:59:52,703  -->  00:59:56,543
first Maybe it's goes to wait cycle

768

00:59:57,055  -->  00:59:59,359
Next cycle or wait next interrupts

769

00:59:59,615  -->  01:00:04,735
After that are tested will be changed to test state stopped

770

01:00:04,991  -->  01:00:11,135
and we need to use the restart task id to set the task state to running again

771

01:00:13,951  -->  01:00:15,231
So...

772

01:00:17,279  -->  01:00:22,655
task state is invalid maybe be entered just wrong task ID

773

01:00:23,167  -->  01:00:25,215
It's unusual State

774

01:00:27,263  -->  01:00:30,847
Or we just entered the wrong input parameter

775

01:00:31,103  -->  01:00:32,639
Function

776

01:00:33,919  -->  01:00:36,479
The state model for tasks

777

01:00:39,551  -->  01:00:42,367
hear some detailed information

778

01:00:46,719  -->  01:00:47,743
So...

779

01:00:48,511  -->  01:00:50,559
This is the end of chapter

780

01:00:51,583  -->  01:00:57,727
What you learned at this chapter how do we create some basic user function

781

01:00:58,751  -->  01:01:03,871
How do we control the execution system

782

01:01:07,455  -->  01:01:11,039
How do we assign user programs to tasks

783

01:01:13,087  -->  01:01:18,975
So next time we will go online with our

784

01:01:19,487  -->  01:01:21,535
Simotion project

785

01:01:21,791  -->  01:01:25,887
Check the online Diagnostics of CPU

786

01:01:27,679  -->  01:01:29,471
Thanks see you later on

787

01:01:35,103  -->  01:01:41,247
So let's make an exercise with simotion

788

01:01:41,503  -->  01:01:46,623
In our first project I will close the current project

789

01:01:47,135  -->  01:01:49,951
Do you want to save changes yes

790

01:02:01,471  -->  01:02:04,543
So I'm going to open

791

01:02:04,799  -->  01:02:10,943
Our first project is an empty project we created at the beginning of

792

01:02:12,479  -->  01:02:13,503
Chapter

793

01:02:15,807  -->  01:02:21,951
So here in programs folder we just insert an MCC units and

794

01:02:22,207  -->  01:02:23,487
MCC unit1 

795

01:02:23,999  -->  01:02:26,047
With global settings

796

01:02:27,839  -->  01:02:28,863
Okay

797

01:02:30,143  -->  01:02:31,423
I will go

798

01:02:31,679  -->  01:02:36,799
An option settings and change the compiler settings here

799

01:02:38,847  -->  01:02:41,663
Click accept

800

01:02:47,295  -->  01:02:48,831
Okay

801

01:02:49,343  -->  01:02:53,183
I really insert at MCC units

802

01:02:54,207  -->  01:02:55,487
unit 1

803

01:02:58,047  -->  01:02:59,583
i will create

804

01:02:59,839  -->  01:03:03,423
empty interrupt tasks

805

01:03:04,703  -->  01:03:06,751
for time fault task

806

01:03:08,287  -->  01:03:11,359
MCC time fault

807

01:03:15,711  -->  01:03:19,039
MCC time fault back

808

01:03:19,295  -->  01:03:20,063
back

809

01:03:23,647  -->  01:03:26,975
MCC exec fault

810

01:03:30,559  -->  01:03:33,375
MCC peripheral fault

811

01:03:36,447  -->  01:03:39,263
When's the last one should be

812

01:03:41,823  -->  01:03:42,847
Tech fault

813

01:03:44,895  -->  01:03:47,711
MCC

814

01:03:51,039  -->  01:03:54,623
i will create a

815

01:03:54,879  -->  01:03:56,159
startup Program

816

01:03:59,743  -->  01:04:01,535
and Shut down

817

01:04:02,559  -->  01:04:04,351
Program

818

01:04:08,191  -->  01:04:10,751
I will create some variables

819

01:04:11,007  -->  01:04:16,639
Global boolean true the type

820

01:04:16,895  -->  01:04:18,943
data type retain

821

01:04:19,711  -->  01:04:22,271
Gbo false

822

01:04:22,783  -->  01:04:26,111
global boolean retain data

823

01:04:26,367  -->  01:04:27,903
It's always false

824

01:04:30,463  -->  01:04:35,327
So are we going in system variables CPU

825

01:04:36,351  -->  01:04:41,727
i will check if the startup settings is RUN State okay

826

01:04:43,519  -->  01:04:45,567
after that

827

01:04:45,823  -->  01:04:49,151
Please save a save and compile

828

01:04:54,783  -->  01:04:58,879
It's automatically compiled the hardware first

829

01:04:59,391  -->  01:05:04,511
And no it's compiling or software and programming sites

830

01:05:07,839  -->  01:05:09,375
So...

831

01:05:10,911  -->  01:05:15,775
Let's assigne our programs to tasks startup task

832

01:05:16,799  -->  01:05:18,591
Empty program startup

833

01:05:20,383  -->  01:05:22,431
And shutdown task

834

01:05:23,711  -->  01:05:24,735
shutdown

835

01:05:27,295  -->  01:05:29,343
So...

836

01:05:31,647  -->  01:05:35,487
Let's select simotion and start simosim

837

01:05:36,767  -->  01:05:41,887
If this menu is going to use to device adapter

838

01:05:42,399  -->  01:05:47,007
To connect to simosim virtual at an adapter

839

01:05:47,263  -->  01:05:51,871
Then I click accept settings or current settings and changed

840

01:05:53,663  -->  01:05:59,551
Find interface Service Port is used for CPU in simulation

841

01:06:02,623  -->  01:06:05,439
PC PG

842

01:06:06,719  -->  01:06:08,767
With this interface also

843

01:06:18,239  -->  01:06:22,079
Okay it's profinet at the other network

844

01:06:24,895  -->  01:06:26,687
So we will use

845

01:06:26,943  -->  01:06:29,759
device adapter so it's not relevant

846

01:06:30,783  -->  01:06:32,063
i click yes

847

01:06:32,575  -->  01:06:38,719
And there's a pop-up window will you see here is the faceplate

848

01:06:38,975  -->  01:06:43,327
of simotion you'll see here the cf carts

849

01:06:43,583  -->  01:06:45,887
When you click the CF cards

850

01:06:46,143  -->  01:06:49,727
Will see you the folders and files

851

01:06:50,239  -->  01:06:56,383
are simulating the CF cards at FTP server now CPU is in

852

01:06:56,639  -->  01:06:57,663
Stop mode

853

01:06:59,199  -->  01:07:00,479
You can see

854

01:07:00,735  -->  01:07:06,879
6 blinking dot

855

01:07:07,135  -->  01:07:13,279
That means our system powered up and everything's fine

856

01:07:14,047  -->  01:07:20,191
There's a reset button simulation and diagnostic button simulation

857

01:07:20,447  -->  01:07:22,495
web server

858

01:07:23,775  -->  01:07:29,919
with  new versions here with 5.2

859

01:07:30,175  -->  01:07:34,527
User Administration and entrance

860

01:07:35,039  -->  01:07:37,599
Security level release no

861

01:07:37,855  -->  01:07:40,927
Is normal so there is no project

862

01:07:41,439  -->  01:07:47,583
By the way the HTTP FTP web server is activated by default

863

01:07:50,143  -->  01:07:53,727
I can go in some pages

864

01:07:55,519  -->  01:07:57,311
diagnostics...

865

01:07:58,591  -->  01:08:00,895
And monitoring some pages here

866

01:08:03,711  -->  01:08:09,855
But some pages requires login and authorization for sure

867

01:08:10,111  -->  01:08:14,719
We will examine in the next chapter of the web server

868

01:08:16,511  -->  01:08:19,839
So now I just click

869

01:08:20,095  -->  01:08:22,143
my simotion compiled

870

01:08:23,167  -->  01:08:26,751
And Go online button connect to Target device

871

01:08:29,055  -->  01:08:33,151
So here as you can see in the upper window

872

01:08:35,199  -->  01:08:39,551
Even if you use the device adapter for Scout

873

01:08:40,063  -->  01:08:46,207
And siemens simosim virtual ethernet adapter in our IP address is for

874

01:08:46,463  -->  01:08:48,255
Service port

875

01:08:49,791  -->  01:08:55,423
There are some information technology package is not available on the controllers

876

01:08:56,447  -->  01:09:02,079
Console it Diagnostics you see here the current operation States

877

01:09:03,871  -->  01:09:04,895
So...

