1. Date:23.07.2015 File:MC-SMO-SYS_07.1 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives The SIMOTION Execution System

2. Date:23.07.2015 File:MC-SMO-SYS_07.2 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Automating Technical Processes Machine/plantSIMOTION execution system Motion/part processes Tasks n Multitasking n Real-time

3. Date:23.07.2015 File:MC-SMO-SYS_07.3 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives The SIMOTION Execution System Servo level DP level IPO level Interrupt level Round robin level    Priority 

4. Date:23.07.2015 File:MC-SMO-SYS_07.4 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Task Structure of the Execution System (1) Time-controlled execution levels Event-controlled execution levels Free-running execution level System startup/stop Priority High Medium Low T5 DccAux TaskIPO_2 TaskIPOSynchronousTask_2T3 (DCC) Task Motion Tasks Timer Interrupt TasksSystem Interrupt TasksSystem levelDP/PN Comm. board or Servo Task System Interrupt Tasks User Interrupt TasksMotion Tasks System startupSystem shutdownTimer Interrupt Tasks Wait For Condition Background Task ServoSynchronousTaskT1 (DCC) TaskIPO TaskIPOSynchronousTaskT2 (DCC) TaskTemp. ControlT4 DccAux Task

5. Date:23.07.2015 File:MC-SMO-SYS_07.5 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Task Structure of the Execution System (2) Time-controlled execution levels Event-controlled execution levels Free-running execution level System startup/stop Priority High Medium Low T5 DccAux TaskIPO_2 TaskIPOSynchronousTask_2T3 (DCC) Task Motion Tasks Timer Interrupt TasksSystem Interrupt TasksSystem levelDP/PN Comm. board or Servo Task System Interrupt Tasks User Interrupt TasksMotion Tasks System startupSystem shutdownTimer Interrupt Tasks Wait For Condition Background Task ServoSynchronousTaskT1 (DCC) TaskIPO TaskIPOSynchronousTaskT2 (DCC) TaskTemp. ControlT4 DccAux Task

6. Date:23.07.2015 File:MC-SMO-SYS_07.6 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Clock Synchronization on the PROFIBUS SIMOTION DP communicaton GC Sl. 1 Sl. 2 Sl. 3 PCT1PCT2PCT3 Acycl. part Res. T i T o Sl. 1 Sl. 2 Sl. 3 T dx GC: Global control frame T i: read in process values To:output process values T dx:Sum of transfer time for all slaves T dp:DP cycle time PCT: Position controller BT:BackgroundTask T dp Drives Position control interrupt Actual values Setpoints IPO... BT

7. Date:23.07.2015 File:MC-SMO-SYS_07.7 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Setting the System Cycles Clocks System Cycle Clocks

8. Date:23.07.2015 File:MC-SMO-SYS_07.8 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Overview of the User Tasks Task IPOSynchronousTask T2/T3 Anzahl 2 TimeFaultTask1 TimeFaultBackgroundTask1 TechnologicalFaultTask1 PeripheralFaultTask1 ExecutionFaultTask1 TimerInterruptTask5 2 BackgroundTask1 MotionTask32 (with V4.0) StartupTask1 ShutdownTask1 Task Event-controlled (system) Round robin level Time-controlled Startup /Shutdown Event-controlled (user)UserInterruptTask ServoSynchronousTask T11 DccAuxTask T4/T52(with V4.1)

9. Date:23.07.2015 File:MC-SMO-SYS_07.9 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Time-Controlled Task Processing (1) Example 1: No InterruptTask active Default setting:DP cycle Servo cycle IPO cycle 1 1 2 DP cycle PCT cycle IPO cycle Servo task IPO-Task SystemInterrupt Task TimerInterrupt Task_1 TimerInterrupt Task_2 Round robin level UserInterrupt Task Tdx GC cyclicacyclic

