Simotion (Basic)

Preface
System overview 1
Technology Packages and
Technology Objects 2
SIMOTION
Programming with
Technology Objects 3
SIMOTION SCOUT
Basic functions Error Handling in Technology
4
Objects
Execution System, Tasks,

and System Cycle Clocks 5
Function Manual
Programming Execution
System/Tasks/System Cycle 6
Clocks
Programming of general
standard functions 7
Programming of general
system function blocks 8
Error sources and efficient
programming 9
Appendix A A
03/2007
Safety Guidelines
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent
damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert
symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are
graded according to the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
with a safety alert symbol, indicates that minor personal injury can result if proper precautions are not taken.
CAUTION
without a safety alert symbol, indicates that property damage can result if proper precautions are not taken.
NOTICE
indicates that an unintended result or situation can occur if the corresponding information is not taken into
account.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will
be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to
property damage.
Qualified Personnel
The device/system may only be set up and used in conjunction with this documentation. Commissioning and
operation of a device/system may only be performed by qualified personnel. Within the context of the safety notes
in this documentation qualified persons are defined as persons who are authorized to commission, ground and
label devices, systems and circuits in accordance with established safety practices and standards.
Prescribed Usage
Note the following:
WARNING
This device may only be used for the applications described in the catalog or the technical description and only
in connection with devices or components from other manufacturers which have been approved or
recommended by Siemens. Correct, reliable operation of the product requires proper transport, storage,
positioning and assembly as well as careful operation and maintenance.
Trademarks
All names identified by are registered trademarks of the Siemens AG. The remaining trademarks in this
publication may be trademarks whose use by third parties for their own purposes could violate the rights of the
owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software
described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the
information in this publication is reviewed regularly and any necessary corrections are included in subsequent
editions.
Siemens AG Copyright Siemens AG 2007.

Automation and Drives 07/2007 Technical data subject to change
Postfach 48 48
90437 NRNBERG
GERMANY
Preface
Content
This document is part of the System and Function Descriptions documentation package.
Scope of validity
This manual is valid for SIMOTION SCOUT V4.1:
SIMOTION SCOUT V4.1 (engineering system for the SIMOTION product range),
SIMOTION Kernel V4.1, V4.0, V3.2, V3.1 or V3.0
SIMOTION technology packages Cam, Cam_ext (Kernel V3.2 and later) and TControl in
the version for the respective kernel (including technology packages Gear, Position and
Basic MC up to Kernel V3.0).
Chapters in this manual

This manual describes the generally applicable functions of SIMOTION and technology
objects.
System overview
General information on SIMOTION.
Technology Packages and Technology Objects
Basic information on the technology packages and the technology objects.
Programming of Technology Objects
Information how and with which system functions technology objects can be
programmed.
Error Handling in Technology Objects
General information on technological alarms and command return values.
Execution System, Tasks, and System Cycle Clocks
Information on the execution system and tasks.
Programming Execution System/Tasks/System Cycle Clocks
Information for the programming of the execution system, tasks and system cycle clocks.
Programming of General System Functions
Information which general system functions exist and how they are used.
Programming of General System Function Blocks
Information which general system blocks exist and how they are used.
Index
Keyword index for locating information.
Basic functions
Function Manual, 03/2007 3
Preface
SIMOTION Documentation
An overview of the SIMOTION documentation can be found in a separate list of references.
This documentation is included as electronic documentation with the supplied SIMOTION
SCOUT.
The SIMOTION documentation consists of 9 documentation packages containing
approximately 60 SIMOTION documents and documents on other products (e.g.
SINAMICS).
The following documentation packages are available for SIMOTION V4.1:
SIMOTION Engineering System
SIMOTION System and Function Descriptions
SIMOTION Diagnostics
SIMOTION Programming
SIMOTION Programming - References
SIMOTION C2xx
SIMOTION P350
SIMOTION D4xx
SIMOTION Supplementary Documentation
Hotline and Internet addresses

If you have any technical questions, please contact our hotline (worldwide):
A&D Technical Support:
Phone: +49 (180) 50 50 222
Fax: +49 (180) 50 50 223
Email: adsupport@siemens.com
Internet: http://www.siemens.de/automation/support-request
If you have any questions, suggestions, or corrections regarding the documentation, please
fax or e-mail them to:
Fax: +49 (9131) 98 63315
Email: docu.motioncontrol@siemens.com
Siemens Internet address

The latest information about SIMOTION products, product support, and FAQs can be found
on the Internet at:
General information:
http://www.siemens.de/simotion (German)
http://www.siemens.com/simotion (international)
Product support:
http://support.automation.siemens.com/WW/view/en/10805436
Basic functions
4 Function Manual, 03/2007
Preface
Additional support
We also offer introductory courses to help you familiarize yourself with SIMOTION.
Please contact your regional training center or our main training center at D-90027
Nuremberg, phone +49 (911) 895 3202.
Basic functions
Table of contents
Preface ...................................................................................................................................................... 3
1 System overview...................................................................................................................................... 15
1.1 SIMOTION motion control............................................................................................................15
1.2 Fields of application .....................................................................................................................16
1.3 Fusion of PLC and motion control ...............................................................................................17
1.4 Totally Integrated Automation ......................................................................................................17
1.5 Hardware platforms......................................................................................................................18
1.6 System architecture .....................................................................................................................19
1.6.1 SIMOTION system architecture ...................................................................................................20
1.6.2 SIMOTION SCOUT Engineering System ....................................................................................21
1.6.3 SIMOTION project .......................................................................................................................22
1.6.4 Offline/online mode ......................................................................................................................23
1.6.5 Programming................................................................................................................................23
2 Technology Packages and Technology Objects ...................................................................................... 25
2.1 Introduction ..................................................................................................................................25
2.2 Technology packages ..................................................................................................................28
2.3 Technology objects (TO)..............................................................................................................28
2.3.1 Instantiation and configuration .....................................................................................................29
2.3.2 Programming................................................................................................................................29
2.3.3 Programming................................................................................................................................30
2.3.4 Interconnections...........................................................................................................................33
2.3.5 Technology objects and DCC ......................................................................................................34
2.3.6 Available technology objects........................................................................................................36
2.4 SIMOTION memory concept (target system) ..............................................................................37
2.4.1 Storage Concept in the Target System........................................................................................37
2.5 Expert list .....................................................................................................................................39
2.5.1 Expert list for configuration data and system variables ...............................................................40
2.5.2 Using the expert list .....................................................................................................................43
2.6 Interconnection of technology objects (for experts) .....................................................................48
2.6.1 Interconnection via the general interconnection screen form in SCOUT.....................................49
2.6.2 General properties of interconnection interfaces .........................................................................50
2.6.3 Interconnection interfaces on the TOs.........................................................................................51
2.6.4 'Motion' interconnection interface type.........................................................................................55
2.6.5 'LREAL' interconnection interface type ........................................................................................56
3 Programming with Technology Objects ................................................................................................... 59
3.1 Definitions ....................................................................................................................................59
3.2 Programming technology objects (TOs) ......................................................................................60
3.2.1 Using technology functions in a program.....................................................................................60
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3.2.2 Differences between cyclical and sequential programming........................................................ 63

3.2.3 Input parameters of technology functions ................................................................................... 64
3.2.4 Transition and step enabling conditions...................................................................................... 69
3.2.5 Command execution diagnostics ................................................................................................ 73
3.2.6 Identifiers of technology object instances ................................................................................... 75
3.2.7 Conversion of TO data types ...................................................................................................... 75
3.2.8 System variables......................................................................................................................... 77
3.2.9 Configuration data....................................................................................................................... 81
3.2.10 Resetting a technology object..................................................................................................... 84
3.2.11 Use of technology packages in libraries ..................................................................................... 85
3.3 Response to faults and events.................................................................................................... 86
3.3.1 Evaluating faults and events ....................................................................................................... 86
3.3.2 Execution errors in programs ...................................................................................................... 87
3.3.3 Access errors to system variables and configuration data, as well as I/O variables for
direct access ............................................................................................................................... 88
3.3.4 Errors when generating the process image ................................................................................ 89
3.3.5 Using Taskstartinfo ..................................................................................................................... 90
4 Error Handling in Technology Objects ................................................................................................... 103
4.1 Possible errors in technology objects ....................................................................................... 103
4.2 Process Alarms ......................................................................................................................... 103
4.2.1 Local response.......................................................................................................................... 104
4.2.2 Global response ........................................................................................................................ 105
4.2.3 Error activation .......................................................................................................................... 105
4.2.4 Configure technological alarms................................................................................................. 106
4.2.5 Displaying and acknowledging technological alarms................................................................ 109
4.2.6 Acknowledging via the user program........................................................................................ 110
4.2.7 Evaluating in the user program ................................................................................................. 113
4.3 Return values of commands ..................................................................................................... 114
4.4 Error while accessing system data ........................................................................................... 115
5 Execution System, Tasks, and System Cycle Clocks ............................................................................ 119
5.1 Execution system ...................................................................................................................... 119
5.1.1 Execution levels / tasks............................................................................................................. 120
5.1.2 Execution system in SIMOTION SCOUT.................................................................................. 123
5.1.3 Task priorities............................................................................................................................ 125
5.1.4 Runtime model in SIMOTION ................................................................................................... 128
5.2 Description of the user program tasks ...................................................................................... 130
5.2.1 StartupTask ............................................................................................................................... 130
5.2.2 MotionTasks.............................................................................................................................. 132
5.2.3 BackgroundTask ....................................................................................................................... 135
5.2.4 TimerInterruptTasks .................................................................................................................. 138
5.2.5 SynchronousTasks.................................................................................................................... 141
5.2.6 SystemInterruptTasks ............................................................................................................... 148
5.2.7 UserInterruptTasks.................................................................................................................... 153
5.2.8 ShutdownTask .......................................................................................................................... 157
5.3 Configure execution system...................................................................................................... 159
5.3.1 Assigning programs to the execution levels/tasks .................................................................... 159
5.3.2 Selecting the cycle clock source ............................................................................................... 163
5.3.3 Defining system cycle clocks .................................................................................................... 164
5.3.4 Task runtimes............................................................................................................................ 169
5.3.5 Timeouts and level overflows.................................................................................................... 171
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5.3.6 Information on starting a task: TaskStartInfo (TSI) ....................................................................173

5.3.7 Watchdog ...................................................................................................................................173
5.4 Time allocation in the round robin execution level.....................................................................175
5.4.1 Setting of the time allocation......................................................................................................177
5.4.2 Settings (examples) ...................................................................................................................178
5.4.3 Processing of the tasks (examples)...........................................................................................181
5.5 Isochronous I/O processing on fieldbus systems ......................................................................184
5.5.1 Data protocol on PROFIBUS DP ...............................................................................................184
5.5.2 Data protocol on PROFINET IO.................................................................................................185
5.5.3 Isochronous data processing .....................................................................................................186
5.5.4 Dynamic response with respect to data processing in the control.............................................189
5.5.5 Dynamic response with respect to data transmission from the acquisition to the
processing..................................................................................................................................191
5.5.6 Dynamic response for data acquisition and data output............................................................191
5.5.7 Determination of Tdp, Ti and To using HW Config for ET 200 I/O devices on the
PROFIBUS.................................................................................................................................191
5.5.8 Handling cycle clock scaling ......................................................................................................192
5.5.9 Configuring PROFIBUS DP in HW Config to optimize run-time ................................................193
5.6 Integrating DCC into the SIMOTION execution system ............................................................195
5.6.1 Introduction ................................................................................................................................195
5.6.2 Sequence model for DCC blocks (DCB)....................................................................................195
5.6.3 servoDccTask in the servo level ................................................................................................197
5.6.4 ipoDcc Task in the IPO level......................................................................................................198
5.6.5 ipoDcc_2 Task in the IPO2 level ................................................................................................199
5.6.6 Execution levels for DccAux and DccAux_2 ..............................................................................200
5.6.7 Data exchange between blocks .................................................................................................201
5.6.7.1 Data exchange between blocks (overview) ...............................................................................201
5.6.7.2 Data exchange between blocks in the same level.....................................................................201
5.6.7.3 Data for blocks from a lower-priority level..................................................................................203
5.6.7.4 Data for blocks from a higher-priority level ................................................................................206
5.6.8 Interconnection of blocks with variables ....................................................................................207
5.6.8.1 Interconnection with variables....................................................................................................207
5.6.8.2 Behavior for FPU exceptions .....................................................................................................208
5.7 Include drive I/O .........................................................................................................................209
5.7.1 Terminal modules TM15 and TM17 High Feature .....................................................................209
5.7.2 TM31, TM41, TM15 DI/DO terminal modules, TB30 terminal board and onboard I/Os on
SIMOTION D or CU310/CU320 and CX32................................................................................209
6 Programming Execution System/Tasks/System Cycle Clocks............................................................... 213
6.1 Execution system.......................................................................................................................213
6.1.1 Introduction to the execution system .........................................................................................213
6.1.2 Execution levels and tasks.........................................................................................................213
6.1.3 Task start sequence...................................................................................................................215
6.1.4 Configure execution system.......................................................................................................215
6.1.4.1 Specifications for the configuring ...............................................................................................215
6.1.4.2 Assigning programs to the tasks................................................................................................216
6.1.5 Effect of the task execution behavior on the variable initialization ............................................216
6.1.5.1 Time for the initialization of local program variables..................................................................216
6.1.5.2 Assigning initial values to unit variables ....................................................................................217
6.1.5.3 Use multiple VAR_GLOBAL, VAR_GLOBAL RETAIN blocks ...................................................218
6.1.5.4 Influence of the compiler on variable initialization .....................................................................218
6.1.5.5 Marking HMI relevant data.........................................................................................................220
6.1.6 Task status.................................................................................................................................221
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6.1.6.1 Querying and meaning of the task states ................................................................................. 221