878

01:09:05,663  -->  01:09:06,943
First thing

879

01:09:07,967  -->  01:09:14,111
I click it to control the operating modes and operating state of simotion

880

01:09:14,879  -->  01:09:17,695
It's possible to set to Run

881

01:09:18,719  -->  01:09:22,815
The CPU is empty there is no user program in CPU

882

01:09:23,071  -->  01:09:27,679
But it's anyway it's possible to set the run state

883

01:09:28,959  -->  01:09:35,103
On the websites you receive here the orange and the green that means

884

01:09:35,359  -->  01:09:38,943
There's a difference between offline and online system

885

01:09:40,223  -->  01:09:46,367
So I've created some programs and assign execution system I just said it and

886

01:09:46,623  -->  01:09:49,439
Download Project to target system

887

01:09:51,487  -->  01:09:52,767
and...

888

01:09:56,607  -->  01:10:00,191
There are some selections here we already mentioned

889

01:10:00,447  -->  01:10:06,591
About store additional data and include DDC charts options

890

01:10:06,847  -->  01:10:10,687
It's downloading the source code of our programs to CPU

891

01:10:10,943  -->  01:10:15,039
Let me select after loading copy ram 2 rom

892

01:10:16,319  -->  01:10:22,463
it Is executes the function of the downloads completed there are some additional options

893

01:10:22,719  -->  01:10:26,815
we have mentioned in Last Chapters here

894

01:10:27,327  -->  01:10:32,191
About replace the product versions of Technology packages

895

01:10:33,471  -->  01:10:39,359
Initialization initialization of object

896

01:10:39,615  -->  01:10:41,151
Cancel

897

01:10:42,687  -->  01:10:47,295
I just click yes to start the project downloads

898

01:10:47,807  -->  01:10:50,879
When you're downloading the hardware

899

01:10:51,135  -->  01:10:57,279
There are some major changes in your project it's not possible to download the project

900

01:10:57,535  -->  01:11:03,679
Program to CPU in running mode but so there is a message for information to us

901

01:11:04,959  -->  01:11:10,847
Attention here the CPU set the following devices to stop mode

902

01:11:11,103  -->  01:11:12,895
Are you sure yes!

903

01:11:14,943  -->  01:11:18,015
So our CPU is goes to stop state

904

01:11:18,271  -->  01:11:20,831
Is resetting to charging system

905

01:11:21,087  -->  01:11:27,231
in our pc simulation is running really fast in real world it takes longer time.

906

01:11:28,255  -->  01:11:29,023
here...

907

01:11:29,279  -->  01:11:31,583
You can see technology package

908

01:11:31,839  -->  01:11:33,119
Will be loaded

909

01:11:33,375  -->  01:11:34,911
IO telegrams

910

01:11:35,679  -->  01:11:41,823
here more information should device to set mode run

911

01:11:42,079  -->  01:11:43,103
I say yes

912

01:11:44,639  -->  01:11:48,223
 simulation goes to run

913

01:11:48,735  -->  01:11:50,271
Normally

914

01:11:50,783  -->  01:11:55,903
For now we didn't assign any programs on the system interrupts tasks

915

01:11:56,159  -->  01:12:02,303
Real system and with the older firmware versions it's not possible.

916

01:12:02,559  -->  01:12:05,119
Set CPU in Runring state so

917

01:12:05,375  -->  01:12:08,447
I have to assign some programs here

918

01:12:08,959  -->  01:12:11,007
Normally

919

01:12:11,263  -->  01:12:12,799
case

920

01:12:13,311  -->  01:12:19,455
timefault task The programs are empty but must be assigned some programs to our interrupt task

921

01:12:20,479  -->  01:12:24,575
So right now I will assign empty programs

922

01:12:27,391  -->  01:12:32,511
time fault background task technological fault task

923

01:12:34,559  -->  01:12:37,631
Peripheral fault task

924

01:12:39,167  -->  01:12:42,495
Execution fault task

925

01:12:43,263  -->  01:12:49,407
Let's create some basic

926

01:12:49,663  -->  01:12:53,759
Task for motion control simotion 1

927

01:13:00,159  -->  01:13:03,231
Let's create some Global variables

928

01:13:03,487  -->  01:13:09,631
So it's not possible to create and Go Global variable so I had to go to offline mode

929

01:13:11,935  -->  01:13:12,959
So...

930

01:13:15,775  -->  01:13:17,567
Global integer

931

01:13:20,639  -->  01:13:22,431
int

932

01:13:23,967  -->  01:13:27,295
It's retained data and initial value

933

01:13:27,807  -->  01:13:29,599
Should be 100

934

01:13:31,135  -->  01:13:34,207
So gbo test Bits

935

01:13:34,719  -->  01:13:36,255
Is bool

936

01:13:38,047  -->  01:13:41,119
retain data and initial value is false

937

01:13:41,631  -->  01:13:45,471
we will use here are some basic commands

938

01:13:46,751  -->  01:13:49,567
Such as wait time

939

01:13:50,335  -->  01:13:52,127
for 1 sec

940

01:13:53,407  -->  01:13:56,991
and set bit

941

01:13:59,295  -->  01:14:03,135
Is possible to drag and drop

942

01:14:03,647  -->  01:14:09,535
set output is not possible to connect the global variable

943

01:14:10,559  -->  01:14:14,399
So it should be the real hard wire output signal

944

01:14:15,423  -->  01:14:18,751
That's why I don't use your this

945

01:14:20,287  -->  01:14:26,431
Is possible to right click and hide the commands or the comments

946

01:14:26,687  -->  01:14:28,223
will not be executed

947

01:14:29,503  -->  01:14:33,855
i will select the calculation assignment box

948

01:14:34,367  -->  01:14:37,439
So I can drag and drop this test bit

949

01:14:38,463  -->  01:14:39,743
Set True

950

01:14:41,279  -->  01:14:45,375
So I will copy and paste same command

951

01:14:46,143  -->  01:14:51,519
Copy and paste same comments and set the same with false

952

01:14:53,311  -->  01:14:54,335
Okay

953

01:14:59,967  -->  01:15:01,247
So...

954

01:15:05,343  -->  01:15:08,415
i will created was simple program

955

01:15:08,671  -->  01:15:10,207
I need to save

956

01:15:13,279  -->  01:15:16,351
I'll go again the execution system

957

01:15:16,607  -->  01:15:19,423
I want to assign to motion task 1

958

01:15:20,191  -->  01:15:23,775
but here

959

01:15:24,031  -->  01:15:27,359
I couldn't see I here is motion 1

960

01:15:27,615  -->  01:15:29,151
lets assign

961

01:15:29,919  -->  01:15:31,199
I need to save

962

01:15:32,991  -->  01:15:34,527
Compile

963

01:15:39,135  -->  01:15:41,695
Online

964

01:15:48,607  -->  01:15:50,911
download again

965

01:15:51,935  -->  01:15:58,079
I would try to download in run mode load cpu without drive unit

966

01:15:58,335  -->  01:16:00,127
only CPU

967

01:16:00,383  -->  01:16:02,943
There are some other possibilities

968

01:16:04,223  -->  01:16:10,367
For instance it is possible to load all programs of CPU or the technology objects

969

01:16:12,159  -->  01:16:14,719
i select performed download during run

970

01:16:14,975  -->  01:16:19,071
I think it's not possible because we changed the execution system

971

01:16:20,863  -->  01:16:27,007
So here you get an error message during download an error has occurred while.

972

01:16:27,263  -->  01:16:29,055
downloading Target device

973

01:16:29,311  -->  01:16:32,895
Note the outputs in Target system

974

01:16:33,407  -->  01:16:34,943
So it says

975

01:16:35,199  -->  01:16:39,039
Modified Global device variables is not possible to

976

01:16:40,063  -->  01:16:43,135
Download in run operating States

977

01:16:43,647  -->  01:16:48,767
that's why CPU needs to be go in stop mode

978

01:16:50,815  -->  01:16:51,839
Okay.

979

01:16:53,119  -->  01:16:55,167
You see here the yellow led

980

01:16:55,423  -->  01:16:59,519
There's no reset system no power on and off here

981

01:17:00,287  -->  01:17:05,407
That's why I download takes less time than the last time

982

01:17:07,199  -->  01:17:11,039
Do you want to switch to stop CPU back to run yes

983

01:17:13,343  -->  01:17:14,111
So...