10. Date:23.07.2015 File:MC-SMO-SYS_07.10 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Time-Controlled Task Processing (2) Example 1: No InterruptTask active Default setting:DP cycle Servo cycle IPO cycle 1 1 2 DP cycle PCT cycle IPO cycle IPO-Task SystemInterrupt Task TimerInterrupt Task_1 TimerInterrupt Task_2 Round robin level UserInterrupt Task Tdx GC Servo task cyclicacyclic

11. Date:23.07.2015 File:MC-SMO-SYS_07.11 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Cycles at the Round Robin Level MotionTask_1 MotionTask_20 Internal tasks BackgroundTask

12. Date:23.07.2015 File:MC-SMO-SYS_07.12 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Task Time unit Background n Motion 1 1 Motion 21.... Communication1 Example: n=5n=2 Example of Time Slice Allocation at the Round Robin Level n=1 n=10n=20 Time

13. Date:23.07.2015 File:MC-SMO-SYS_07.13 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Assigning Programs to Tasks 1. Open execution system 2. Select task 3. Select program 4. Assign program 5.Use task in the execution system

14. Date:23.07.2015 File:MC-SMO-SYS_07.14 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Example: Setting Task Parameters for UserInterruptTask Start condition

15. Date:23.07.2015 File:MC-SMO-SYS_07.15 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Task Runtimes and Task Status Information

16. Date:23.07.2015 File:MC-SMO-SYS_07.16 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Task Handling Operations in MCC Start Task Interrupt Task Continue Task Reset Task Task State Determine TaskId

17. Date:23.07.2015 File:MC-SMO-SYS_07.17 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives e.g.: _task.MotionTask_1 Start task Restart a task Operations for Starting Tasks in LAD/FBD _startTaskId ENENO idOUT BOOL StructTaskId BOOL DWORD _restartTaskId ENENO idOUT BOOL StructTaskId BOOL DWORD Assign input parameter "id":

18. Date:23.07.2015 File:MC-SMO-SYS_07.18 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Starting and Stopping Tasks in LAD/FBD _resetTaskId ENENO idOUT BOOL StructTaskId BOOL DWORD Reset task _resumeTaskId ENENO idOUT BOOL StructTaskId BOOL DWORD Resume task _suspendTaskId ENENO idOUT BOOL StructTaskId BOOL DWORD Interrupt task

19. Date:23.07.2015 File:MC-SMO-SYS_07.19 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives Returning the Task State in LAD/FBD _getStateOfTaskId ENENO idOUT BOOL StructTaskId BOOL DWORD Determine task state Return value "OUT" indicates ORing of the following states: 16#0000:Specified task does not exist (TASK_STATE_INVALID) 16#0001:Transition RUN to STOP (TASK_STATE_STOP_PENDING) 16#0002:Task is stopped (TASK_STATE_STOPPED) 16#0004:Task running (TASK_STATE_RUNNING) 16#0010:Task waiting (TASK_STATE_WAITING) 16#0020:Task is suspended (TASK_STATE_SUSPENDED) 16#0040:TimerInterruptTask waiting for next cycle (TASK_STATE_WAIT_NEXT_CYCLE) 16#0080UserInterruptTask or SystemInterruptTask waiting for next event (TASK_STATE_WAIT_NEXT_INTERRUPT) 16#0100Task disabled by _disablescheduler (TASK_STATE_LOCKED)

20. Date:23.07.2015 File:MC-SMO-SYS_07.20 SIMOTION Siemens AG 2008. All rights reserved. SITRAIN Training for Automation and Drives State Model for Tasks TS_STOP _PENDING TS _WAIT_NEXT _CYCLE TS _WAIT_NEXT _INTERRUPT TS _LOCKED TS _STOPPED _resetTask() _restartTask() WAITFORCONDITION _waitTime() TS _RUNNING TS _WAITING Condition fulfilled TS_ SUSPENDED _suspendTask() _resumeTask() MT completed terminated Next interrupt _disableScheduler _enableScheduler TS _INVALID