6.1.6.2 Combinations of task states ...................................................................................................... 222
6.1.6.3 Example of using the task states .............................................................................................. 222
6.1.7 Waiting in MotionTask for a condition to be satisfied................................................................ 223
6.1.7.1 Syntax of the condition of the EXPRESSION ........................................................................... 223
6.1.7.2 Syntax of the WAITFORCONDITION statement ...................................................................... 224
6.1.7.3 Effect of the WAITFORCONDITION statement ........................................................................ 224
6.1.7.4 Example of use of WAITFORCONDITION ............................................................................... 225
6.1.7.5 Example for time verification via FB.......................................................................................... 226
6.1.7.6 Example for using WAITFORCONDITION with time monitoring directly in non-cyclic task /
Motion Task............................................................................................................................... 227
6.1.8 Making tasks wait a defined period........................................................................................... 228
6.1.9 Procedure for a download in RUN ............................................................................................ 230
6.1.9.1 Download in Run....................................................................................................................... 230
6.1.9.2 Options for download in RUN ................................................................................................... 233
6.1.9.3 Example of a While loop ........................................................................................................... 238
6.1.9.4 Example of the syntax of Block_Init_on_Change ...................................................................... 238
6.2 Task control commands ............................................................................................................ 239
6.2.1 Overview of the task control commands ................................................................................... 239
6.2.2 Example for using a task control command .............................................................................. 241
6.2.3 _getStateOfTaskId function....................................................................................................... 241
6.2.4 _resetTaskId function ................................................................................................................ 243
6.2.5 _restartTaskId function.............................................................................................................. 245
6.2.6 _resumeTaskId function ............................................................................................................ 246
6.2.7 _retriggerTaskIdControlTime function....................................................................................... 247
6.2.8 _startTaskId function ................................................................................................................. 249
6.2.9 _suspendTaskId function .......................................................................................................... 250
6.2.10 _getTaskId function ................................................................................................................... 252
6.2.11 _checkEqualTask function ........................................................................................................ 253
6.3 Functions for runtime measurement of tasks............................................................................ 254
6.3.1 Functions for runtime measurement of tasks - overview .......................................................... 254
6.3.2 _getMaximalTaskIdRunTime function....................................................................................... 255
6.3.3 _getMinimalTaskIdRunTime function........................................................................................ 256
6.3.4 _getCurrentTaskIdRunTime function ........................................................................................ 258
6.3.5 Function _getAverageTaskIdRunTime...................................................................................... 259
6.3.6 Functions for the precise runtime measurement of tasks ......................................................... 261
6.3.7 Function _getInternalTimeStamp .............................................................................................. 261
6.3.8 Function _getTimeDifferenceOfInternalTimeStamp.................................................................. 262
6.4 Functions for message programming (AlarmS) ........................................................................ 262
6.4.1 General information for the message programming ................................................................. 262
6.4.2 _alarmSId function .................................................................................................................... 263
6.4.3 _alarmSqId function .................................................................................................................. 267
6.4.4 _alarmScId function................................................................................................................... 270
6.4.5 _getAlarmId function ................................................................................................................. 271
6.4.6 Function _getPendingAlarms .................................................................................................... 273
6.4.7 Functions _resetAlarmId and _reset_AllAlarmId ....................................................................... 273
7 Programming of general standard functions .......................................................................................... 275
7.1 Programming of general standard functions - overview ........................................................... 275
7.2 Numeric standard functions ...................................................................................................... 276
7.2.1 Special features of a numeric function...................................................................................... 276
7.2.2 General numeric standard functions ......................................................................................... 276
7.2.3 Logarithmic standard functions ................................................................................................. 277
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7.2.4 Trigonometric standard functions...............................................................................................277

7.2.5 Bit string standard functions.......................................................................................................278
7.3 Access to bits in bit strings.........................................................................................................279
7.3.1 _getBit function...........................................................................................................................279
7.3.2 _setBit function...........................................................................................................................281
7.3.3 _toggleBit function......................................................................................................................283
7.4 Bit operations on numeric data types ........................................................................................284
7.5 String processing (from V4.0 and greater).................................................................................284
7.5.1 Functions for the string editing...................................................................................................284
7.5.2 Error analysis during the string editing ......................................................................................287
7.6 Standard functions for data type conversion .............................................................................288
7.6.1 Functions for the conversion of numeric data types and bit data types.....................................288
7.6.2 Functions for converting date and time data types ....................................................................293
7.6.3 Functions for the conversion of enumeration data types...........................................................294
7.6.4 Conversions between BYTE and STRING ................................................................................294
7.6.5 Functions for the conversion of INT/FLOAT and STRING data types.......................................295
7.7 Converting between any data types and byte arrays ................................................................296
7.7.1 General ......................................................................................................................................296
7.7.2 AnyType_to_BigByteArray function, AnyType_to_LittleByteArray function ...............................297
7.7.3 BigByteArray_to_AnyType function, LittleByteArray_to_AnyType function ...............................298
7.8 Combining bit-string data types .................................................................................................300
7.8.1 General information for combining bit-string data types ............................................................300
7.8.2 _BYTE_FROM_8BOOL function ................................................................................................301
7.8.3 _WORD_FROM_2BYTE function...............................................................................................301
7.8.4 _DWORD_FROM_2WORD function ..........................................................................................302
7.8.5 _DWORD_FROM_4BYTE function ............................................................................................303
7.9 Conversion of technology object data types ..............................................................................304
7.9.1 AnyObject_to_Object function....................................................................................................304
7.10 Functions for verification of floating-point numbers ...................................................................305
7.10.1 _finite function ............................................................................................................................305
7.10.2 _isNaN function ..........................................................................................................................306
7.11 Functions for selection ...............................................................................................................307
7.11.1 SEL function...............................................................................................................................307
7.11.2 MUX function..............................................................................................................................308
7.11.3 MAX function..............................................................................................................................310
7.11.4 MIN function ...............................................................................................................................311
7.11.5 LIMIT function ............................................................................................................................312
7.12 Working with variables ...............................................................................................................313
7.12.1 General ......................................................................................................................................313
7.12.2 _testAndSetSemaphore function ...............................................................................................313
7.12.3 _releaseSemaphore function .....................................................................................................314
7.13 Access to system variables and inputs/outputs .........................................................................315
7.13.1 General information on accessing system variables and inputs/outputs...................................315
7.13.2 _getSafeValue function ..............................................................................................................316
7.13.3 _setSafeValue function ..............................................................................................................318
7.13.4 _getInOutByte function...............................................................................................................322
7.14 Backing up data from the user program ....................................................................................323
7.14.1 General information on data backup from the user program.....................................................323
7.14.2 _saveUnitDataSet function.........................................................................................................324
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7.14.3 _loadUnitDataSet function......................................................................................................... 328

7.14.4 _exportUnitDataSet function (as of Kernel V3.2) ...................................................................... 331
7.14.5 _importUnitDataSet function (as of Kernel V3.2) ...................................................................... 335
7.14.6 _deleteUnitDataSet function...................................................................................................... 338
7.14.7 _getStateOfUnitDataSetCommand function ............................................................................. 340
7.14.8 _checkExistingUnitDataSet function ......................................................................................... 341
7.14.9 _deleteAllUnitDataSets function................................................................................................ 343
7.15 Functions for commandId.......................................................................................................... 345
7.15.1 _getCommandId function .......................................................................................................... 345
7.15.2 _getSyncCommandId function .................................................................................................. 346
7.16 Defining the waiting time ........................................................................................................... 347
7.16.1 _waitTime function .................................................................................................................... 347
7.17 Device-specific functions........................................................................................................... 348
7.17.1 _getDeviceId function................................................................................................................ 348
7.17.2 _getMemoryCardId function ...................................................................................................... 349
7.17.3 _setDeviceErrorLED function .................................................................................................... 351
7.18 Determine the memory size of a variable or of a data type ...................................................... 351
7.18.1 _sizeOf function......................................................................................................................... 351
7.19 Additional available system functions ....................................................................................... 353
7.20 Application of certain system functions..................................................................................... 353
7.20.1 Programming messages ........................................................................................................... 353
7.20.1.1 General...................................................................................................................................... 353
7.20.1.2 Overview of the functions.......................................................................................................... 354
7.20.1.3 AlarmId ...................................................................................................................................... 355
7.20.1.4 Buffer management of AlarmS.................................................................................................. 355
7.20.1.5 Example of message generation .............................................................................................. 357
7.20.1.6 Checking the error number and status of a message (filtering return values).......................... 358
7.20.2 Consistent reading and writing of variables (semaphores)....................................................... 359
7.20.2.1 Consistent data access ............................................................................................................. 359
7.20.2.2 Semaphores.............................................................................................................................. 359
7.20.2.3 Example: Consistent data access with semaphores ................................................................ 360
7.20.3 Data backup and initialization from user program .................................................................... 361
7.20.3.1 Data backup and data initialization from user program - functions and instructions ................ 361
7.20.3.2 Input parameters ....................................................................................................................... 362
7.20.3.3 Return value.............................................................................................................................. 363
7.20.3.4 Storage location and memory requirement............................................................................... 364
7.20.3.5 Step enabling condition............................................................................................................. 364
7.20.4 Converting between any data types and byte arrays (marshalling).......................................... 366
7.20.5 Communication functions.......................................................................................................... 369
7.20.5.1 Available functions .................................................................................................................... 369
7.20.5.2 Parameter description for _Xsend............................................................................................. 370
7.20.5.3 Parameter description for _Xreceive......................................................................................... 371
7.20.5.4 Parameter description for _GetStateOfXCommand.................................................................. 372
7.20.5.5 Communication between SIMOTION and SIMATIC S7 devices .............................................. 372
7.20.5.6 Example of send and receive program ..................................................................................... 374
7.20.5.7 Communication via Ethernet with TCP/IP protocol ................................................................... 376
7.20.5.8 Communication via Ethernet with UDP protocol ....................................................................... 377
7.20.6 Synchronous start ..................................................................................................................... 377
7.21 HMI (Human Machine Interface) connection ............................................................................ 379
7.21.1 Interface between HMI and SCOUT or SIMOTION .................................................................. 379
7.21.2 Example of a ProTool application ............................................................................................. 379
7.21.3 Consistent data access with HMI devices (example) ............................................................... 379
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8 Programming of general system function blocks.................................................................................... 383

8.1 Overview of the function blocks .................................................................................................383
8.2 Bistable elements (set flip-flop)..................................................................................................385
8.3 Edge detection ...........................................................................................................................387
8.4 Counters.....................................................................................................................................390
8.4.1 General information on counters................................................................................................390
8.4.2 CTU up counter..........................................................................................................................390
8.4.3 CTU_DINT up counter ...............................................................................................................391
8.4.4 CTU_UDINT up counter.............................................................................................................391
8.4.5 CTD down counter .....................................................................................................................392
8.4.6 CTD_DINT down counter...........................................................................................................392
8.4.7 CTD_UDINT down counter ........................................................................................................393
8.4.8 CTUD up/down counter .............................................................................................................393
8.4.9 CTUD_DINT up/down counter ...................................................................................................394
8.4.10 CTUD_UDINT up/down counter.................................................................................................395
8.5 Timers ........................................................................................................................................395
8.6 Splitting bit-string data types......................................................................................................399
8.6.1 General information for splitting bit-string data types ................................................................399
8.6.2 _BYTE_TO_8BOOL function block ............................................................................................399
8.6.3 _WORD_TO_2BYTE function block...........................................................................................400
8.6.4 _DWORD_TO_2WORD function block ......................................................................................401
8.6.5 _DWORD_TO_4BYTE function block ........................................................................................402
8.7 Emulation of SIMATIC S7 commands .......................................................................................403
8.7.1 General ......................................................................................................................................403
8.7.2 _S7_COUNTER function block ..................................................................................................403
8.7.3 _S7_TIMER function block.........................................................................................................405
9 Error sources and efficient programming ............................................................................................... 407
9.1 Error sources during programming ............................................................................................407
9.1.1 Error sources during programming ............................................................................................407
9.1.2 Checking data types when assigning arithmetic expressions ...................................................407
9.1.3 Checking start of functions in cyclic tasks every time................................................................408
9.1.4 Wait times in cyclic tasks ...........................................................................................................408
9.1.5 Using the commandId parameter correctly................................................................................409
9.1.6 Locating errors (ST programs)...................................................................................................409
9.1.7 Errors on download....................................................................................................................410
9.1.8 CPU does not switch to RUN.....................................................................................................410
9.1.9 CPU goes to STOP....................................................................................................................411
9.1.10 Checking and setting system clocks..........................................................................................412
9.1.11 Comparing REAL or LREAL variables.......................................................................................412
9.1.12 Checking for range violations.....................................................................................................412
9.1.13 Setting size of local data stack...................................................................................................413
9.2 Efficient programming ................................................................................................................413
9.2.1 Efficient programming - overview...............................................................................................413
9.2.2 Runtime optimized programming ...............................................................................................414
9.2.2.1 Runtime-optimized programming...............................................................................................414
9.2.2.2 Optimizing access to inputs and outputs ...................................................................................414
9.2.2.3 Optimizing access to system variables......................................................................................414
9.2.2.4 Optimal variable declaration ......................................................................................................414
9.2.2.5 Optimizing access to function block parameters .......................................................................414
9.2.2.6 Optimizing function block calls...................................................................................................415
Basic functions
Table of contents
9.2.2.7 Optimizing program structure.................................................................................................... 415