984

01:17:14,367  -->  01:17:20,511
I wonder if our program is executed or processed or not

985

01:17:21,279  -->  01:17:23,839
right-click at Target device

986

01:17:24,095  -->  01:17:26,143
And device Diagnostics

987

01:17:30,239  -->  01:17:36,383
so in general tab here this simotion

988

01:17:36,895  -->  01:17:37,919
name

989

01:17:38,431  -->  01:17:43,807
Operating States Mac addresses of all the ports

990

01:17:44,063  -->  01:17:45,343
Communication ports

991

01:17:46,111  -->  01:17:47,647
Serial number

992

01:17:49,695  -->  01:17:51,231
Technology package

993

01:17:51,999  -->  01:17:55,839
Build number serial number and so...

994

01:17:56,607  -->  01:18:02,751
By the way it's not possible to simulate the sinamics control unit side of  simotion

995

01:18:03,007  -->  01:18:08,639
That's why we can just work only the CPU sides

996

01:18:11,199  -->  01:18:17,343
If you click the refresh button it's refreshing this page

997

01:18:18,111  -->  01:18:20,671
That's important here

998

01:18:21,183  -->  01:18:24,511
some buttons are for operating State this window

999

01:18:24,767  -->  01:18:30,655
Open it Diagnostics to go to WEB server and settings

1000

01:18:31,679  -->  01:18:34,239
need username and password login

1001

01:18:35,519  -->  01:18:38,079
So...

1002

01:18:38,335  -->  01:18:40,639
Next tab diagnostic buffer

1003

01:18:41,407  -->  01:18:47,551
here the events recorded in CPU memory

1004

01:18:48,831  -->  01:18:50,879
there are 49 events

1005

01:18:51,647  -->  01:18:57,791
The last event is number one at the top of the list operating Mode RUN reached

1006

01:19:00,095  -->  01:19:02,655
You can diagnose here

1007

01:19:02,911  -->  01:19:04,959
The CPU messages

1008

01:19:07,519  -->  01:19:11,871
if there is an program at all when you double-click the error

1009

01:19:12,127  -->  01:19:15,455
What is a diagnostic code possible to go

1010

01:19:16,735  -->  01:19:19,039
where the message trigger words

1011

01:19:19,551  -->  01:19:24,159
In some cases and you can save as the list

1012

01:19:24,415  -->  01:19:28,767
Or diagnostic file as a log file in your PC

1013

01:19:31,839  -->  01:19:34,399
So next tab is Task Manager

1014

01:19:34,655  -->  01:19:38,239
Refresh rate is Manuel here I can select

1015

01:19:38,495  -->  01:19:41,055
1 seconds for instance

1016

01:19:43,359  -->  01:19:47,199
So there's a message and notes

1017

01:19:47,711  -->  01:19:52,319
Please activate the debug on the CPU test mode to control the motion tasks

1018

01:19:53,599  -->  01:19:57,695
We just here just want to monitor all of the tasks here

1019

01:20:00,255  -->  01:20:03,327
you see current

1020

01:20:04,863  -->  01:20:11,007
Cycle time of background task is three or two or one

1021

01:20:11,263  -->  01:20:12,799
Microseconds

1022

01:20:13,311  -->  01:20:17,408
You see here the minimum and maximum values

1023

01:20:19,968  -->  01:20:23,296
There is also the control panel task

1024

01:20:24,064  -->  01:20:30,208
more reviews next chapters to control the access

1025

01:20:30,464  -->  01:20:34,048
Test the motion control comments

1026

01:20:36,352  -->  01:20:40,192
So assigned program to motion test 1

1027

01:20:40,448  -->  01:20:43,520
current task state be stopped

1028

01:20:44,032  -->  01:20:50,176
And we see here old values as time in milliseconds is 0

1029

01:20:50,432  -->  01:20:52,736
That means

1030

01:20:52,992  -->  01:20:59,136
After power on and CPU goes to run States in run mode

1031

01:20:59,392  -->  01:21:01,952
motion task is Never executed

1032

01:21:03,744  -->  01:21:04,768
Why?

1033

01:21:05,280  -->  01:21:10,144
Because we didn't select the activation of the startup task

1034

01:21:10,656  -->  01:21:16,800
We Didn't Start the motion test with system function

1035

01:21:18,592  -->  01:21:20,384
So itself

1036

01:21:20,640  -->  01:21:22,432
it Doesn't starts

1037

01:21:25,248  -->  01:21:30,624
You see here the task trace buttons be mentioned in this chapter

1038

01:21:31,136  -->  01:21:32,672
If you create

1039

01:21:33,696  -->  01:21:35,232
Snapshots

1040

01:21:35,488  -->  01:21:37,536
click Open task trace profile

1041

01:21:37,792  -->  01:21:40,608
It's just make some and snapshots

1042

01:21:41,632  -->  01:21:43,168
current States

1043

01:21:43,936  -->  01:21:46,752
here also the timing

1044

01:21:50,592  -->  01:21:51,872
servo task

1045

01:21:52,128  -->  01:21:53,408
IPO task

1046

01:21:53,664  -->  01:21:55,200
Background task

1047

01:21:56,480  -->  01:21:59,808
when you zoom out

1048

01:22:02,112  -->  01:22:04,672
here

1049

01:22:05,440  -->  01:22:08,512
What's after background tasks

1050

01:22:13,120  -->  01:22:16,448
in Timeline 11.7

1051

01:22:16,960  -->  01:22:19,520
How to is started

1052

01:22:20,288  -->  01:22:22,336
Timeline

1053

01:22:22,592  -->  01:22:25,920
81.758

1054

01:22:26,688  -->  01:22:32,832
Several tasks as ended after that IPO ask a started an IPO

1055

01:22:33,088  -->  01:22:34,880
has ended

1056

01:22:37,440  -->  01:22:40,768
So background tasks

1057

01:22:41,024  -->  01:22:42,560
What starts here

1058

01:22:43,328  -->  01:22:45,376
And it's here

1059

01:22:47,168  -->  01:22:49,472
It's almost

1060

01:22:49,984  -->  01:22:51,008
I think

1061

01:22:52,544  -->  01:22:53,568
Yes

1062

01:22:53,824  -->  01:22:55,104
0 points

1063

01:22:55,616  -->  01:22:57,920
4 or less than 0.1

1064

01:22:58,688  -->  01:23:00,224
You'll see here

1065

01:23:02,016  -->  01:23:03,552
As microseconds

1066

01:23:04,576  -->  01:23:06,368
At the maximum value

1067

01:23:07,648  -->  01:23:11,488
so with task trace display

1068

01:23:11,744  -->  01:23:13,024
You're just

1069

01:23:14,816  -->  01:23:17,376
Reopen the same editor

1070

01:23:18,144  -->  01:23:20,704
You see here the timeline your Cursor

1071

01:23:21,984  -->  01:23:23,776
You can just

1072

01:23:24,288  -->  01:23:26,848
scroll left or  right

1073

01:23:28,896  -->  01:23:35,040
Right now there isn't any motion test running so our 

1074

01:23:35,296  -->  01:23:36,576
round rubin cycle

1075

01:23:38,112  -->  01:23:41,184
You can consider it started and ended here

1076

01:23:41,696  -->  01:23:46,560
T1 cursor and T2 cursor you see hear the difference

1077

01:23:47,072  -->  01:23:48,608
Is 0 points

1078

01:23:49,632  -->  01:23:51,168
245

1079

01:23:52,192  -->  01:23:53,728
As miliseconds

1080

01:23:57,312  -->  01:23:58,848
Important tool

1081

01:23:59,872  -->  01:24:01,152
to...