9.2.2.8 Optimizing the execution system .............................................................................................. 415
9.2.3 Change-optimized programming............................................................................................... 416
9.2.3.1 Change-optimized programming............................................................................................... 416
9.2.3.2 Declaring retentive variables in one unit ................................................................................... 416
9.2.3.3 HMI variables in one unit........................................................................................................... 416
9.2.3.4 Using device global variables versus unit global variables....................................................... 416
9.2.3.5 Centralized starting and resetting of MotionTasks.................................................................... 418
A Appendix A ............................................................................................................................................ 419
A.1 Symbolic constants ................................................................................................................... 419
A.2 Reserved identifiers .................................................................................................................. 421
Index...................................................................................................................................................... 449
Basic functions
System overview
This section provides a brief overview of the structure and application of the SIMOTION
1
motion control system.
1.1 SIMOTION motion control

SIMOTION offers an optimized system platform for automation and drive solutions with
emphasis on motion control applications and technology tasks.
SIMOTION is the answer to the latest trends in production machines:
Mechatronics
Mechatronics means that a machine is regarded not only from the mechanical aspect, but
as a complete system in which mechanical components, electrical components, and
control and software technologies are integrated equally. As part of mechatronics,
relatively inflexible mechanical components (such as cams, gears, couplings, line shafts,
etc.) are replaced by intelligent software solutions.
Fusion of PLC functionality and motion control technology
The historical separation of pure automation functions and motion functions has been
eliminated. These functions are combined both on the hardware and on the software
side.
Usability
A uniform engineering system (SIMOTION SCOUT) ensures consistency in configuration,
parameterization and programming. Automation tasks and motion control tasks are
programmed in the same language.
Standards
Industrial automation is increasingly governed by standards in the PC world such as
Microsoft Windows and Ethernet. Standardized global programming languages have
greatly facilitated system handling for the customer.
Modular machine designs
The trend towards standardization is also encompassing machine designs. As a
consequence, attempts are being made to break down machine design into various
subcomponents. By virtue of this modularity, it is possible to standardize individual
subcomponents and install them as standard components in different types of machines.
Basic functions
System overview
1.2 Fields of application
1.2 Fields of application

An efficient control system requires that today's tasks and future trends in the field of
production machines are implemented using open control concepts.
SIMOTION is a uniform motion control system that focuses on the automation of production
machines. The uniformity involves engineering, programming, communication, data
management and human machine interface (HMI), and thus encompasses the whole system
- even on different hardware platforms.
These trends relate primarily to the following mechanical engineering sectors, for which our
motion control system is particularly well-suited:
Packaging machines
Plastics processing machines
Metal forming technology
Textile machines
Printing machines
Machines used in the wood, glass, and ceramics industries
And other machines
In addition to the standard logic and drive-related tasks, the automation solutions in these
sectors are also increasingly requiring the incorporation of integrated, uniform motion control
and technology tasks.
The SIMOTION modular system consists of the SCOUT engineering system and a common
runtime system for various hardware platforms. The SCOUT engineering system is identical
for all hardware platforms. Configuration, parameter assignment, and programming are
performed using graphics-based or text-based methods. This also provides the basis for
sector-specific solutions.
You decide which runtime software (position, gear, ...) to load to enhance the basic functions
based on your application. The fact that SIMOTION runs on a variety of hardware platforms
makes it a versatile solution that satisfies all requirements
Basic functions
System overview
1.3 Fusion of PLC and motion control
1.3 Fusion of PLC and motion control

SIMOTION combines open-loop control, technology and motion control. Thus, there are no
hardware and software interfaces between the controls required.
PLC functionality
(IEC 61131-3)
The system approach of

Motion Control
(e.g. positioning,
synchronous operation, ...)
The fusion of:
+ Motion control
PLC and arithmetic
functionality
Technology
Functions
Functions
(e.g. positioning,
temperature control
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Figure 1-1 Fusion of PLC and motion control
On the hardware side, this means that the programmable controller is able to process motion
functions. The hardware platform can be selected individually.
On the software side, the fusion of automation functions and motion functions makes for
simpler engineering. This starts with the configuration and continues through parameter
assignment and programming.
Consistency with SIMATIC is another essential feature, since both systems can be used
together in one plant.
See also
Hardware platforms (Page 18)
1.4 Totally Integrated Automation

Threefold consistency in programming and configuration, data management, and
communication is at the heart of Totally Integrated Automation: In this way, every automation
task solved by SIMATIC can also make full use of the many advantages of Totally Integrated
Automation:
Marked reduction in engineering costs
No system breaks within the automation landscape
One software basis for all components
It makes no difference whether your automation task involves implementation of customized
solutions in machines or systems, or small-scale automation tasks. Totally Integrated
Basic functions
System overview
1.5 Hardware platforms
Automation with SIMATIC includes all of the technologies that your automation landscape
requires, including programmable controllers, PC-based control, automation computers,
distributed I/O, HMI systems, communication networks or process control systems. Because
of its modularity, you can use one complete, uniform system to implement the exact solution
that satisfies your process requirements and is economically feasible.
SIMOTION and SIMATIC are integrated in the sense of Totally Integrated Automation. This
consistency is ensured in two ways - through integration of SIMOTION SCOUT in the
SIMATIC Manager and by the use of the same engineering philosophy for comparable
activities. Engineering processes that are not available in SIMATIC (motion control, output
cam controller, etc.) or that are required by SIMOTION to meet the demands of a distributed
system are selected based on optimal usability. Moreover, SIMOTION is integrated into
PROFINET and includes all of the requisite system features for this purpose.
1.5 Hardware platforms

SIMOTION supports various hardware platforms. The decision for the hardware component
used depends mainly on your requirements. You can also distribute your automation tasks to
different target systems.
Figure 1-2 SIMOTION hardware platforms
The following platforms are available:

PC-based (SIMOTION P350)
As a PC-based motion control system, SIMOTION P3xx works with the Windows XP
operating system, equipped with a real-time expansion for SIMOTION. Apart from
SIMOTION applications, other PC applications can also be started.
SIMOTION P350 is suitable for:
Applications requiring an open architecture to the PC world
Applications requiring hardware-based control and visualization
Extensive data storage, evaluation and logging
Controller-based (SIMOTION C2xx)
This controller in SIMATIC S7-300 mounting technology comprises integrated analog
drive interfaces and several digital inputs and outputs.
Moreover, it can be expanded by I/O modules from the SIMATIC S7-300 product range.
Two PROFIBUS connections with PROFIdrive interface and one Industrial Ethernet
connection allow for communication with other machine parts.
Basic functions
System overview
1.6 System architecture
The PROFIBUS can also be used for communication with operator panels - for example
from the SIMATIC HMI product range - or higher-level control systems such as SIMATIC
S7.
SIMATIC HMI panels as well as PCs with ProTool/Pro, WinCC flexible or OPC interfaces
are suitable as operator systems.
SIMOTION C2xx allows for the following:
Freedom in the selection of the drives
Wide range of process signals
Retrofit applications via integrated analog interfaces
Direct connection of analog drives and stepper drives
Drive-based (SIMOTION D4xx)
The SIMOTION D is directly integrated in the closed-loop control module of the
SINAMICS S120 multi-axis drive system.
Two PROFIBUS connections with PROFIdrive interface as well as two Industrial Ethernet
interfaces are available onboard.
SIMOTION D4xx offers the functionality of the SIMOTION Cxx and allows for the
integration of control and drive in one component.
SIMOTION D4xx offers the full functionality of SIMOTION and allows for the integration of
control and drive in one component.

The SIMOTION system architecture enables trends towards decentralization, heterogeneous
target systems, and distributed intelligence to be implemented.
See also
Technology objects (TO) (Page 28)
SIMOTION SCOUT Engineering System (Page 21)
SIMOTION project (Page 22)
Offline/online mode (Page 23)
Programming (Page 23)
SIMOTION system architecture (Page 20)
Execution System, Tasks, and System Cycle Clocks (Page 119)
Basic functions
System overview
1.6.1 SIMOTION system architecture
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Figure 1-3 SIMOTION system architecture
The basic functionality of the device (SIMOTION Kernel) includes functions for open-loop
and closed-loop control as well as logic and arithmetic. Program execution can be cyclical,
time-triggered or interrupt-triggered. As a result, the SIMOTION Kernel contains the
functions needed for virtually all applications and corresponds in essence to a PLC with the
IEC 61131-3 command set plus system functions for controlling various components, such
as inputs and outputs.
You can expand the SIMOTION Kernel of the device by downloading technology packages.
You access the technology packages from the user program using special language
commands in the same way that you access the SIMOTION Kernel.
For particular tasks, you can either use existing applications or you can program and link the
required applications yourself. The applications are programmed in compliance with IEC
61131-3 and can be adapted to your specific task.
In addition, SIMOTION provides function libraries that include the system functions and
motion functions. The function libraries contain functions and access to system variables of a
technology object and are linked to the associated device and technology package in
SIMOTION SCOUT.
For special tasks, such as closed-loop control functions, you can use wiring diagrams and
execute them in the corresponding DCC execution tasks using blocks connected with a
graphical tool.
Basic functions
System overview
1.6.2 SIMOTION SCOUT Engineering System

The following activities are required for machine automation:
Selection/configuration of the hardware and software components, configuration of
hardware and software, including the communication networks with HW Config
Creation and configuration of the technology objects
Creation of the user program
Testing and commissioning of the drive units
Linking of the machine operator control (HMI)
Concluding steps, such as the generation of machine documentation.
The SIMOTION SCOUT engineering system offers a uniform user view and flexible
functionality.
Individual automation tasks for production machines are formulated in a uniform and
consistent user interface.
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Figure 1-4 SIMOTION SCOUT engineering system
The SIMOTION SCOUT engineering system is a powerful tool that acts as the PC
development environment to provide optimal support for the required engineering steps in a
user-friendly way. It is integrated in the SIMATIC landscape, where it operates as an option
package for STEP7. Special attention has been given to optimum usability and a
comprehensive, function-oriented view of the automation task.
Basic functions
System overview
1.6.3 SIMOTION project

The project includes all SIMOTION devices, drives, etc. The associated devices are
hierarchically assigned to technology objects and programs. This hierarchical structure is
displayed in the Project navigator.
Figure 1-5 SIMOTION SCOUT project navigator
The project is the highest level in the data management hierarchy. SIMOTION SCOUT
saves all data which belongs, for example, to a production machine, in the project directory.
Basic functions
System overview
1.6.4 Offline/online mode
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Figure 1-6 Connection between offline and runtime project with SIMOTION SCOUT
SIMOTION SCOUT can be used in two modes:

In offline mode, you can create projects and user programs.
In offline mode, you work with the SCOUT engineering system without connection to the
runtime system. The data and technology objects are maintained in the engineering
system.
The offline mode is the leading work mode, i.e. changes of system variables and
configuration data should be made offline.
In online mode, you can load projects and data into the target system, control and
monitor the application.
The data in the SCOUT engineering system is retained as offline project.
Configuration data changed online can be reloaded into the offline project; this is not
possible with system variables changed online.
1.6.5 Programming
The open-loop control and motion control tasks are predefined in the user program.
The following programming languages are available to create your user programs:
MCC - Motion Control Chart
is a graphical programming language for programming logic and motion control functions.
MCC charts are created.
ST - Structured Text
is a text-based programming language compliant with IEC 61131-3 that enables you to
create an ST source that can comprise several programs.
You can also edit an ST source file using an external ST editor.
Programs created using MCC can be converted to ST, but notvice versa.
LAD/FBD - Ladder Logic / Function Block Diagram
are graphics-based programming languages in compliance with IEC 61131-3 for
programming logic as well as motion control via PLCopen blocks.
DCC - Drive Control Chart
Is a graphic programming language for programming drive functionality.
Basic functions
System overview
It is possible to edit a Drive Control Chart with an external DCC editor.

Detailed information on the programming languages is provided in the SIMOTION MCC,
SIMOTION ST and SIMOTION LAD/FBD Programming Manuals.
Programming in SIMOTION provides the following advantages:
Programs of different programming languages can be used in one project (MCC, ST and
LAD/FBD)
Programming is independent of the hardware platform
PLC, motion control and technology can be implemented in one program
There are functions for direct access to drive parameters available via PROFIDRIVE
Modular machines are supported by the following:
Modular software development with libraries
Division into individual machine modules
Activation/deactivation of DP slaves and technology objects
Commands for the synchronization
Basic functions
Technology Packages and Technology Objects 2
This section contains general information on technology objects and their basic functions
and properties.
2.1 Introduction
SIMOTION basic functionality

A SIMOTION system without technology packages and without technology objects provides
the execution system and basic functionality of a control system in accordance with IEC
61131-3.
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Figure 2-1 SIMOTION basic functionality
The user programs can arbitrarily be assigned to the various tasks.
Basic functions
2.1 Introduction
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Figure 2-2 Assignment of the user programs to tasks
Technology Objects
SIMOTION provides technology objects for the technology and motion control.
The technology objects offer the user a technological view of actuators and sensors and
provide technological functions for these, for example:
the TO axis for drive and encoder
the TO external encoder for one encoder only
the TO outputCam/camTrack for an output to be switched in a defined way
the TO measuringInput for a measuring input
Moreover, technology objects for the preparation of technological data on the system level
are available, for example:
the TO FollowingObject for synchronous operation between two axes or one axis on an
encoder value
the TO path for traversing path axes along a path and a positioning axis synchronous to
the path
the TO cam for representing complex programmable functions
the TO additionObject, TO formulaObject for the processing of motion data and
technological data on the system side
The technology objects are implemented by the system in system tasks, e.g. IPO task,
IPO_2 task or servo task.
Basic functions
2.1 Introduction
Instantiation
Technology objects are provided by the system as technology object types adapted to the
specific application using instantiation.
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Technology object types are combined in one technology package and loaded to the runtime
system.
Basic functions
2.2 Technology packages
2.2 Technology packages

In SIMOTION, the technology object types are provided via technology packages. They are
loaded to the SIMOTION runtime system together with the project.
The following technology packages are available:
TP Cam contains the basic technology object types for technology and motion control,
such as driveAxis, posAxis, followingAxis, followingObject, cam, outputCam, camTrack,
measuringInput
TP Cam_ext additionally contains objects for the preparation of technological data on the
system level, e.g. additionObject, formulaObject
TControl contains the technology object type temperature controller
TP Path contains the technology object type path
2.3 Technology objects (TO)

Technology objects / technology object types provide the functionality for technology and
motion control, thus comprising technological system functions and hiding the concrete
hardware connection.
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For the cross-TO processing of technological data on the system level, the technology
objects provide defined input and output interfaces.
See also
Available technology objects (Page 36)
Interconnections (Page 33)
Basic functions
2.3.1 Instantiation and configuration

With Add <technology object>, you create an instance of the corresponding TO type in
SIMOTION SCOUT. (Data, parameters, alarm lists, etc. are created in the system.)
If necessary, the technology object type must be specified, e.g. for an axis: drive axis,
position axis, following axis.
The hardware/software interfaces to the actuator/sensor are defined, e.g. hardware
addresses, data width, message frame type with PROFIdrive message frames.
Basic settings are defined, e.g. the processing of the technological system functions in the
IPO or IPO_2 cycle clock.
SIMOTION SCOUT provides wizards and dialogs for the configuration of the technology
objects. The basic functionality of a technology object is defined by the configuration data.
All entries in the configuration and parameterization screen forms are output in configuration
data and system variables, which are displayed in the screen forms as tooltips.
For a detailed description of the configuration data and system variables, please refer to the
SIMOTION Reference Lists.
For a description of the procedure of creation and configuration of the individual technology
objects, please refer to the respective function manuals.
A majority of the configuration data can be modified during the runtime via the user program
or the expert list.
For a detailed description of the configuration data and system variables, please refer to the
SIMOTION Reference Lists.
See also
Programming of general standard functions - overview (Page 275)
System variables (Page 77)
Configuration data (Page 81)
2.3.2 Programming
System variables comprise technological parameters and display values of technology
objects.
SIMOTION SCOUT usually provides screen forms for the setting of technological
parameters and standard values/defaults.
System variables are individual values or structures that are read out consistently.
Note
The object will be reinitialized after restarting a technology object.
Among other things, this brings about that, for example, system variables cannot be read
until the end of the restart, i.e. are not available.
Additional information on the system variables can be found in System variables (Page 77).
Basic functions
2.3.3 Programming
The technological functions are activated/deactivated using specific commands.
Synchronous/asynchronous command execution

The commands can be set synchronously or asynchronously.
With the synchronous setting of motion commands, it is possible to wait for a certain motion
status or for the end of the motion, e.g. of a positioning, on the command. This setting is
especially advantageous when programming motion sequences in sequential tasks (motion
tasks).
Return value
The return value supplies the result of the function call, e.g. function was/is carried out as
planned or there is an error.
CommandId
The CommandId can be used to uniquely identify and trace a TO command.
For information on parameters, step enabling conditions, diagnostics, etc., please refer to the
following:
Functions for CommandID (Page 345) and various examples in this manual.
SIMOTION MCC Motion Control Chart, Programming MCC Charts
For a detailed description of the TO commands, please refer to the SIMOTION Reference
Lists.
Programming model
The commands are assigned to tasks which are in turn assigned to the execution levels of
the task system.
Commands can be issued from all user program tasks of the system.
Basic functions
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The execution time of a command on the technology object is the only factor that determines
the effectiveness of the command.
If commands are issued from multiple tasks, programming consistency must be ensured by
the user program.
Command execution on the TO / effectiveness of TO commands

The commands issued from the user program, the user program tasks, to the TO can
generally be subdivided as follows:
Commands which are executed immediately in the context/sequence of the user program
tasks
These are handled like a function within the user program tasks.
These commands are synchronous since the user program is continued only upon the
return of the function result.
Example: Reading TO values
Commands which are entered in a command buffer and which overwrite each other
Commands which are entered in a command buffer and which are rejected if the
command buffer is occupied
Basic functions
In the TO commands you specify the response of the commands on the TO if more than one
command is issued to a command group between two processing cycle clocks, e.g.
replace/overwrite or command rejection.
Information on the command buffer and command activation can be found in the function
manuals of the individual technology objects.
Execution properties
The execution properties of technology objects are object-specific.
The following synchronous execution levels are provided for the execution of the technology
objects: DP cycle clock, servo cycle clock and IPO or IPO_2 cycle clock (except for
temperature controllers).
The instances of the technology objects are processed in different execution levels.
The command evaluation and motion control are processed in the IPO/IPO_2 cycle clock.
The position and setpoint control are processed in the servo cycle clock.
Communication with the drive is processed via PROFIBUS DP in the DP cycle clock or
PROFINET IO with IRT in the PN cycle clock.
The processing can be influenced by means of the system and object configurations.
System cycle clock setting
Setting the system cycle clocks also sets the sampling time for the motion control of axes
(IPO, IPO_2), the position control (servo) and the communication via PROFIBUS DP or
PROFINET IO with IRT.
When configuring objects, you can specify whether motion control is to be executed in the
IPO or IPO_2 cycle clock. This allows you to distinguish between operations that are time
critical and those that are not.
Technology objects are controlled from the user program through system function calls.
Alarms
A technology object monitors the execution and executability of technological functions as
well as the I/O required for the TO, and creates a technological alarm, if necessary.
A technological alarm has a TO-local alarm response, e.g. stop motion, and a global
response, e.g. stop system or call alarm task in which further responses can be specified.
The local and global responses can be set for specific alarms.
For a detailed description of the TO alarms, please refer to the SIMOTION Reference Lists.
See also
Execution system (Page 119)
Differences between cyclical and sequential programming (Page 63)
Process Alarms (Page 103)
Basic functions
2.3.4 Interconnections
There are interconnection interfaces defined on the technology objects for the exchange of
data/information between the technology objects on the system level. These interfaces
generally allow for the bidirectional exchange of data between individual technology objects.
The type of the external interfaces can be different on each TO type. There are no
interconnections or actuators/sensors required.
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Figure 2-6 Interconnection between technology objects,

example: Master axis - Following object - Slave axis
Depending on the interface type, interconnection interfaces can exchange different data in
cyclic mode (cyclic motion data, e.g. s,v,a for the motion vector of type motion) and during
initialization (e.g. modulo information, units).
Implicit interconnection
If an interconnection is mandatory and unambiguous, it is implicitly created by the
SIMOTION SCOUT engineering system, e.g. measuring input with axis, cam with axis,
synchronous operation with axis. The corresponding TO types are offered under the axis.
Basic functions
Interconnection using technological interconnection screen forms

There are specific screen forms provided for further interconnections, e.g. for:
Following axis with master axis/master value
Following object with cams
Profile inputs with cams
Interconnection using general interconnection screen form (for experts only)

There is a general interconnection screen form provided for special interconnections, e.g.
for:
MotionIn interface interconnection (for motion vectors)
Torque input interface interconnection
See also
'Motion' interconnection interface type (Page 55)
'LREAL' interconnection interface type (Page 56)
Interconnection of technology objects (for experts) (Page 48)
2.3.5 Technology objects and DCC
Description
The data exchange between DCC and TO is performed by DCC diagrams
using the direct interconnection of block inputs and block outputs with system variables of
the TO;
for TO axes, it is possible to transfer cyclically the data specified in system variables,
such as override and setpoints, without commands needing to be issued each time in the
user program.
or via the forwarding of values calculated in DCC via commands and variables in the user
programs to the TO. The TOs have specific function-related interconnection interfaces.
The TOs themselves are not available as blocks in the DCC diagrams.
Basic functions
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Figure 2-7 Technology and DCC
See also
Sequence model for DCC blocks (DCB) (Page 195)
Basic functions
2.3.6 Available technology objects
Table 2-1 Overview of the technology objects available in SIMOTION
Technology object Symbol Product Brief

Axis Axes are available in various versions. There are:
Real or virtual axes
Position axes or drive axes
Electrical axes or hydraulic axes
Standard axes or force/pressure controlled
Modulo axes
Following axes
Path axes
For detailed information, refer to the Motion Control, TO axis, Electrical/Hydraulic,
external encoder Function Manual.
Following object If an axis is created with the synchronous operation technology, the following
object will then be created below the axis.
The settings for the synchronous operation are stored in the following object.
For detailed information, refer to the Motion Control TO followingObject, TO cam
Function Manual.
Path object You can use the Path object technology object to configure the path interpolation.
(as of V4.1) For detailed information, refer to the Motion Control Path Interpolation Function
Manual.
Measuring input Measuring inputs are used for fast, accurate measurement of actual positions.
For detailed information, refer to the Motion Control TO outputCam, TO
measuringInput Function Manual.
Output cam The TO outputCam creates position-dependent switching signals and can be
assigned to position axes, following axes or external encoders.
For detailed information, refer to the Motion Control TO outputCam, TO
measuringInput Function Manual.
Cam track Cam tracks are used to group several output cams to form a technology object.
(camTrackType) For detailed information, refer to the Motion Control TO outputCam, TO
(as of V3.2) measuringInput Function Manual.
External encoder The TO external encoder provides the functionality in the system for connecting an
external encoder without an axis, e.g. a shaft encoder on a press.
For detailed information, refer to the Motion Control, TO axis, electrical / hydraulic,
external encoder Function Manual.
Cam The TO cam can be used to define a transmission function and apply it with other
technology objects.
For detailed information, refer to the Motion Control TO followingObject, TO cam
Function Manual.
Temperature channel The TO temperatureChannel can be used to configure temperature controls in
SIMOTION.
For detailed information, refer to the Motion Control Additional Technology Objects
Function Manual.
Basic functions
2.4 SIMOTION memory concept (target system)
Technology object Symbol Product Brief

Additional technology objects (for experts):
The advantage of these technology objects is that they are executed on the system level like other TOs. The
interconnected signals are processed directly in the technology objects within a system cycle clock.
Applicative solutions in structured text, in contrast, bring about frequent changes between system and application and thus
dead times. The additional technology objects are used for the implementation of winder applications, for example.
Fixed gear You can use the TO fixedGear to implement a fixed synchronous operation
(as of V3.2) (without synchronization/desynchronization) using a specified gear ratio.
Function Manual.
Addition object You can use addition objects to add up to four input vectors to produce an output
(as of V3.2) vector.
Function Manual.
Formula object With formula objects, you can use mathematical operations on scalar (LREAL,
(as of V3.2) DINT) and on motion vectors of the Motion type.
For detailed information, refer to the Additional Technology Objects Function
Manual.
Sensor The TO sensor can be used to record scalar measured values.
(as of V3.2) For detailed information, refer to the Motion Control Additional Technology Objects
Function Manual.
Controller object The controller object can be used to prepare and control scalar variables.
(as of V3.2) For detailed information, refer to the Motion Control Additional Technology Objects
Function Manual.
2.4.1 Storage Concept in the Target System
Memory types
SIMOTION has a staggered memory management concept. The main memory is the RAM.
Data is written to the RAM during downloads and read from it during uploads. The ROM is
used for permanent storage (retained after power-off). Even after a target device has been
shut down, project data remains stored in the ROM. When the target device runs up, the
data is copied from the ROM to RAM and from there to the working memory, the Current
data memory. The content of the RAM is copied to the Current data memory during
switchover to the RUN mode. This memory is used in the RUN mode.
Basic functions
Memory management in the RUN mode

When you change values of system variables or configuration data in the RUN mode, the
values of these system variables become immediately effective in the Current data memory.
New values for configuration data are first buffered in the Next memory. Immediately
effective configuration data is automatically accepted in the Current data memory.
Configuration data which only becomes effective on the technology object after a RESTART
(Set system variable restartactivation to the value ACTIVATE_RESTART) will only be written
to the Current data memory after a RESTART.
Commissioning phase
The current data memory acts during active operation of a machine. During the
commissioning phase, the actual memory may contain variable values that differ from those
in the RAM memory (e.g. changes to configuration data in RUN, as these changes are only
made in the current data memory). When the commissioning stage has been completed (all
configuration data set as desired), accept the content of the Current data to the RAM with
the command Target system > Copy current data to RAM. Only after this copy procedure,
the currently effective configuration data will have been transferred to the RAM.
When you have transferred the modified configuration data to the RAM the configuration in
SCOUT is no longer consistent with the target system configuration, because the modified
configuration data is stored there. Read the data from the RAM with the menu command
Target system > Load > Configuration data to PG to reestablish a consistent system state.
To ensure a power-failsafe storage, execute the menu command Target system > Copy
RAM to ROM.
Note
Copy current to RAM does not transfer the values of the system variables to the RAM
memory. This means that "Save to memory card (Ram2Rom)" or "Save in the engineering
project (load configuration data in PG)" is not possible.
So that values of system variables can also be saved in the engineering project and on
memory card the value of system variables must be changed OFFLINE and then loaded into
the target system per download and saved.
Basic functions
2.5 Expert list
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Figure 2-8 Memory concept, general representation
The memory areas that are affected by certain actions are presented below:
Power On and overall reset
Data (configuration data, default values of system variables) are loaded from ROM
(memory card) into the RAM and then into the actual memory.
Restarting a technology object
Data of the TO (configuration data, default values of system variables, cams) are loaded
from ROM (memory card) into the RAM and from there into the actual memory.
2.5 Expert list