1082

01:24:01,408  -->  01:24:07,552
See the terms and timings of the all tasks and take some feedbacks and adjust tasks

1083

01:24:07,808  -->  01:24:09,088
adjust to round rubin

1084

01:24:10,624  -->  01:24:11,648
So

1085

01:24:13,952  -->  01:24:20,096
The next tab use memory utilization here to ramdisk

1086

01:24:20,352  -->  01:24:26,496
This type of motion D is 76 megabytes is quite good enough

1087

01:24:29,568  -->  01:24:34,688
and ram memory and memory cards and retentive data 3/10

1088

01:24:36,224  -->  01:24:42,368
For most projects is really quite big

1089

01:24:43,648  -->  01:24:46,976
But sometimes the retentive data is limited

1090

01:24:47,488  -->  01:24:49,792
500 kilobytes

1091

01:24:50,816  -->  01:24:53,888
It depends on our project

1092

01:24:54,912  -->  01:25:01,056
you will see here system utilization set for 1 miliseconds

1093

01:25:03,872  -->  01:25:10,016
There isn't any technology objects that's why utilization of isochronous task is 0

1094

01:25:11,296  -->  01:25:12,320
%0 as Percent

1095

01:25:13,856  -->  01:25:17,184
There are some bars on the left side

1096

01:25:20,512  -->  01:25:22,816
5 minutes

1097

01:25:24,096  -->  01:25:27,936
For milisecond is our service cycle clock

1098

01:25:28,704  -->  01:25:33,056
and 4 milisecond or bus cycle clock

1099

01:25:34,080  -->  01:25:38,944
If you see here the remaining CPU sources for acyclic communication

1100

01:25:40,736  -->  01:25:44,832
Cycle time of background task minimum

1101

01:25:45,344  -->  01:25:47,648
Maximum admin vlues

1102

01:25:48,928  -->  01:25:55,072
Processor for profibus communication you may see here

1103

01:25:56,608  -->  01:25:59,424
The green area

1104

01:25:59,936  -->  01:26:06,080
The percent of utilization means your CPU is running properly everything's fine

1105

01:26:07,104  -->  01:26:11,456
And the other one yellow area is a danger zone

1106

01:26:11,968  -->  01:26:17,600
It's possible to overflow in IPO cycle or servo cycle

1107

01:26:18,368  -->  01:26:24,512
You're using too much resources of CPU for motion control or

1108

01:26:24,768  -->  01:26:27,840
Maybe there are too much axes

1109

01:26:28,096  -->  01:26:34,240
Positioning comments for this type of CPU you have to adjust your

1110

01:26:34,496  -->  01:26:35,520
Utilization.

1111

01:26:36,032  -->  01:26:42,176
RED area means your program will not work

1112

01:26:42,688  -->  01:26:43,712
in the real world

1113

01:26:44,224  -->  01:26:47,552
CPU will go to stop States

1114

01:26:49,344  -->  01:26:52,928
So everything is related to each other

1115

01:26:53,184  -->  01:26:56,512
When you increase your bus cycle clock

1116

01:26:57,024  -->  01:27:00,096
Sometimes you

1117

01:27:00,352  -->  01:27:02,656
Gets higher

1118

01:27:02,912  -->  01:27:04,704
Coping time

1119

01:27:04,960  -->  01:27:08,544
And higher resources and less utilization

1120

01:27:09,312  -->  01:27:14,944
But maybe your positioning resolution is not quite good enough

1121

01:27:15,200  -->  01:27:19,040
So in the real world at the machine

1122

01:27:19,808  -->  01:27:21,600
It's mechanically

1123

01:27:21,856  -->  01:27:28,000
You're losing resolution so it depends on

1124

01:27:28,256  -->  01:27:31,840
Your machine and automation tasks

1125

01:27:33,888  -->  01:27:37,472
Maybe you have to change the CPU higher version of CPU

1126

01:27:38,496  -->  01:27:39,520
Advance

1127

01:27:40,800  -->  01:27:46,944
So next tab is user log you can just here enter some data here

1128

01:27:48,224  -->  01:27:54,368
it Is stored in CF while you can enter here some logs and comments

1129

01:27:54,624  -->  01:27:56,416
System log

1130

01:27:56,672  -->  01:27:59,744
You will see on monitor

1131

01:28:00,768  -->  01:28:04,864
According to current date and time

1132

01:28:05,888  -->  01:28:09,216
It's about the system itself

1133

01:28:09,728  -->  01:28:15,616
firmware kernel file system monitor starting control serial check number

1134

01:28:16,896  -->  01:28:21,760
non volatile ram parameter if there is a Hardware Based error

1135

01:28:22,016  -->  01:28:24,064
This is the first place you have to look

1136

01:28:25,600  -->  01:28:26,880
And the alarms

1137

01:28:27,136  -->  01:28:33,280
here the technological faults at and alarms of

1138

01:28:33,536  -->  01:28:34,816
simotion

1139

01:28:35,584  -->  01:28:38,400
You can acknowledge over here

1140

01:28:39,424  -->  01:28:43,008
Clear the CPU alarm window

1141

01:28:45,312  -->  01:28:51,456
Let's start with a background program insert a new MCC

1142

01:28:51,712  -->  01:28:56,320
Backgrounds program MCC backgrounds

1143

01:29:01,440  -->  01:29:02,464
So...

1144

01:29:03,744  -->  01:29:08,864
Let's use our Task control commands to determine task state

1145

01:29:09,888  -->  01:29:16,032
I will select here motion task 1

1146

01:29:16,288  -->  01:29:16,800
return value State

1147

01:29:18,592  -->  01:29:24,736
if i click the tab or any other points on the screen

1148

01:29:24,992  -->  01:29:29,088
a new window will automatically pops up

1149

01:29:29,600  -->  01:29:35,744
Here I can enter the name of my variable the data type is double word

1150

01:29:39,072  -->  01:29:40,608
and at variable type

1151

01:29:41,120  -->  01:29:46,240
if I want to use this variable as global retain

1152

01:29:46,496  -->  01:29:51,872
or Global available to access from other units global

1153

01:29:54,688  -->  01:29:57,760
And if I want to export

1154

01:29:58,016  -->  01:30:01,344
All of the other unit I have to set up this one

1155

01:30:02,880  -->  01:30:04,928
initial value

1156

01:30:05,696  -->  01:30:10,048
necessary and comments test comments

1157

01:30:12,352  -->  01:30:18,496
If I want to arrays I just sent to hear the length of the array

1158

01:30:20,544  -->  01:30:21,568
So...

1159

01:30:22,080  -->  01:30:24,896
Let's select this one okay

1160

01:30:25,152  -->  01:30:27,200
At the background

1161

01:30:27,712  -->  01:30:33,600
The system Scout automatically create this variable okay

1162

01:30:34,880  -->  01:30:39,488
double click on MCC unit and see available here

1163

01:30:41,280  -->  01:30:42,304
So...

1164

01:30:45,888  -->  01:30:52,032
Let's use the same comments for motion task to determine task States

1165

01:30:54,336  -->  01:31:00,480
Return value for variable is MT2_state

1166

01:31:01,504  -->  01:31:03,040
i will click here

1167

01:31:04,576  -->  01:31:09,440
And the open window or search available global

1168

01:31:10,208  -->  01:31:11,232
and

1169

01:31:12,000  -->  01:31:13,280
Not exportable

1170

01:31:13,536  -->  01:31:16,352
command state task 2

1171

01:31:16,864  -->  01:31:18,400
Okay

1172

01:31:20,448  -->  01:31:22,496
i click Okay

1173

01:31:23,264  -->  01:31:26,336
here the mt2 state

1174

01:31:26,592  -->  01:31:32,736
Defined in implementation section so this is the source internal

1175

01:31:32,992  -->  01:31:36,064
decleration of the variable

1176

01:31:37,344  -->  01:31:40,160
All of the MCC units under

1177

01:31:40,672  -->  01:31:42,208
The MCC unit 1

1178

01:31:42,464  -->  01:31:45,536
it's possible to read and write this variable

1179

01:31:46,560  -->  01:31:48,352
On the other hand

1180

01:31:49,632  -->  01:31:52,704
From another unit it's not possible to

1181

01:31:52,960  -->  01:31:55,520
Reach MT2 States

1182

01:31:57,568  -->  01:32:00,128
but MT1

1183

01:32:00,640  -->  01:32:06,784
State variable is in interface section so it's an export declaration

1184

01:32:07,040  -->  01:32:13,184
So it's possible to reach this variable from other MCC units and other programs

1185

01:32:13,440  -->  01:32:14,464
The difference

1186

01:32:14,720  -->  01:32:18,304
you will see here's another type here the comments

1187

01:32:19,072  -->  01:32:21,120
if i select

1188

01:32:21,632  -->  01:32:25,728
Project languages and language dependent texts

1189

01:32:26,240  -->  01:32:30,336
And add other languages like English

1190

01:32:30,592  -->  01:32:35,712
I will see here also additional columns as English and German

1191

01:32:36,224  -->  01:32:37,760
And so on...

1192

01:32:40,320  -->  01:32:44,928
So after that I'll get the current states of motion tasks

1193

01:32:45,184  -->  01:32:46,464
I need to check

1194

01:32:48,256  -->  01:32:51,072
with a if is ask condition

1195

01:32:51,584  -->  01:32:53,376
But I double Click

1196

01:32:54,656  -->  01:32:57,984
Is possible to use ladder inside the MCC

1197

01:32:58,496  -->  01:33:00,288
The program the logic

1198

01:33:02,592  -->  01:33:06,432
Or is possible to use ST to program logic

1199

01:33:09,504  -->  01:33:15,648
So when I select the MCC Network I will see here in symbol table

1200

01:33:15,904  -->  01:33:17,440
All of the variables

1201

01:33:24,608  -->  01:33:26,400
So first of all

1202

01:33:27,168  -->  01:33:28,960
I will save

1203

01:33:36,384  -->  01:33:37,920
then I click okay

1204

01:33:38,944  -->  01:33:42,272
there is an information box

1205

01:33:42,528  -->  01:33:48,672
In syntax error incomplete comments and parameterization do you want to return the dialogue

1206

01:33:48,928  -->  01:33:50,976
and correct errors ? no !