In addition to accessing the configuration data and system variables via wizards and
parameterization screen forms, you also have the option of direct access via the expert list.
Since all important configuration data and system variables can be parameterized via
dialogs, the expert list is, however, only required in exceptional cases (such as online
modification of configuration data).
As of V4.1 there is an expert list with the most important configuration data and system
variables to call (Main Parameters).
These lists state the most important configuration data and system variables for the
programming and diagnostics of axes, following object and external encoder.
Basic functions
2.5 Expert list
Note
Special knowledge of the system is required to modify parameters in the expert list.
You can overwrite entries made using the expert list by calling wizards and
parameterization screen forms.
No check is made on dependencies with other parameters.
Invoking the expert list

1. Highlight the required technology object in the project navigator.
2. Select Expert > Expert List in the object context menu or press the Ctrl+E keys on the
keyboard (if for example an axis dialog is open).
2.5.1 Expert list for configuration data and system variables

The system variables and configuration data for the technology object are displayed in the
first two tabs in the expert list. On the Selected Parameters tab, user-defined lists are saved
and individually adjusted.
You can change the configuration data values in OFFLINE mode and in ONLINE mode
during RUN. Parameters which can be written are displayed in green, those which cannot be
written are displayed in yellow. Grayed-out values cannot be changed.
Table 2-2 The following information is displayed in the expert list:
Button / Table column Meaning/Note

Configuration data
The Configuration data tab lists the configuration data of the TO in
alphabetical order. All configuration data can generally be modified by the
user (displayed in green).
System variables
The System Variables tab lists the configuration data of the TO in
alphabetical order. There are system variables which can be written
(displayed in green) and which cannot be written (displayed in yellow).
Main Parameters
On the Selected Parameters tab, the most important system variables
and configuration data of a TO are displayed in alphabetical order,
separated according to system variables and configuration data. The
selection is a factory setting and cannot be changed. The list can be
closed, however it will be re-displayed at the next call.
Basic functions
2.5 Expert list

User-defined parameter lists
Configuration data or system variables from user-defined lists are
displayed on additional tabs. Configuration data and system variables are
divided into blocks.
Create new tab Click this button if you want to create a new or open an existing user-
defined list or default parameter list.
Quick search In this text field, you can carry out a quick search within the expert list.
The columns Parameter, Parameter text and Value are searched.
Collect changes As long as the button is activated, all the configuration data changed by
you (in the RUN mode) is collected and the new values do not take effect
in the target system. Only when Activate changes is clicked, do all the
changes to the configuration data take effect in the target system.
Activate changes Click this button if all the collected changes to the configuration data are
to take effect in the target system
Configuration selection list Select whether the parameters for a linear axis or rotary axis are to be
displayed or changed for standard, force or pressure in the table in the
expert list.
New user-defined list By clicking this button a new user-defined list is created.
Open user-defined list By clicking this button an existing user-defined list is opened.
Save user-defined list By clicking this button the currently opened user-defined list is stored.
Edit user-defined list By clicking this button you access the editing mode of the currently
opened user-defined list.
Cancel editing mode. By clicking this button the editing mode is canceled. Changes are
discarded.
Enter comment lines (editing mode) By clicking this button you change the format of newly created lines in
"Comment".
Enter headlines (editing mode) By clicking this button you change the format of newly created lines in
"Headline".
Enter parameter lines (editing mode) By clicking this button you change the format of newly created lines in
"Parameter".
Parameter The name of the configuration data item or the system variable is
displayed here. Click the plus sign to open the entire structure.
Parameter text A brief description of the system variable or the configuration data is
displayed.
Basic functions
2.5 Expert list

Offline value The value of the configuration data item or the system variable is
displayed here. Depending on the type of parameter, you can enter the
value directly as a numerical value or select a symbolic identifier from the
selection list.
Configured value (ONLINE only, The configured value of the configuration data item is displayed here.
configuration data) This value is saved to the RAM of the target device.
Current value (ONLINE only) The current value of the system variable or the configuration data is
displayed here. You can change the value of the system variable directly
in ONLINE mode. Changes to the configuration data can only be made in
the Next value column.
Current values are stored in the current data memory. To transfer these
values to the RAM, Target system > Copy current data to RAM must first
be selected in the menu.
Note:
System variables changed ONLINE cannot be copied to RAM. This also
means that it is not possible to Save to memory card (Ram2Rom) or
"Save in the engineering project (load configuration data in PG).
See SIMOTION memory concept.
Next value (ONLINE only, You can enter the Next value of the configuration data item in ONLINE
configuration data) mode here. This value is then taken over as Current value depending on
when the configuration data item is to take effect. With Immediately, the
new value takes immediate effect in the target system after pressing the
ENTER key or selecting a value.
Units The unit of the system variable or the configuration data is displayed.
Effectiveness (ONLINE only, This displays when the value of the changed configuration data item
configuration date) takes effect, e.g. with restart, the changed value takes effect in the target
system after a restart. You cannot change certain configuration data in
ONLINE mode.
Data type The data type of the system variable or the configuration data item is
displayed here (e.g. INT for an integer value).
Minimum The minimum value of the system variable or the configuration data item
is displayed.
Maximum The maximum value of the system variable or the configuration data item
is displayed.
See also
Storage Concept in the Target System (Page 37)
Basic functions
2.5 Expert list
2.5.2 Using the expert list
Displaying the help for the system variables and the configuration data
1. Select Help > Context-sensitive help or press the Shift+F1 keys.
The cursor changes to a question mark.
2. Click the configuration data item or the system variable in the expert list for which help is
required.
The help for this is displayed.
Changing the Data in the Expert List Offline

1. In the expert list, select the Configuration data or System variables tab.
A tabular overview is displayed.
2. In the Parameter column of the expert list, click the plus sign in front of an entry to display
subentries.
You cannot change entries highlighted in yellow!
3. Click the Offline value column of the entry to be changed.
4. Enter the value directly or select a value when a selection list appears.
Carrying Out a Quick Search

When entering a search term, the cursor jumps to the first line in which the search term is
found.
1. Enter the search term and press the ENTER key.
Figure 2-9 Example of quick search
If it is a writable parameter, the cursor jumps directly to the value field.

If a structure shell is found that does not have a separate parameter value, the jump is made
directly to the cell in which the term was found.
Basic functions
2.5 Expert list
Continue search:
1. Press the F3 key.
The next cell containing this term is searched.
If the search function does not find any further entry in the list, a message is output.
Navigating within the Expert List Using the Arrow Keys

Each cell within the expert list can be selected using the arrow keys.
1. Press an arrow key.
The cell located next is selected.
2. With the Ctrl+arrow shortcut, the cursor jumps to the end or beginning of the respective
line or column.
Selecting Cells Using the Keyboard

If you want to select the complete expert list, including the cells in the non-visible area:
1. Press the Ctrl+A key combination.
In online mode, this shortcut also initiates a read process for all of the parameter values (with
technology objects as of V4.0).
Individual cell areas can be selected by navigating with the arrow keys or with the mouse:
1. The cells are selected in the course of navigating by simultaneously pressing the Shift
key.
Cell areas can also be selected using the mouse:
1. Place the cursor on a line, press the left mouse key and drag the mouse pointer across
the cell area to be selected.
Copying cell contents into other Windows applications

Selected lines can be copied into other Windows applications using the Windows clipboard:
1. Press the Ctrl+C key combination or select Copy to clipboard in the context menu.
From the clipboard, the cell content can be inserted, e.g. in an Excel or Word document.
Via the context menu entry Copy parameter path to clipboard, the complete structure path
can be copied to the clipboard and from there back to other SCOUT applications (ST
program, watch table, etc.).
Use Copy cell content to clipboard to transfer the content of cells in the expert list to the
clipboard.
Basic functions
2.5 Expert list
Creating a user-defined parameter list
1. Press the Create new tab button.

The selection dialog box is displayed:
Figure 2-10 Selection dialog box for user-defined parameter lists
2. Select Create new user-defined parameter list and click OK.

An additional tab is displayed containing the new list to be created. Initially the tab only
contains a shell with the two separators for configuration data and system variables.
Figure 2-11 New user-defined parameter list
3. Transfer the desired parameters from the other tabs via copy & paste (context menu or
Ctrl + C and Ctrl + V).
Example:
Figure 2-12 Copy parameter
Basic functions
2.5 Expert list
Figure 2-13 User-defined parameter list
Figure 2-14 Saving or printing the user-defined parameter list
4. To save the list, click the Save button or select Save list in the context menu of the
tab and confirm with OK.
The name of the saved list is taken as label for the tab.
Figure 2-15 Saved user-defined parameter list
5. To print the list, select Print list in the context menu of the tab.
Creating an executable script from a parameter list

As of Version V4.0, you can save a parameter set as a chain of write/read requests in script
form within the expert list.
1. Select Save list in the context menu of the tab.
The selection dialog box opens:
Basic functions
2.5 Expert list
Figure 2-16 Selection dialog box for saving the list
2. In the displayed selection window, activate the Save as executable script ... option and
click OK to confirm.
3. In the Add script window, you can enter a name for the script. Then click OK to confirm.
The script will be saved in the SCRIPTS folder below the object. If the script folder does
not exist, it will be created.
Optionally, you can also export the script as ASCII text:
1. In the Save as window, you can select a storage location and the name for the text file.
Then click OK to confirm or click Cancel if the script is not to be exported.
Notes for the structure of scripts:

Each converted script receives a header with date and origin, and then an empty line.
The logging mechanism of the script engine is activated in the next line. This causes
each write and read action to be output in the script output window.
Headings in the user-defined parameter list will be entered in the script as comment with
a leading empty line.
Comments in the user-defined parameter list will be entered in the script as simple
comments without an additional empty line.
For each write parameter in the user-defined parameter list, a write request will be
entered in the script. Numbers and enumerations are written as integer values. The
parameter text of the parameter is added as comment at the right-hand side next to the
write request.
An assignment of the form Value = (Parameters(x, y)) will be entered for read-only
parameters in the user-defined parameter list. This causes the parameter to be read and
the value output in the Scripting output window.
Basic functions
2.6 Interconnection of technology objects (for experts)
Example for the use of scripts:

Any changed unit systems will not be used when the script is executed. You must
yourself ensure that the acceptance of the parameter values is sensible in the current
context.
Parameters that change the structure (e.g. TypeOfAxis.typeOfAxis) are not treated
differently. You must yourself ensure that these parameters are at the top of the
parameter selection.
Only the current value is written; this means the script may not be executed online if it
contains configuration data.
Application: You can also transfer the parameter assignment from one axis to the other with
scripts.
Displaying the expert list in the symbol browser

When you select a TO in the project navigator, the relevant expert list is automatically
displayed in the symbol browser. However, the functional scope of the list is restricted,
meaning, for example, that you can display user-defined lists but cannot create them.

Apart from the normal implicit interconnection and the interconnection via technological
interconnection screen forms, technology objects can also be interconnected via a general
interconnection screen form with other technology objects on the system level.
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Basic functions
2.6.1 Interconnection via the general interconnection screen form in SCOUT

For the interconnection of different technology objects, SCOUT provides the Interconnection
view that is available on the following technology objects:
Figure 2-18 Interconnection in the SCOUT - axis example
On the left-hand side, all input-side interconnection interfaces of the selected object are
listed, on the right-hand side, the output-side interconnection interfaces of the same type.
Only the output-side interfaces displayed bold can be selected.
When one of these lines is highlighted (clicked), you can open a tree that displays all
interconnection possibilities.
Only those elements displayed bold can be selected.
The display of the devices and technology objects is used only for orientation purposes.
Direct input can be made in the input line.
Only complete and correct inputs are accepted. The input field cannot be exited if incorrect
inputs are made.
If the input-side interconnection interface has the characteristic of multiple interconnectability
and can therefore be interconnected with several output-side interconnection interfaces,
another line is added for the interconnection of the input-side interconnection interface after
the interconnection with an output-side interconnection interface.
An interconnection can be removed by deleting a line.
The value will be accepted when the input line is exited.
Basic functions
2.6.2 General properties of interconnection interfaces
Configuration of interconnection interfaces

The input-side interconnection interfaces are created:
Implicitly with the instantiation of the TO
Via technology-specific interconnection screen forms
Via general interconnection screen forms
Enabling/disabling
The input-side interconnection interfaces are activated with a command on the associated
TO or they are active by default.
In the case of multiple interconnectability of an input-side interconnection interface,
enabling/disabling is carried out with a command for the technological function, e.g.:
Selection of the cam in _enableCamming() via the cam parameter
Selection of the technology object for the master value in the _setMaster() command via
the master parameter
Selection of the technology object for the reference value of the MotionIn interface in the
_run...basedMotionIn...() command via the mastertype.reference parameter
Selection of a profile or the cam in the _runProfile() commands via the profile
parameter
For information on this topic, please refer to the function manuals of the respective
technology objects.
Indicator for status and interconnection values

The indicator for the status of the input-side interconnection and the interconnection values
is defined on the TO for the individual interface types.
For information on this topic, please refer to the function manuals of the respective
technology objects.
Validity
Interconnection interfaces have valid values when the interconnection is established and the
interconnection values have the 'valid' status; invalid interconnections / interconnection
values have the value 0.
If a (virtual) axis is set to simulation, the output-side setpoints will continue to be updated, the
actual values will be frozen.
The status available in the system variables can be read out to determine whether the
interconnection value or the substitute value is valid after ramp-up.
Basic functions
Alarm Response
In the case of a faulty interconnection, a technological alarm is only issued when a function
on the interconnection interface is activated.
In the case of multiple interconnectability of an input-side interconnection interface, a
reference TO must be selected.
Programmed functions will be cancelled at the transition from STOPU to STOP,
interconnection functions remain active at the transition from STOPU to STOP.
2.6.3 Interconnection interfaces on the TOs