1207

01:33:51,232  -->  01:33:55,584
I can just the right click and hide the commands

1208

01:33:55,840  -->  01:34:01,984
So usually it's more faster to use the

1209

01:34:02,240  -->  01:34:06,848
Programming editor in offline mode I agreed to save and compile

1210

01:34:10,176  -->  01:34:14,016
After that I'll see here the variables I added

1211

01:34:15,296  -->  01:34:18,880
So now I can assign and use variables

1212

01:34:20,160  -->  01:34:22,208
Let's go click right and

1213

01:34:22,464  -->  01:34:24,512
Display

1214

01:34:25,024  -->  01:34:26,816
And Double Click

1215

01:34:29,376  -->  01:34:35,520
if This motion task 1 state is equals

1216

01:34:35,776  -->  01:34:37,568
task States

1217

01:34:37,824  -->  01:34:38,848
Stopped

1218

01:34:39,360  -->  01:34:40,896
Or...

1219

01:34:46,016  -->  01:34:48,576
invalid or

1220

01:34:51,392  -->  01:34:53,696
task state

1221

01:34:54,976  -->  01:34:57,024
Locked or

1222

01:34:58,048  -->  01:35:00,608
task States

1223

01:35:00,864  -->  01:35:02,144
Suspended

1224

01:35:09,312  -->  01:35:11,872
I'm going to start

1225

01:35:12,128  -->  01:35:13,408
The motion task

1226

01:35:14,432  -->  01:35:17,248
start task command with motion task 1

1227

01:35:19,552  -->  01:35:21,856
On the other case

1228

01:35:22,368  -->  01:35:24,672
Nothing to do right now

1229

01:35:24,928  -->  01:35:26,208
So...

1230

01:35:26,464  -->  01:35:32,096
This is just an basic logic from background task to control the other motion tasks

1231

01:35:32,352  -->  01:35:33,376
For instance.

1232

01:35:36,192  -->  01:35:39,008
After that I will go online again

1233

01:35:44,640  -->  01:35:47,968
I'm going to download simotion program

1234

01:35:48,992  -->  01:35:50,016
Yes.

1235

01:35:56,672  -->  01:36:00,000
restart? yes!

1236

01:36:00,512  -->  01:36:03,584
I will check again on the

1237

01:36:04,096  -->  01:36:05,376
Task manager

1238

01:36:10,496  -->  01:36:11,520
Okay

1239

01:36:18,432  -->  01:36:19,968
So on.

1240

01:36:20,992  -->  01:36:27,136
What did I do wrong I didn't assign my background program to background task

1241

01:36:27,392  -->  01:36:31,232
I should assign on my program to backgrounds

1242

01:36:31,488  -->  01:36:33,280
And download it again

1243

01:36:42,496  -->  01:36:48,640
For switch to see if you are running mode again

1244

01:36:51,712  -->  01:36:57,856
So now you see here is refresh rate is 1 seconds

1245

01:36:58,112  -->  01:37:04,256
and our motion task 1 task status is running wiating

1246

01:37:04,512  -->  01:37:08,352
current cycle time for this task

1247

01:37:10,144  -->  01:37:14,496
Is 3 seconds 9 or 10 milliseconds

1248

01:37:16,032  -->  01:37:19,104
Here you see the min and max

1249

01:37:19,872  -->  01:37:22,176
So we used

1250

01:37:22,688  -->  01:37:25,504
Three different wait comments

1251

01:37:27,296  -->  01:37:29,088
in our task motion 1

1252

01:37:30,880  -->  01:37:37,024
And there are just two other variable assignment Commands

1253

01:37:37,280  -->  01:37:40,864
It takes a couple of milliseconds

1254

01:37:41,120  -->  01:37:47,264
To determine the task state in background and start the test takes a little time

1255

01:37:47,520  -->  01:37:50,336
as couple of milliseconds

1256

01:37:52,128  -->  01:37:54,176
That's why you see here

1257

01:37:55,200  -->  01:37:58,016
In task manager and

1258

01:37:58,528  -->  01:37:59,808
This is waiting

1259

01:38:01,088  -->  01:38:03,392
3 seconds and 10 milliseconds

1260

01:38:03,648  -->  01:38:08,512
So now our program assigned to motion task is working

1261

01:38:11,584  -->  01:38:13,376
So...

1262

01:38:14,400  -->  01:38:19,264
we can easy to just go in editor

1263

01:38:21,824  -->  01:38:23,616
click in monitor

1264

01:38:24,128  -->  01:38:28,736
Then you see actual processing comments

1265

01:38:30,016  -->  01:38:31,552
Time by time

1266

01:38:36,416  -->  01:38:40,256
So when you click and program status

1267

01:38:43,328  -->  01:38:45,888
You can monitor the variables

1268

01:38:49,728  -->  01:38:51,776
So it's not true

1269

01:38:57,920  -->  01:39:02,016
You can see here at the same time true-false

1270

01:39:05,088  -->  01:39:08,928
On the other hand is possible to go to single step mode

1271

01:39:12,768  -->  01:39:18,912
Turn the color of the current command change to light blue

1272

01:39:19,168  -->  01:39:24,544
That means a this command of motion task

1273

01:39:24,800  -->  01:39:26,848
Our program is

1274

01:39:27,360  -->  01:39:28,128
Stopped

1275

01:39:28,384  -->  01:39:31,200
Because we switch to single step mode

1276

01:39:32,992  -->  01:39:34,016
We can

1277

01:39:34,272  -->  01:39:39,136
Continue to Next Step

1278

01:39:41,184  -->  01:39:47,328
It's a good feature when you first commission to your motion control charts

1279

01:39:48,864  -->  01:39:50,400
So next command

1280

01:39:51,680  -->  01:39:53,728
and comments

1281

01:39:53,984  -->  01:39:57,824
After I cclick the single-step and deselect

1282

01:39:59,616  -->  01:40:01,408
It goes in Normally

1283

01:40:03,200  -->  01:40:05,248
switch to

1284

01:40:05,760  -->  01:40:07,552
Single step mode

1285

01:40:10,112  -->  01:40:13,952
You can see here the

1286

01:40:14,464  -->  01:40:19,072
task state is running suspended by debug

1287

01:40:21,120  -->  01:40:23,168
As the difference type of task

1288

01:40:24,960  -->  01:40:27,264
i will click The Next Step

1289

01:40:27,776  -->  01:40:32,896
You will see here and light blue an active command

1290

01:40:33,152  -->  01:40:38,528
If you see here the maximum execution cycle time of the MT1

1291

01:40:48,512  -->  01:40:54,656
So i have mentioned before the trace functionality is possible to use after firmware version for

1292

01:40:54,912  -->  01:40:55,936
4.2

1293

01:40:56,448  -->  01:41:00,032
select trace mode today

1294

01:41:00,544  -->  01:41:02,336
There's an error

1295

01:41:02,592  -->  01:41:08,736
It's invalid operating mode the trace can only be activated in test mode or debug mode

1296

01:41:08,992  -->  01:41:14,112
You can find the settings options in the context meaning of CPU

1297

01:41:15,648  -->  01:41:19,488
So first of all I had to switch the CPU mode

1298

01:41:19,744  -->  01:41:25,888
Test or debug mode with operating more settings are i will click to operated

1299

01:41:27,424  -->  01:41:28,192
and

1300

01:41:28,448  -->  01:41:34,592
From now I should select a test mode if I want to use

1301

01:41:34,848  -->  01:41:36,640
all diagnostic functions

1302

01:41:36,896  -->  01:41:38,688
trace some program status

1303

01:41:38,944  -->  01:41:40,736
Can be fully used

1304

01:41:42,272  -->  01:41:46,368
But at this mode project confirmation it's not possible

1305

01:41:47,392  -->  01:41:50,976
The other mode debug mode is full test mode

1306

01:41:51,488  -->  01:41:56,096
Functionality and additional diagnostic functions breakpoints

1307

01:41:57,632  -->  01:42:02,496
And to control of the motion tasks can be used

1308

01:42:02,752  -->  01:42:08,896
project compression is not possible is also using too much CPU

1309

01:42:09,152  -->  01:42:13,504
Utilizationcompared to test mode

1310

01:42:13,760  -->  01:42:18,880
And there's notice danger Dangerous state is possible

1311

01:42:19,136  -->  01:42:24,512
Because we will use CPU resources here

1312

01:42:25,024  -->  01:42:26,304
So...

1313

01:42:26,560  -->  01:42:31,680
When I click settings there's a life sign monitoring

1314

01:42:31,936  -->  01:42:36,032
When I switch to other window for instance

1315

01:42:37,568  -->  01:42:39,360
It's automatically

1316

01:42:39,616  -->  01:42:41,920
Switch off the debug mode

1317

01:42:44,480  -->  01:42:50,624
if the break points or disabled task start is activated the following actions result

1318

01:42:50,880  -->  01:42:52,672
stop operating States

1319

01:42:52,928  -->  01:42:54,464
Space bar

1320

01:42:56,768  -->  01:43:01,120
When I hit the spacebar CPU goes to stop operating States

1321

01:43:01,632  -->  01:43:06,240
Or then I change to different Windows application like this

1322

01:43:07,520  -->  01:43:11,104
CPU goes of stop State

1323

01:43:11,872  -->  01:43:13,920
outputs are deactivated

1324

01:43:14,688  -->  01:43:17,248
In any case of sign of Life error

1325

01:43:19,040  -->  01:43:23,904
So this is a safety precaution

1326

01:43:24,160  -->  01:43:28,768
To prevent dangerous situations

1327

01:43:30,560  -->  01:43:33,376
So normally used to test mode

1328

01:43:35,168  -->  01:43:36,192
is Good enough

1329

01:43:39,264  -->  01:43:42,592
Okay because I just use the trace functionality

1330

01:43:42,848  -->  01:43:45,920
After that I will click the trace button

1331

01:43:48,992  -->  01:43:51,808
So there's an new window opens

1332

01:43:52,064  -->  01:43:55,392
And pops up in center of my screen

1333

01:43:56,160  -->  01:43:58,208
for trace settings

1334

01:43:58,976  -->  01:44:04,352
First of all I have to specify the call paths for the program

1335

01:44:06,144  -->  01:44:07,936
In the motion test mode

1336

01:44:08,192  -->  01:44:11,264
all call positions from call level

1337

01:44:13,568  -->  01:44:15,360
For this program

1338

01:44:15,616  -->  01:44:19,200
It's called by only from one point

1339

01:44:19,968  -->  01:44:25,856
So there isn't another option if

1340

01:44:26,624  -->  01:44:32,000
I want to trace some function below is possible to call from different

1341

01:44:32,768  -->  01:44:37,888
Areas so that case I have to choose the correct one

1342

01:44:40,192  -->  01:44:46,336
For coding program Source program units instance function and line

1343

01:44:47,616  -->  01:44:51,712
i will select all call positions of this level

1344

01:44:52,480  -->  01:44:56,320
For this case there is only one option

1345

01:44:56,576  -->  01:44:58,880
I'm triggered

1346

01:44:59,136  -->  01:45:05,280
And this recording or I can choose a condition and Enter some equation

1347

01:45:05,536  -->  01:45:07,584
 or condition here

1348

01:45:10,144  -->  01:45:16,288
with active breakpoints and blank Result in debug mode beign exited.

1349

01:45:17,056  -->  01:45:19,616
This is just for information

1350

01:45:20,384  -->  01:45:26,528
For display in update manual new recording cycling

1351

01:45:26,784  -->  01:45:30,112
cyclic controlled new recording

1352

01:45:30,368  -->  01:45:33,696
Time constant speed manual recording is also possible

1353

01:45:35,488  -->  01:45:41,120
Or select your cycle cycle cycle constantly recording

1354

01:45:42,912  -->  01:45:48,032
At the background it also trace and records the current state of the motion task

1355

01:45:51,104  -->  01:45:55,200
And also activated log for entries

1356

01:45:57,248  -->  01:45:59,296
Okay.

1357

01:46:00,320  -->  01:46:03,904
So here you will see it

1358

01:46:04,672  -->  01:46:05,952
Time by time

1359

01:46:07,232  -->  01:46:11,584
with the yellow background which, next executives

1360

01:46:13,120  -->  01:46:16,960
Simultaneously while user program is running

1361

01:46:19,520  -->  01:46:22,592
So there's other option

1362

01:46:22,848  -->  01:46:24,640
 recorded Trace

1363

01:46:27,200  -->  01:46:28,480
I can here

1364

01:46:30,528  -->  01:46:34,624
see after i click and recorded trace

1365

01:46:41,280  -->  01:46:43,328
At this point I want to

1366

01:46:43,840  -->  01:46:47,168
Add some modifications to our program

1367

01:46:47,936  -->  01:46:50,752
Is switch case maybe

1368

01:46:51,776  -->  01:46:53,312
While Loop

1369

01:46:53,824  -->  01:46:54,848
For Loop

1370

01:46:56,384  -->  01:46:57,664
Program Branch

1371

01:46:59,712  -->  01:47:02,016
if and Selection Chase

1372

01:47:02,784  -->  01:47:06,880
I reduced here and Global integer

1373

01:47:08,672  -->  01:47:10,720
case test

1374

01:47:12,512  -->  01:47:16,352
A variable Global retain exportable

1375

01:47:16,608  -->  01:47:19,168
Initial value is 0

1376

01:47:26,080  -->  01:47:31,456
Okay it's the case but it is zero

1377

01:47:31,712  -->  01:47:32,736
And us

1378

01:47:32,992  -->  01:47:35,552
I right click and insert

1379

01:47:35,808  -->  01:47:37,600
The new branch

1380

01:47:38,368  -->  01:47:39,648
0

1381

01:47:40,416  -->  01:47:40,928
10

1382

01:47:42,976  -->  01:47:44,768
Insert a new branch

1383

01:47:46,048  -->  01:47:51,936
And -10 for instance and I want to download in run mode

1384

01:47:52,704  -->  01:47:55,008
Let's see what will happen

1385

01:48:00,896  -->  01:48:06,784
So we have a global variable as integer

1386

01:48:07,552  -->  01:48:08,832
in our unit

1387

01:48:10,368  -->  01:48:14,720
So that's why it's not possible to download in run mode

1388

01:48:15,232  -->  01:48:21,376
Source change has spent time with line change the source MCC unit 1

1389

01:48:21,632  -->  01:48:25,984
runs uninterrupted so cannot be replaced in Run

1390

01:48:26,496  -->  01:48:28,544
it says

1391

01:48:30,848  -->  01:48:35,968
So I will try to go back to operating mode in process mode

1392

01:48:36,736  -->  01:48:38,016
Try again

1393

01:48:47,744  -->  01:48:50,304
So I get the same message

1394

01:48:52,608  -->  01:48:58,496
acknowledge from target device reloading in run timeout with while change its task

1395

01:48:59,264  -->  01:49:04,384
Please repeat the downloads affected tasks cannot be active

1396

01:49:06,944  -->  01:49:11,296
So it's our case it has to be go to stop

1397

01:49:28,704  -->  01:49:30,752
we will set to run again

1398

01:49:31,264  -->  01:49:32,032
Here

1399

01:49:33,312  -->  01:49:36,384
i will select the test mode

1400

01:49:38,432  -->  01:49:40,224
i will

1401

01:49:40,480  -->  01:49:42,016
Go and status

1402

01:49:42,528  -->  01:49:43,552
And Trace

1403

01:49:44,576  -->  01:49:45,856
motion task 1 with

1404

01:49:47,136  -->  01:49:48,416
The same settings

1405

01:49:50,208  -->  01:49:52,256
Lovely see here

1406

01:49:53,024  -->  01:49:57,888
The case is executed but we have to add some Commands

1407

01:49:58,400  -->  01:50:01,984
to see which branch it will

1408

01:50:03,264  -->  01:50:05,056
goes over

1409

01:50:06,336  -->  01:50:08,896
Lets you some comments

1410

01:50:15,552  -->  01:50:18,112
Just a comment Block

1411

01:50:20,672  -->  01:50:22,464
To read

1412

01:50:22,976  -->  01:50:25,280
Program codes easy

1413

01:50:30,400  -->  01:50:34,496
Download again in run mode

1414

01:50:34,752  -->  01:50:36,800
It should be possible

1415

01:50:42,688  -->  01:50:46,016
because I don't want to change the program sites

1416

01:50:46,528  -->  01:50:49,600
Didn't create any new Global variable

1417

01:50:51,136  -->  01:50:54,976
So it says Source change has failed

1418

01:50:56,512  -->  01:50:58,048
It's not possible

1419

01:51:01,888  -->  01:51:07,008
I want to switch operating mode to process mode again

1420

01:51:08,032  -->  01:51:11,616
And I will try to download in run again

1421

01:51:23,904  -->  01:51:29,024
So downloads to target system is completed

1422

01:51:29,536  -->  01:51:33,888
So it depends on the CPU mode and our program

1423

01:51:35,424  -->  01:51:39,776
Well I will switch back to test mode again

1424

01:51:40,288  -->  01:51:44,384
Start our trace

1425

01:51:46,176  -->  01:51:47,200
Okay.