The input-side interconnection interfaces can only be interconnected with output-side
interconnection interfaces of the same type.
TO Interface Type
Drive axis (driveAxis)
Input-side interconnection interfaces:
Motion input Motion
Torque limit, positive LREAL
Torque limit, negative LREAL
Additive torque LREAL
Motion profile MotionProfile
Force/pressure profile ForceProfile
Valve characteristic (hydraulic axis) ValveCharacteristics
Output-side interconnection interfaces:
Motion setpoint Motion
Motion actual value with extrapolation Motion
Actual torque LREAL
Position axis
As for drive axis
As for drive axis plus additionally:
Interface for output cam, cam track Specific
(implicitly interconnected with the axis by the system when
creating an output cam, cam track)
Interface for measuring input Specific
(implicitly interconnected with the axis by the system when
creating a measuring input)
Following axis
input-side interconnection interfaces:
As for position axis plus additionally:
Interface for synchronous object Specific
(implicitly interconnected by the system when creating a
following axis/following object)
Basic functions
output-side interconnection interfaces:

As for position axis, plus additionally:
Path axis
Input-side interconnection interfaces
Interface as for the following axis, in addition:
Path motion specific
Output-side interconnection interface
As for position axis
Following object
Motion input Motion
Cam CAM
Interface for slave axis specific
following axis/following object)
Path object
Velocity profile MotionProfile
Path motion (path axis 1) specific
Path synchronous motion specific
Motion output (path object.x) Motion
Motion output (path object.y) Motion
Motion output (path object.z) Motion
External encoder:
None
Interface for output cam, cam track specific
(implicitly interconnected by the system when creating an
output cam, cam track)
Interface for measuring input specific
measuring input)
Motion setpoint Motion
Motion actual value with extrapolation Motion
Measuring input
Measuring input interface specific
(implicitly interconnected with the axis, external encoder by
the system when creating a measuring input)
Basic functions
Input interface 'Listening measuring input' (V4.0 and higher) specific

(via general interconnection screen form)
Output interface for 'Listening measuring input' (V4.0 and specific
higher)
Output cam, cam track
Output cam interface specific
(implicitly interconnected with the axis, external encoder by
the system when creating an output cam, cam track)
Cam
None
Cam Cam
Motion profile MotionProfile
Force/pressure profile ForceProfile
Valve characteristic (hydraulic axis) ValveCharacteristics
Temperature controller
No interconnection interfaces
Addition object
Motion output 1 Motion
Motion input 2 Motion
Motion output Motion
Formula object
LREAL input 1 LREAL
LREAL input 2 LREAL
LREAL input 3 LREAL
LREAL input 4 LREAL
DINT input 1 DINT
DINT input 2 DINT
DINT input 3 DINT
DINT input 4 DINT
Basic functions

LREAL output 1 LREAL
DINT output 1 DINT
DINT output 2 DINT
DINT output 3 DINT
DINT output 4 DINT
Fixed gear
Motion input Motion
Sensor
None
Sensor value LREAL
Sensor value derivation LREAL
Controller object
Setpoint LREAL
Actual value LREAL
Feedforward control LREAL
Motion input setpoint Motion
Motion input actual value Motion
Output value on motion output Motion
Output value LREAL
Basic functions
2.6.4 'Motion' interconnection interface type

The interconnection interface type Motion contains the motion vector (s, v, a), internal
information such as validity status and, if applicable, modulo information.
Motion basis
The motion vector can have a different motion basis: position or velocity.
The position component is zero for the "velocity" motion basis.
A drive axis provides only the motion vector with the velocity motion basis on the output side.
Commands / command parameters (TO axis) or the configuration (TO additionObject, TO
fixedGear) are used to consider/set the motion basis.
The components of the motion vector are maintained consistent at the output side of the TO
axis, TO fixedGear (the derivation of the position value is the velocity value, the derivation of
the velocity value is the acceleration).
The components of the motion vector are not maintained consistent at the output side of the
TO additionObject and TO formulaObject.
The velocity and the acceleration can be specifically defined in this item for the position.
'MotionInput' input-side interconnection interfaces of the 'Motion' type

The TO type specifies whether a 'MotionInput' input-side interconnection interface of the
Motion type can be interconnected once or several times.
The following technology objects have, for example, an input-side interconnection interface
'MotionInput' of the 'Motion' type:
Drive axes
Positioning axes
Following axes
Fixed gear
Addition object
Formula object
Following object (master value)
Output-side interconnection interfaces of the 'Motion' type

The following technology objects have, for example, an output-side interconnection interface
of the 'Motion' type:
Drive axes
Positioning axes
Following axes
Path object
Basic functions
Fixed gear
Addition object
Formula object
External encoder
2.6.5 'LREAL' interconnection interface type

There is an interconnection interface of the LREAL type available for scalar variables.
Input-side interconnection interface on the axis 'TorqueLimitPositive' and 'TorqueLimitNegative' for

specifying the torque limit.
To specify the B+/B- torque limits, the 'TorqueLimitPositive' and 'TorqueLimitNegative' input-
side interconnection interfaces of the axis can be interconnected with output-side
interconnection interfaces of the LREAL type of other TOs.
Prerequisite is the activation of the process-related field on the TO axis.
The input-side interfaces 'TorqueLimitPositive' and 'TorqueLimitNegative' cannot be
interconnected several times and they cannot be distributed.
Output-side interconnection interfaces of the LREAL type have, for example:
TO axis with the output-side interconnection interface 'Torque'
TO formulaObjectType with the output-side interconnection interface 'LRealOut'
Sensor TO
Controller Object TO
'Torque' output-side interconnection interface on the axis for providing the actual torque
There is a 'Torque' output-side interconnection interface available on the axis for issuing the
actual torque to other TOs.
Prerequisite is the activation of the process-related field on the TO axis.
The actual torque supplied by the drive in the additive process-related field is issued.
It is issued in the unit set on the axis.
The output-side interconnection interface can be interconnected several times.
The output-side interconnection interface 'ActualTorque' cannot be distributed.
Basic functions
'AdditiveTorque' Input-side interconnection interface on the axis for specifying an additive torque
There is a 'AdditiveTorque' input-side interconnection interface of the LREAL type available
on the axis for specifying an additive torque to the drive using the additive process-related
field.
To specify an additive torque depending on other TOs, the input-side interconnection
interface'AdditiveTorque' can be interconnected with output-side interconnection interfaces
of the LREAL type of other TOs on the axis.
The input-side interface 'AdditiveTorque' cannot be interconnected several times and it
cannot be distributed.
Output-side interconnection interfaces of the LREAL type have, for example:
TO axis with the output-side interconnection interface 'Torque'
TO formulaObjectType with the output-side interconnection interface 'LRealOut'
Sensor TO
Controller Object TO
Basic functions
Programming with Technology Objects 3
3.1 Definitions
The following section provides an introduction to the motion components primarily from the
perspective of the ST programming language. This mainly involves system functions and
system variables. Some definitions are provided below:
System functions are functions used for the system management. They provide access to
technology-neutral functionality of the device. System functions are always available.
A technology object (TO) represents a technological functionality (for example,
positioning an axis, assigning parameters for an output cam) in the SIMOTION user
program.
TO functions or technology commands are language commands available to the
individual TOs, i.e. functions for a technology object. .
A technology package contains one or several technology objects.
System variables are attributes of the technology objects and the basic system. You can
use system variables to assign parameters for technology objects and the basic system
or to read their status.
Note
You will find additional information about the basics of motion control technology and, in
particular, technology objects, in the SIMOTION Motion Control Technology Objects
function manuals.
You will find information on configuration of technology objects in the SIMOTION Motion
Control function descriptions.
This manual only provides an overview of the above topics. Detailed information on
programming the technology objects is available in the function manuals SIMOTION
Motion Control - technology objects.
Basic functions
Programming with Technology Objects
3.2 Programming technology objects (TOs)
3.2.1 Using technology functions in a program

In order to use technology functions (TO functions), you must select a technology package
once. Technology objects (TOs) and, thus, TO functions are contained in the technology
package. Formally, these are functions with a function name, input parameters and, usually,
a return value. Below is an overview of the codes and components of the technology objects
and TO functions except for the input parameters, which are described in the Input
parameters of the technology functions section.
The following is presented from the ST programming perspective. For LAD/FBD and MCC
programming see the respective manuals.
Selecting a technology package

You use the following command to select the technology package:
USEPACKAGE tp-name AS name space
Here tp-name is the name of the technology package (see next table).
You can use the optional namespace add-on AS to define a name space. You can then also
access types, variables, functions and function blocks in the technology package that have
the same name as those in the ST source file.
Table 3-1 Technology packages in 4.1
Technology package Description of contents

Cam1 Basic motion control commands, positioning, gearing and discontinuous
synchronous operation (cam)
Commands for external encoders, measuring inputs, output cams, and
cam tracks
CAM_EXT2 Commands for supplementary technology objects (fixed gear, addition object,
formula object, sensor, controller object)
TControl Commands for temperature controllers
1 Version V3.1 and higher no longer contain the BasicMC, Position and Gear technology packages.
In USEPACKAGE commands, these technology packages are to be replaced by the Cam technology
package.
2 with V3.2 and later
The following example shows how to select the Cam technology package, assign it name
space Cam1 and use the name space:
Table 3-2 Example of selecting a technology package and using a name space
INTERFACE
USEPACKAGE Cam AS Cam1;
USES ST_2;
FUNCTION function1;
END_INTERFACE
Basic functions
IMPLEMENTATION
FUNCTION function1 : VOID
VAR_INPUT
Axis : posAxis;
END_VAR
VAR
retVal: DINT;
END_VAR
retVal:= Cam1._enableAxis (
axis := axis,
nextCommand := Cam1.WHEN_COMMAND_DONE,
commandId := _getCommandId() );
END_FUNCTION
END_IMPLEMENTATION
Technology object (TO) codes

A technology package provides technology objects (TOs); they are instantiated in the
SIMOTION SCOUT. An instantiated TO is addressed (referenced) in the program by means
of its name.
Codes of technology functions (TO functions)

TO functions are primarily commands that execute specific actions on the technology object,
which is why they are also referred to as TO commands. You can also use TO functions in
user-defined FBs. For more information about the format rules of user-defined FCs and FBs,
please refer to the SIMOTION ST Programming Manual. The following table shows an
overview of the formal codes of the TO functions.
Table 3-3 Codes of the TO functions
Code Description
Name All TO function names (_enableAxis in the example) are defined identifiers
in the SIMOTION system that always begin with _ (underscore). To
maintain a distinction between these TO functions and user-defined FBs
and FCs, you should not create source file sections beginning with the _
character.
Input parameters When called, TO functions can contain one or more input parameters and
always supply a return value to the call location. Output parameters are not
supported.
For more information, see Subsection 8.1.2.
Return value All commands normally return a double-precision integer (DINT data type).
This indicates whether the command was successfully transferred to the
system and processed normally (return value of zero) or whether an error
occurred (return value other than zero).
Basic functions
Example
If the application requires you to enable a virtual axis, you could program a source file like
the one shown in the following figure.
The following conditions must be fulfilled:
An instance of a positioning axis or speed axis has been created in SIMOTION SCOUT
as a virtual axis called Axis_1.
The myPos program has been assigned to MotionTask_1, for example. The Activation
after StartupTask option has been selected in the task configuration of MotionTask_1.
The source file has been downloaded to the target system.
After the CPU has changed to RUN mode, virtual axis Axis_1 will issue an enable. You can
verify the status of the axis enable in system variable Axis_1.control.
Table 3-4 Example for using TO functions in a program
INTERFACE
USEPACKAGE cam;
PROGRAM myPos;
END_INTERFACE
IMPLEMENTATION
// The following program must be assigned to a
// MotionTask.
// In the task configuration, the "Activation
// after StartupTask" option must be selected.
PROGRAM myPos
VAR
retVal : DINT;
END_VAR
// Axis is enabled for positioning.
retVal := _enableAxis (
axis := Axis_1,
// TO instance identifier
nextCommand := WHEN_COMMAND_DONE,
// Condition for program advancement.
// Unique command ID
END_PROGRAM
END_IMPLEMENTATION
Note
Use the long form for passing parameters (with value assignment) described in Input
parameters of the technology functions. This form is clearer and more flexible.
You will find tips on efficient use of parameters in system functions in Error sources and
efficient programming.
See also
Input parameters of technology functions (Page 64)
Efficient programming - overview (Page 413)
Basic functions
3.2.2 Differences between cyclical and sequential programming
Cyclic tasks
Cyclical tasks (such as the BackgroundTask) will be started by the system after their
completion or automatically after a defined time frame. The values of the static variables of
the assigned programs are retained. Cyclical tasks have a time monitoring and a defined
error response should the time monitoring be exceeded. This means the code contained in
cyclical tasks must perform its tasks quickly and efficiently. Tasks with a waiting character
(for example, wait for the positioning of an axis) can only be performed in several call cycles
of the cyclical task. This means TO system commands must normally be called with the
IMMEDIATELY step enabling condition for the nextCommand parameter. The subsequent
call cycles must then check the result of the system command for successful processing or
error. This procedure is also called asynchronous execution.
Sequential tasks
After start, sequential tasks (e.g. MotionTasks) are executed once and then terminated. At
each start, all local variables of the assigned programs are initialized; see Influence of the
compiler on variable initialization (Page 218) for variable initialization. Because sequential
tasks do not have any time monitoring, they can attain a run time of any length. Sequential
tasks are subject only to the control of the application. This means the application can start,
stop, pause and resume tasks. The code contained in sequential tasks processes tasks
successively, where the following task is normally performed only when the previous task
has been completed. For example, an axis is first released and then homed. This means TO
system command calls are performed using the WHEN_COMMAND_DONE step enabling
condition for the nextCommand parameter. The system function returns to the calling
sequential task only when the command has been processed. This is also called
synchronous execution.
General Procedure
In general, sequential sequences should be programmed in MotionTasks. The differences
between a sequential programming in a MotionTask and the cyclical programming in the
BackgroundTask are:
A MotionTask waits for just one step enabling condition (however linked conditions are
possible) at any one time in order to be continued. The step enabling condition is
checked with high priority in the interpolator cycle clock. To reduce the response time for
continuing the MotionTask, its priority can be increased temporarily (->
WAITFORCONDITION).
A normally cyclical program checks in each cycle a number of signal states and step
enabling conditions. This heavily loads the cycle time. The advantage compared with the
sequential type of programming lies in the parallel processing of requests and
sequences.
Synchronous and asynchronous command execution