1426

01:51:48,480  -->  01:51:52,576
now you and see here it's running at this branch

1427

01:51:52,832  -->  01:51:57,952
because integer variable is equals to 0

1428

01:51:58,464  -->  01:52:00,768
i will select unit

1429

01:52:01,536  -->  01:52:04,864
You will see here the status of value

1430

01:52:05,376  -->  01:52:11,264
I can easily enter some new value here

1431

01:52:12,544  -->  01:52:14,336
The control variable

1432

01:52:15,616  -->  01:52:19,712
54 example that I will press control button

1433

01:52:20,480  -->  01:52:23,808
now our current value is 15

1434

01:52:24,064  -->  01:52:27,136
so case is running on else

1435

01:52:27,392  -->  01:52:28,160
branch

1436

01:52:29,440  -->  01:52:30,720
i will select and

1437

01:52:31,232  -->  01:52:32,768
Right click

1438

01:52:33,536  -->  01:52:35,584
add to watch table

1439

01:52:35,840  -->  01:52:38,400
new watch table

1440

01:52:39,424  -->  01:52:41,472
name will be vat1

1441

01:52:42,240  -->  01:52:43,520
...

1442

01:52:45,312  -->  01:52:51,200
And under the monitor folder is she here or watch table

1443

01:52:51,712  -->  01:52:57,600
I can make some tables for user-defined variables

1444

01:52:58,112  -->  01:53:00,160
To make a group

1445

01:53:00,416  -->  01:53:02,720
Through control and status

1446

01:53:03,488  -->  01:53:05,792
All of the variables at one place

1447

01:53:06,048  -->  01:53:08,608
From different units

1448

01:53:08,864  -->  01:53:11,424
So here the status value

1449

01:53:13,472  -->  01:53:18,336
There's a button to accept online value as control values

1450

01:53:18,848  -->  01:53:22,432
control values will be over there written okay

1451

01:53:23,712  -->  01:53:28,576
This function is similar to snapshot of the data blocks

1452

01:53:29,344  -->  01:53:32,416
So I would change the 10

1453

01:53:32,928  -->  01:53:36,256
For instance than I of the press

1454

01:53:36,512  -->  01:53:38,048
Control button

1455

01:53:38,560  -->  01:53:44,704
current State of variable is 10 as numeric value

1456

01:53:46,240  -->  01:53:48,288
You can see here this branch

1457

01:53:49,312  -->  01:53:55,456
And this is a basic example for usage of the trace function

1458

01:53:55,968  -->  01:54:00,320
For monitoring and controlling our program

1459

01:54:06,208  -->  01:54:08,768
So I will close all the windows

1460

01:54:12,864  -->  01:54:18,752
This case we will continue with simulation simosim next chapters

1461

01:54:19,264  -->  01:54:25,408
And we will go more details into simotion programming environment

1462

01:54:25,664  -->  01:54:26,688
in scout

1463

01:54:29,504  -->  01:54:32,320
i will close task trace

1464

01:54:33,856  -->  01:54:36,928
on simotion site is possible to

1465

01:54:37,696  -->  01:54:40,768
Simulates all other options

1466

01:54:42,560  -->  01:54:44,864
I will set to stop mode

1467

01:54:46,912  -->  01:54:50,752
I can memory resets

1468

01:54:51,264  -->  01:54:53,312
the device from here

1469

01:54:54,336  -->  01:54:56,128
Are you sure yes!

1470

01:54:56,640  -->  01:55:00,736
So factory setting overall reset is executed

1471

01:55:01,504  -->  01:55:05,344
test mode has been terminated is a info

1472

01:55:07,136  -->  01:55:12,256
It's takes less time than the real system

1473

01:55:13,024  -->  01:55:14,048
so...

1474

01:55:16,864  -->  01:55:18,144
Now it's up to you

1475

01:55:19,424  -->  01:55:20,960
I set run mode

1476

01:55:21,728  -->  01:55:27,872
that's why now we see the orange and green icons there's an

1477

01:55:28,128  -->  01:55:30,176
Offline and online

1478

01:55:30,688  -->  01:55:34,272
Inconsistency when we compared two

1479

01:55:35,296  -->  01:55:37,600
Offline project with online device

1480

01:55:37,856  -->  01:55:41,696
So there's a shortcut button for object compression

1481

01:55:42,720  -->  01:55:47,840
When I click on the left side

1482

01:55:48,096  -->  01:55:51,168
With blue color Corporation partner A

1483

01:55:51,424  -->  01:55:57,568
offline projects and comperation partner B orange color is

1484

01:55:57,824  -->  01:56:01,664
our online device let's start the competition

1485

01:56:03,456  -->  01:56:09,600
So actually it's uploading the data from the online device after  that

1486

01:56:09,856  -->  01:56:15,744
The Scott will compare the two devices

1487

01:56:16,000  -->  01:56:17,792
at the offline mode actually

1488

01:56:18,560  -->  01:56:24,192
you will see here the status is different on execution system

1489

01:56:24,960  -->  01:56:28,800
there is a MCC unit in programs

1490

01:56:30,080  -->  01:56:32,128
Is different

1491

01:56:32,640  -->  01:56:36,992
on B partner is not existed

1492

01:56:37,504  -->  01:56:43,136
So the CF cart is empty in factory setting so that's true

1493

01:56:46,720  -->  01:56:49,024
You can select here the attribute

1494

01:56:49,280  -->  01:56:52,352
Folder, know how protection here

1495

01:56:54,400  -->  01:56:56,704
so on...

1496

01:56:56,960  -->  01:57:03,104
Information but is not enough for us because we didn't downloaded

1497

01:57:03,360  -->  01:57:06,176
Source code to CPU

1498

01:57:06,432  -->  01:57:12,576
So there is only one direction is possible to upload

1499

01:57:12,832  -->  01:57:13,856
from device

1500

01:57:14,624  -->  01:57:16,928
There are some button here to do that

1501

01:57:17,696  -->  01:57:23,840
data will be overwritten are you sure no I don't want to upload the data from the real system

1502

01:57:27,936  -->  01:57:31,520
so I willdownload our project

1503

01:57:32,032  -->  01:57:35,360
Which additional CPU options with

1504

01:57:35,872  -->  01:57:39,200
Source codes

1505

01:57:40,480  -->  01:57:42,016
Yes

1506

01:57:44,832  -->  01:57:47,904
So it's not possible to do it in run

1507

01:57:48,160  -->  01:57:49,440
Yeah I know that

1508

01:57:52,256  -->  01:57:56,096
Because I'm downloading whole project with Hardware config data

1509

01:57:56,352  -->  01:57:59,936
That's why it's resetting the target system

1510

01:58:02,752  -->  01:58:06,592
Sometimes in TIA scout

1511

01:58:06,848  -->  01:58:12,992
even we Didn't notify the hardware side of simotion it's needed to

1512

01:58:13,248  -->  01:58:15,808
Reset the system there some bugs!

1513

01:58:16,832  -->  01:58:21,952
That's why it takes longer engineering time than classical Scout world

1514

01:58:22,464  -->  01:58:27,328
now we downloaded the projects so everything's it's a green color

1515

01:58:28,352  -->  01:58:33,728
So I'm going to make some changes in our source codes

1516

01:58:34,240  -->  01:58:37,056
For instance in startup program

1517

01:58:40,640  -->  01:58:42,688
I will use some additional

1518

01:58:43,712  -->  01:58:44,736
commands here

1519

01:58:46,784  -->  01:58:49,088
For example st zoom

1520

01:58:49,344  -->  01:58:53,184
Is possible to enter here structured text comments

1521

01:58:54,464  -->  01:59:00,608
in MCC charts when I double click to zoom in a window opens

1522

01:59:00,864  -->  01:59:07,008
And on the left side it's automatically switched to comment Library

1523

01:59:10,592  -->  01:59:16,736
It's easy to use the drag-and-drop functionality to use some,

1524

01:59:16,992  -->  01:59:19,040
commands On the library

1525

01:59:20,832  -->  01:59:22,368
For instance

1526

01:59:23,392  -->  01:59:27,744
I can use mathematical functions sqr

1527

01:59:28,768  -->  01:59:30,560
Or modeller

1528

01:59:33,120  -->  01:59:36,960
There's also some bit logic commands and timers

1529

01:59:37,728  -->  01:59:40,288
FB functions

1530

01:59:44,128  -->  01:59:46,944
here there are convertion functions

1531

01:59:47,200  -->  01:59:50,016
bool to byte or other functions

1532

01:59:52,320  -->  01:59:58,464
And when we are searching for some command we just enter here

1533

02:00:00,256  -->  02:00:01,536
_rtrig

1534

02:00:02,048  -->  02:00:04,352
For instance

1535

02:00:07,936  -->  02:00:09,728
Or trigger

1536

02:00:11,008  -->  02:00:14,592
trigger Functions Rising edge

1537

02:00:16,384  -->  02:00:22,528
This is a function look so it's need an instance

1538

02:00:24,064  -->  02:00:26,624
So I let's add

1539

02:00:27,904  -->  02:00:32,000
The clock bits is input

1540

02:00:32,256  -->  02:00:36,864
I say GBO when I press the Ctrl + spacebar

1541

02:00:37,376  -->  02:00:43,520
see automatically the symbol selection box

1542

02:00:44,288  -->  02:00:49,408
there are some global bits defined before and i will use gbo true

1543

02:00:50,688  -->  02:00:53,760
After that I accept

1544

02:00:56,320  -->  02:00:58,368
I need to

1545

02:00:58,624  -->  02:01:01,440
Create and Define this variable

1546

02:01:04,000  -->  02:01:07,584
Is possible to Define as a local

1547

02:01:07,840  -->  02:01:09,632
Name is

1548

02:01:10,912  -->  02:01:15,776
DB trigger data type should be

1549

02:01:16,032  -->  02:01:17,568
sam Is the same

1550

02:01:18,592  -->  02:01:21,408
function block

1551

02:01:21,920  -->  02:01:23,968
Let's compile

1552

02:01:29,856  -->  02:01:35,232
So source has been generated successfully

1553

02:01:35,744  -->  02:01:39,840
Go to changing the social programs to download aground

1554

02:01:40,352  -->  02:01:46,496
This is information for you and I will see here the orange and green

1555

02:01:46,752  -->  02:01:52,896
icons between two systems offline and online that I'm going to call

1556

02:01:53,152  -->  02:01:53,920
compare

1557

02:01:54,176  -->  02:01:55,456
Two partners

1558

02:01:55,712  -->  02:01:57,760
af the same way

1559

02:02:03,648  -->  02:02:07,744
we will see here

1560

02:02:08,512  -->  02:02:13,376
Green status means the code is equal between

1561

02:02:13,632  -->  02:02:18,240
Two partners A and B offline project and online device

1562

02:02:19,520  -->  02:02:23,360
So device settings are consistent

1563

02:02:24,896  -->  02:02:29,760
There is some difference between

1564

02:02:30,272  -->  02:02:32,832
Two partners in source code

1565

02:02:33,856  -->  02:02:40,000
When I click the source code more detailed information will be generated

1566

02:02:40,256  -->  02:02:43,072
by system to show the user

1567

02:02:47,424  -->  02:02:48,704
Hopefully

1568

02:02:50,752  -->  02:02:55,872
So here there's a difference in MCC startup

1569

02:02:56,640  -->  02:03:02,784
Declarations is different, and formatting is different when I click this box

1570

02:03:03,808  -->  02:03:08,160
Your program is already open at the do you close editor yes!

1571

02:03:09,696  -->  02:03:14,560
editor automatically

1572

02:03:14,816  -->  02:03:15,840
Opens

1573

02:03:16,608  -->  02:03:18,144
Two partners

1574

02:03:18,656  -->  02:03:22,496
Side-by-side in divide our work area

1575

02:03:23,008  -->  02:03:25,056
into 2 windows

1576

02:03:26,080  -->  02:03:32,224
With the blue color on the left side you'll see here are offline project and offline codes

1577

02:03:32,480  -->  02:03:36,320
On the right side the online project and online codes

1578

02:03:36,576  -->  02:03:37,600
we added

1579

02:03:37,856  -->  02:03:39,392
st zoom block

1580

02:03:40,416  -->  02:03:43,744
Here and there isn't in online

1581

02:03:44,000  -->  02:03:46,048
Device

1582

02:03:47,584  -->  02:03:53,728
So if there is other differences you will see here

1583

02:03:54,496  -->  02:03:56,288
One by one as list

1584

02:03:57,824  -->  02:04:03,456
There's a small icon about the used command much here

1585

02:04:03,968  -->  02:04:06,016
X means

1586

02:04:06,272  -->  02:04:09,600
Not located in the B partner

1587

02:04:10,368  -->  02:04:16,000
So some buttons on the toolbar is activated

1588

02:04:16,256  -->  02:04:22,400
it is possible to-go the next difference jump next difference or jump back to

1589

02:04:22,656  -->  02:04:24,704
Previous this difference

1590

02:04:25,728  -->  02:04:29,312
Or it is possible to accept current block

1591

02:04:29,568  -->  02:04:33,152
From online system to our project

1592

02:04:33,920  -->  02:04:38,272
Or it's possible to accept or differences

1593

02:04:38,528  -->  02:04:43,392
And over writes to our offline project from online device

1594

02:04:45,184  -->  02:04:46,208
So...

1595

02:04:47,232  -->  02:04:53,376
It's a good thing to download at this case the source code of the project

1596

02:04:55,936  -->  02:05:02,080
then you can do to make your program consistent

1597

02:05:02,848  -->  02:05:04,640
If some other colleague

1598

02:05:05,152  -->  02:05:10,016
goes to system and goes online and make some differences

1599

02:05:10,784  -->  02:05:15,392
After that couple of days you will collect the system you can just

1600

02:05:15,904  -->  02:05:16,928
Upload and

1601

02:05:17,440  -->  02:05:21,024
Differences to your project is possible

1602

02:05:26,144  -->  02:05:30,752
when i click the data transfer button then data will be overwritten. okay

1603

02:05:33,568  -->  02:05:39,712
So MCC unit 1 exports is completed in imPort is completed

1604

02:05:41,504  -->  02:05:43,040
There's a message

1605

02:05:43,296  -->  02:05:47,136
Couldn't be perform startup Let's see

1606

02:05:48,928  -->  02:05:50,976
MCC units startup

1607

02:05:55,840  -->  02:05:58,400
Actually data has been changed

1608

02:05:59,680  -->  02:06:02,240
Now I am compile again

1609

02:06:04,288  -->  02:06:06,592
Create procedure successful

1610

02:06:08,640  -->  02:06:11,200
Now you see here

1611

02:06:11,456  -->  02:06:17,600
it Is green that means online and offline Partners consistent system at

1612

02:06:17,856  -->  02:06:20,160
Our backup is up to date

1613

02:06:22,976  -->  02:06:29,120
So this is an quick information an overview of how

1614

02:06:29,376  -->  02:06:31,168
do we do comperation

1615

02:06:31,424  -->  02:06:34,752
Between offline and online partners

1616

02:06:36,544  -->  02:06:38,336
if also

1617

02:06:38,592  -->  02:06:42,688
Possible to do this conversation between offline

1618

02:06:43,456  -->  02:06:46,016
And other offline project

1619

02:06:48,064  -->  02:06:52,928
Then we will select here object from a saved object

1620

02:06:54,208  -->  02:06:58,560
we should find the other project here

1621

02:06:59,328  -->  02:07:00,608
with simotion

1622

02:07:01,632  -->  02:07:04,448
simoroll for instance

1623

02:07:04,704  -->  02:07:07,776
then we'll select the CPU

1624

02:07:08,032  -->  02:07:12,128
Then it is possible to compare two objects

1625

02:07:13,152  -->  02:07:16,480
Partner A / B as offline projects

1626

02:07:19,296  -->  02:07:25,440
So you see here all the AXES CAMS programs and differences here

1627

02:07:25,696  -->  02:07:30,816
it is possible to copy a data from one to another

1628

02:07:34,144  -->  02:07:35,680
You will see here

1629

02:07:35,936  -->  02:07:37,216
Some changes

1630

02:07:38,496  -->  02:07:40,288
and so on...

1631

02:07:43,872  -->  02:07:50,016
So far so good i will switch back to offline modes and disconnect target system

1632

02:07:52,576  -->  02:07:56,672
Let's see each for next chapter