When you program cyclically or sequentially, the commands are processed synchronously or
asynchronously.
For more information, please read Transition and step enabling condition (Page 69).
Basic functions
3.2.3 Input parameters of technology functions

The function parameters of the TO functions are:
mandatory, i.e. they must be specified, for example, the TO instance and the target
position for positioning;
optional predefined, i.e. they can be specified; otherwise, a default setting for the system
is activated, for example, IMMEDIATELY for the step enabling condition;
optionalUserDefault, i.e. they can be specified, but if they are not, a user-defined default
behavior takes effect (programmable or configurable in the associated userDefault
variable). For information about the use of parameter values in motion control programs,
refer to the documentation for the technology objects (TOs).
In practice, you will always have to enter at least one parameter for TO functions, in order to
specify the object. In our example for the mandatory use of a variable, you must specify
which axis is to be activated (axis := myaxis).
Mandatory rules for specifying input parameters

The following table shows the rules you must follow when specifying input parameters.
Table 3-5 Rules for specifying input parameters
Rule Example
Assignments
The actual parameter is always assigned to the formal In the example for the mandatory use of a variable , the
parameter. myAxis (Variable) and IMMEDIATELY (value) current
parameters are assigned to the formal parameters axis and
nextCommand so that the data can be processed in the
function.
Several input parameters
Several input parameters are separated by commas. In the example for the mandatory use of a variable:
_enableAxis (axis:=myAxis, nextCommand :=
IMMEDIATELY)
Order of input parameters
The input parameters can be in any order as long as the first In the example for the mandatory use of a variable,
two rules are followed. _enableAxis (nextCommand:=IMMEDIATELY,
axis:=myAxis) is also possible.
Input parameters with defaults
If you omit parameters containing default values, the system In the example for the mandatory use of a variable, you can
will set the default value automatically. omit input parameter nextCommand := IMMEDIATELY
because this is the default value.
Actual parameter as variable
Basic functions
Rule Example
If you enter an actual parameter as a variable (TO variable In the example for the mandatory use of a variable, the
myAxis in the example), you must define and declare the user-defined function block posFB defines the TO instance
variable first. myAxis (myAxis:PosAxis).
The advantage is that you can reuse the source file sections When you call a TO function from this FB, the TO instance
that use these variables. is used as an actual parameter (Axis := myAxis).
For example, you might want to call a TO function in a user- The values for the TO instance are derived not from the
defined function block (FB), using variable axis identifiers as user-defined FB, but from the program called by this FB with
an input parameters. It would be awkward to have to call the myFB (myAxis := Axis).
function several times using constant axis names and would For the reasons named, you can also call the FB and, thus,
also mean that you could not reuse the FB. the TO function with myAxis := Axis2 or myAxis := Axis3,
You can also use other actual parameters as a variable. etc.
This means you can use the FB in all programs of the ST
source file and in programs of other source files with the aid
of the export function.
Actual parameters as values (enumerators)
If you enter actual parameters as values (next Command: = In the example for the mandatory use of a variable, the
IMMEDIATELY in the example), you must choose at least IMMEDIATELY and WHEN_COMMAND_DONE
one value from the various actual states (predefined enumerators are available for the nextCommand formal
enumerators). Enumerators are a derived data type. You will parameter in the _enableAxis TO function. The compiler
find basic information about enumerators in Subsection rejects other values during compilation of the program.
3.4.2.
Parameters for the transition and step enabling condition
With many motion commands, you can specify when the TO function is executed on the technology object and when the
next statement is processed (see Transition and step enabling condition)
Parameters for command identification
All motion commands must contain a parameter for the command identification. This allows you to track the status of the
command execution (see Diagnosis of the command execution).
Note
All system data types for enumerations (in system functions and system variables) begin
with the word Enum. For example, formal parameter nextCommand has enumeration data
type EnumNextCommandEnable (with values IMMEDIATELY or
WHEN_COMMAND_DONE).
All system data types for structures (in system functions and system variables) begin with
the word Struct.
If you do not begin user-defined data types with character string Enum or Struct, names
cannot overlap.
Appendix D of this manual contains all reserved identifiers of the ST (Structured Text)
programming language, the system functions, the system blocks, and the SIMOTION
devices.
The reserved identifiers of the SIMOTION technology packages can be found in the
Parameter Manuals for the SIMOTION technology packages.
Basic functions
Reference and value parameters for motion variables

The parameters of motion variables (e.g. velocity, acceleration) are defined using a
reference parameter and a value parameter.
The reference parameter specifies which system variable the motion variable to be
transferred references and, if required, how the following value parameter is to be
interpreted.
The identifier of a reference parameter is formed from the identifier of the motion variable
with the suffix Type, e.g. velocityType.
The value parameter specifies:
For reference parameter = DIRECT: The numerical value of the motion variable.
For reference parameter = USER_DEFAULT: The scaling factor of the default value
stored in the system variable.
The value parameter has no significance for other reference parameters.
The identifier of a value parameter is the identifier of the motion variable, e.g. velocity.
Table 3-6 Frequent reference parameters and effect of the associated value parameters
Reference parameter Value parameter Value of the motion variable

DIRECT Absolute value Content of the value parameter (with the unit of the
motion variable specified during the configuration of the
technology object).
See example in the table below.
USER_DEFAULT Relative value [%] Default setting * value parameter / 100
The default settings for the motion variable are stored in
a system variable.
ACTUAL 1 Current actual value
CURRENT 1 Current setpoint of the interpolator
EFFECTIVE 1 Last programmed value
1 Value parameter is ignored
Table 3-7 Example of velocityType (reference parameter) and velocity (value parameter)
velocityType velocity Value of the motion variable

DIRECT (no details) 100 [configured unit]
50.0 50 [configured unit]
200.0 200 [configured unit]
USER-DEFAULT (no details) 100 % of the system variable value1
50.0 50 % of the system variable value1
200.0 200 % of the system variable value1
1 For motion commands of an axis: system variable userDefault.velocity
Basic functions
Short form of the parameter transfer

In the short form of parameter transfer, the formal parameters (parameter identifiers) are
omitted and only the actual parameters (parameter values) are used.
NOTICE
In the short form of parameter transfer, you must specify all parameter values (even
optional ones) separated by commas in the correct order!
Only a few system functions (see Functions for the runtime measurement of tasks, Task
control commands and Functions for the message configuration) require the short form of
parameter transfer when called. This is specified explicitly for the relevant functions.
Note
Use the long form (with value assignment) described above. This form is clearer and more
flexible.
Data type of TO instances

You can use TO instances, for example, for object specification in TO function calls. You
must first declare the variables, however, and you must choose from a predefined selection
of data types (see table for Data types for technology objects). In our Use of TO functions in
the program examples in this section (Example for the mandatory use of a variable), the data
type is PosAxis, because you want to create TO instances for positioning axes. The Cam
(discontinuous synchronous operation) technology package you have selected contains the
PosAxis data type for the Position Axis technology object.
Table 3-8 Data types of technology objects (names of technology objects)
Technology object Data type Contained in the technology

package
Drive axis driveAxis CAM1 2, CAM_EXT
External encoder externalEncoderType CAM1 2, CAM_EXT
Measuring input measuringInputType CAM1 2, CAM_EXT
Output cam outputCamType CAM1 2, CAM_EXT
Cam track (V3.2 and higher) _camTrackType CAM, CAM_EXT
Position axis posAxis CAM1 3, CAM_EXT
Following axis followingAxis CAM1 4, CAM_EXT
Following object followingObjectType CAM1 4, CAM_EXT
Cam camType CAM, CAM_EXT
Fixed gear (V3.2 and higher) _fixedGearType CAM_EXT
Addition object (V3.2 and _additionObjectType CAM_EXT
higher)
Formula object (V3.2 and _formulaObjectType_ CAM_EXT
higher)
Sensor (V3.2 and higher) _sensorType CAM_EXT
Basic functions
Technology object Data type Contained in the technology

package
Controller object (V3.2 and _controllerObjectType_ CAM_EXT
higher)
Temperature channel temperatureControllerType TControl
General data type, to which ANYOBJECT
every TO can be assigned
1 Version V3.1 and higher no longer contain the BasicMC, Position and Gear technology packages.
2 Up to Version V3.0, also contained in the BasicMC, Position, and Gear technology packages
3 Up to Version V3.0, also contained in the Position, and Gear technology packages
4 Up to Version V3.0, also contained in the Gear technology package.
Variables of the technology object (TO) data type are initialized by default with the value
TO#NIL. You can use this to check whether a valid TO was assigned to a variable; see
Example of the mandatory use of a variable.
Example of the mandatory use of a variable

An example of the mandatory use of a variable with a technology object data type (you saw
an example of optional use in Data types for technology objects) follows. A reusable FB will
be written, which will enable any axis. Since the axis name is variable, you must define a
variable with the data type of the axis.
The axis to be enabled is provided when the FB is called. This is verified for safety reasons.
If no TO is available (TO#NIL), execution of the FB is interrupted.
Table 3-9 Example of the mandatory use of a variable of the technology objects to data type
// ...
FUNCTION_BLOCK posFB
VAR_INPUT
myAxis: posAxis;
END_VAR
VAR_OUTPUT
// Return value of the TO function,
// also output parameter of the FB
return_value: DINT:= -1;
END_VAR
// Check for valid TO
IF myAxis = TO#NIL THEN RETURN; END_IF;
// Example of call with variable of data type of TO
return_value := _enableAxis (
axis:= myAxis, // TO function
nextCommand:= IMMEDIATELY, //optional
END_FUNCTION_BLOCK
PROGRAM Example
VAR
myFB: posFB;
END_VAR
myFB (myaxis := Axis1);
// Name is created on start-up // in the SIMOTION SCOUT.
myFB (myaxis := Axis2);
// Name is created on start-up // in the SIMOTION SCOUT.
END PROGRAM
//...
Basic functions
3.2.4 Transition and step enabling conditions
Fundamentals for the processing of a TO function (command execution)

The TO functions are transferred as commands to the technology function for execution. The
TO executes or activates these commands in the processing cycle clock, which was
specified during their configuration (e.g. IPO cycle clock).
The outputCam, measuringInput, externalEncoder and cam technology objects have a direct
command execution. A new command on the same technology object supersedes a
command which is active there.
In addition to commands for direct command execution, motion commands can be issued on
the following technology objects: driveAxis, posAxis, followingAxis, and followingObject. The
technology objects have structure elements for command management.
An example of the command management for axes is described below.
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Figure 3-1 Command execution on the axes
The MotionBuffer stores motion commands that are executed sequentially by the
interpolator. The number of motion commands that can be stored in the motion buffer is
defined via the configuration data
TypeOfAxis.DecodingConfig.numberOfMaxbufferedCommandId. Multiple motion commands
can therefore be issued on the technology object, irrespective of the execution status of the
active command.
Basic functions
A commandId is assigned to each command when it is issued. This is stored in the

command and provides a reference to the issued command.
The commands are assigned to command groups. The pending commands in the existing
command groups are processed in parallel by the interpolator. Certain commands become
active on the technology object immediately and form a queue in the motion buffer; other
commands, i.e. superimposing commands, take effect immediately.
Transition behavior of the currently active motion command

You specify the transition behavior of the currently active motion command on the
technology object in the TO function with the parameter MergeMode. Here you specify, how
the TO function is placed in the command execution sequence on the technology object, or
to which command group it is assigned.
Table 3-10 Frequent merge modes
Merge mode Description

IMMEDIATELY The motion specified in the command becomes active
immediately; already active motions are replaced, pending
commands/motions are aborted.
NEXT_MOTION Execute after the active motion and delete further pending
commands/motions.
SEQUENTIAL Attach to previous commands/motions.
SUPERIMPOSED_ Superimposed motion on the axis is possible in addition to the
MOTION_MERGE basic motion.
Command step enabling condition

A step enabling condition can be programmed for TO functions that are executed in the
interpolator. It specifies when the next statement in the program source is executed. The
nextCommand parameter is used for this purpose. Refer to the SIMOTION TP Cam System
Functions Parameter Manual (reference list) for the permissible conditions for each
command.
The main difference is between asynchronous and synchronous command execution:
Asynchronous command execution:
The TO function is transferred to the technology object and the program continued
immediately. The nextCommand = IMMEDIATELY is set for this.
In this case, the application must ensure that TO functions are issued only once and
checkback signals are evaluated explicitly by scanning the axis or command status (see
Diagnosis of the command execution).
Example: see the following two figures
This method of motion control is referred to as cyclic programming. It is permitted in all
system tasks and is intended especially for the programming of cyclic tasks.
The asynchronous command execution is the default setting when parameter
nextCommand is not specified.
Basic functions
Synchronous command execution:

The TO function together with the parameterization for the step enable are transferred to
the technology object and the called task stopped. The technology object executes the
function and calls for program execution to be resumed as soon as the specified step
enabling condition is satisfied or the command has been aborted. For this, nextCommand
is set to the desired step enabling condition.
Example: see Asynchronous program execution (sequential programming).
This method of motion control is referred to as sequential programming. It is supported
especially by the MotionTasks.
Programming command sequences in cyclic tasks leads to task timeouts and therefore to
runtime errors.
Table 3-11 Example of asynchronous program execution (cyclic programming) - Part 1
INTERFACE
USEPACKAGE CAM;
PROGRAM ProgramCycle;
END_INTERFACE
IMPLEMENTATION
PROGRAM ProgramCycle
VAR
boStartCommand : BOOL; // Command - issue command
boCommandStarted : BOOL; //Auxiliary variable - command issued
boCommandDone : BOOL; // Auxiliary variable - command executed
i32Ret : DINT; // Return value of system functions
sCommandId : CommandIdType; // CommandId
// Return value - _getStateOfAxisCommand
sRetCommandState : StructRetCommandState;
// Instance of the system FB for the edge detection
r_trig_1 : R_TRIG;
END_VAR
r_trig_1 (boStartCommand); // Call the edge detection

IF r_trig_1.q THEN
// Request for a system-wide unique commandId
sCommandId := _getCommandId ();
// Register commandId at the TO
// --> Diagnostics of end or abort of command possible
i32Ret := _bufferAxisCommandId (
axis := Axis_1,
commandId := sCommandId );
// Evaluation of return value of system function
// ...
// Issuing of a command - motion with USER_DEFAULT values
i32Ret := _move(
axis := Axis_1,
nextCommand := IMMEDIATELY,
// ...
// Auxiliary variables for coordination of command execution
boCommandStarted := TRUE;
boCommandDone := FALSE;
//---------------------------------------------------------------------
// Continuation follows
Basic functions
Table 3-12 Example of asynchronous program execution (cyclic programming) - Part 2
// Continuation
//---------------------------------------------------------------------
ELSIF boCommandStarted AND NOT boCommandDone THEN
// Query command execution status
sRetCommandState := _getStateOfAxisCommand(
axis := Axis_1,
IF sRetCommandState.functionResult = 0 THEN
IF sRetCommandState.commandIdState = EXECUTED THEN
// Command has been executed (completed)
boCommandStarted := FALSE;
boCommandDone := TRUE;
// Remove registered commandId on TO
i32Ret := _removeBufferedAxisCommandId(
axis := Axis_1,
END_IF;
ELSE
// Error handling for _getStateOfAxisCommand function call
// ...
;
END_IF;
ELSIF boCommandDone THEN

// Execution after command execution
// ...
;
END_IF;
// Further user program as of here

// ...
END_PROGRAM
END_IMPLEMENTATION
Table 3-13 Example of synchronous program execution (sequential programming)
INTERFACE
USEPACKAGE CAM;
VAR_GLOBAL
g_boCommandStarted : BOOL; //Auxiliary variable - command issued
g_boCommandDone : BOOL; // Auxiliary variable - command executed
END_VAR
PROGRAM ProgramSequential;
END_INTERFACE
IMPLEMENTATION
PROGRAM ProgramSequential
VAR
i32Ret : DINT: // Return value of system function
END_VAR;
Basic functions
g_boCommandStarted := TRUE;
g_boCommandDone := FALSE;
// Statements executed before the motion.
// ...
i32Ret := _move(
axis := Axis_1,
nextCommand:= WHEN_MOTION_DONE,
commandId:= _getCommandId () );
// Statements executed after the motion.

// ...
// ...
g_boCommandStarted := FALSE;
g_boCommandDone := TRUE;
END_PROGRAM
3.2.5 Command execution diagnostics
Command identification commandId

When a system function issues a command, a commandId is transferred. While the
command is being executed by the technology object, it stores the commandId in the
command, thus identifying the command.
A project-wide unique commandId is obtained with the _getCommandId system function.
This ensures that no further command with the same commandId exists in the system
(unique reference to the command).
Table 3-14 Example of the use of the commandId
//...
VAR
myCommandId : CommandIdType;
END_VAR
//...
// Save unique ID
myCommandId := _getCommandId ();
// Execute function with ID
myFC := _pos (axis := myAxis,
position := position_1,
nextCommand :=IMMEDIATELY,
commandId :=myCommandId);
//...
The description how you can track the execution status of a command with the aid of the
commandId follows.
Basic functions
System functions for scanning the command/execution status

Technology objects, on which several commands are issued for execution, have
_getStateOf...Command system functions (e.g. _get StateOfAxisCommand). The return
value of data type StructRetCommandState provides information on the execution status of a
motion command by the interpolator in the EnumCommandIdState component.
As of Version V3.2 of the SIMOTION Kernel, the abort reason is specified in the abortId
component (DINT data type) for EnumCommandIdState = ABORTED. The values
correspond to the reason in the technological alarm "30002 Command aborted".
Status check after completion or abort of a command

Once a command has been aborted or has finished executing, it is normally deleted from the
internal command management system of the technology object. As a result, it is not
possible to diagnose the command status End or Abort by calling the system functions
indicated above.
To enable the status of a command to be scanned even after it has been aborted or its
execution is complete, the commandId of the relevant command must be made known to the
internal command management of the technology object. This is performed using the
_buffer...CommandId system function (e.g. _bufferAxisCommandId).
After the End or Abort status has been evaluated, the commandId must be explicitly
removed from the command management of the technology object. This is performed via the
system function _removeBuffered...CommandId (e.g. _removeBufferedAxisCommandId).
Example: see Asynchronous program execution (cyclic programming), Part 1 and Part 2.
For the behavior when resetting a technology object, see below, Status check after resetting
a technology object.
Configuration data TypeOfAxis.DecodingConfig.numberOfMaxbufferedCommandId must be
set to notify the technology object of the maximum number of commands it must manage at
the same time.
Status check after resetting a technology object

As of Version V3.2 of the SIMOTION Kernel, the commandId can be buffered in such a way
that it is not deleted when a technology object is reset. It is then also available after resetting
a technology object.
To do this, call the TO function __buffer...CommandId with the parameter
deleteCommandIdWithReset = NO. The commandId can then only be deleted explicitly
with the command _removeBuffered...CommandId.
If you call the _buffer...CommandId TO function with the deleteCommandIdWithReset=
YES (default setting) parameter, the commandId is also deleted with the _reset... function
(e.g. _resetAxis) when resetting the technology object.
This is also the behavior up to Version V3.1 of the SIMOTION Kernel.
Basic functions
3.2.6 Identifiers of technology object instances

The identifiers of technology object instances are defined during their configuration in
SIMOTION SCOUT. They must be defined uniquely within a SIMOTION device.
In general, you can call the instance of a technology object with its identifier.
However, if the same identifier is defined as data type, variable, function or function block in
ST source files or if a global device variable or I/O variable of the same name was created,
these identifiers cover the technology object instance.
You can use the predefined name space _to so that you can still access the technology
object instance, for example to access its system variables or configuration data (see Name
spaces in the ST Programming Manual). Place the name space identifier in front of the
corresponding name, separated by a period, for example _to.to-name.
If you want to access the instance of a technology object on another SIMOTION device,
place the name of the SIMOTION device in front of the instance identifier, separated by a
period, for example dev-name.to-name or dev-name._to.to-name.
If the identifier of a device is covered, you can use the predefined name space _project, for
example _project.dev-name.to-name or _project.dev-name._to.to-name.
Note
With a project-wide unique identifier for the technology object instance, you can use the
predefined name space _project also for identifying the instance. This ensures compatibility
to projects created with an older SIMOTION SCOUT version (up to V3.2).
3.2.7 Conversion of TO data types
Type conversions within the hierarchical data types

The driveAxis, posAxis, followingAxis TO data types are hierarchically structured by the
functional scope.
A position axis (posAxis data type) contains the functionality of a speed-controlled axis
(driveAxis data type).
A following axis (followingAxis data type) contains the functionality of a position axis
(posAxis data type) and, therefore, also of a speed-controlled axis (driveAxis data type).
Type conversions are only possible within these hierarchical data types and with the general
ANYOBJECT technology object data type.
Note
Other type conversions are not possible (for example, between a measuring input and
following object).
Basic functions
Implicit type conversion

Variables (with TO data type) or TO instances can be assigned to the following variables
without specifying a conversion function:
Variables of a lower hierarchy TO data type:
followingAxis to posAxis or driveAxis
posAxis to driveAxis
Variables of general ANYOBJECT TO data type
See the table below.
Table 3-15 Example of implicit type conversion
// The following TO instance (axis) is configured in the project

navigator: fol_axis_real as a following axis
VAR
drv_axis1 : driveAxis;
pos_axis1 : posAxis;
any_obj1 : ANYOBJECT;
END_VAR
drv_axis1 := pos_axis1;
any_obj1 := fol_axis_real;...
Explicit type conversion

The anyObject_to_Object type conversion function is used to assign variables (with a TO
data type) to variables with higher hierarchy TO data types.
A requirement for this is that the source variable (with the hierarchically lower TO data type)
must refer to a TO instance that at least corresponds hierarchically to the TO data type of the
target variable (see example in the following table).
Table 3-16 Example of successful type conversions
// The following TO instances (axes) are configured in the

// project navigator:
// pos_axis_real as position axis
// fol_axis_real as a following axis
VAR
drv_axis1 : driveAxis;
END_VAR
// Implicit type conversions

drv_axis1 := pos_axis_real;
any_obj1 := fol_axis_real;
// Successful type conversions
Basic functions
pos_axis1 := anyObject_to_Object (in := drv_axis1);

// Type conversion successful,
// because drv_axis1 refers to a position axis.
pos_axis1 := anyObject_to_Object (in := any_obj1);

// Type conversion successful,
// because any_obj1 refers to a following axis.
//...
In the event of a failed type conversion, the value TO#NIL is assigned to the target variable:
Table 3-17 Example of a failed type conversion
// The following TO instance (axis) is configured in the

// project navigator:
// drv_axis_real as a drive axis
VAR
END_VAR
// Implicit type conversions

any_obj1 := drv_axis_real;
// Type conversion failed

pos_axis1 := anyObject_to_Object (in := any_obj1);
// Type conversion is not required,
// because any_obj1 refers to a speed-controlled axis.
// pos_axis1 has the value TO#NIL.
3.2.8 System variables

You can use system variables to assign parameters for technology objects and the basic
system or to read their status.
Syntax of system variables

System variables are queried using a structure access with the following syntax. The
following table shows the significance of the individual syntax components.
[_to.]TO name.variable.component or
[_device.]variable.component
Basic functions
Table 3-18 Syntax components of system variables
Syntax component Significance

TO name TO name stands for the name of a technology object (TO), e.g. of an axis. You
have performed one of the following:
Inserted the technology object in SIMOTION SCOUT.
Or declared a variable of the data type of this technology object in the
program.
You will find a list of all the data types for technology objects in Input parameters
of the technology functions.
_to The optional word _to identifies the predefined name space for technology
objects. It should be used to unambiguously specify a technology object with TO
name.
Also see Name spaces in the ST Programming Manual.
_device The optional word _device identifies the predefined name space for device-
specific variables (system variables of the SIMOTION devices, I/O variables,
global device variables). It should be used to unambiguously specify the variable
as system variable of the SIMOTION device. These system variables are also
available when no technology object is loaded.
Also see Name spaces in the ST Programming Manual.
Variable Variable stands for the name of the system variable as found in the list of all
system variables (see Parameter Manual for the SIMOTION technology
package system variables).
Component Component stands for the part of the structure you want to query. This can be
an additional structure that contains further components, as well. The depth of
the structure depends on the system variable and can be zero.
Using system variables

Read access to a system variable is always possible. A system variable can be assigned to
a variable in two ways:
With a value assignment (see also Value assignments in the ST Programming Manual).
In this case, the ExecutionFaultTask is called in the event of an error. For more
information on the error response, seeAccesses to system variables.
With the _getSafeValue system function (see _getSafeValue (Page 316)and accesses to
system variables and inputs/outputs (Page 315)). In this case it is possible to program the
desired response in the event of an error.
The use in an expression or as parameter in a function or function block is also possible. In
this case, the ExecutionFaultTask is also called in the event of an error (see Accesses to
system variables).
If a system variable can be written is specified in the Parameter Manual (reference list) of the
system variables of the technology objects (TO) in the following entry:
Effective: immediately (can be read and written to)
Effective: read only (can only be read).
If a system variable can be written to, it can be assigned a value in two ways:
With a value assignment (see also Value assignments in the ST Programming Manual).
In this case, the ExecutionFaultTask is called in the event of an error. For more
information on the error response, refer to Access errors to system variables and
configuration data, as well as I/O variables for direct access (Page 88).
Basic functions
With the system function _setSafeValue (see function_setSafeValue (Page 318)). In this
case it is possible to program the desired response in the event of an error.
TO#NIL is a special variable value. You can use this value to check whether a valid
technology object is present (see the example in Input parameters of the technology
functions).
Note
For performance reasons, you should only access system variables when absolutely
necessary. Instead, save their contents in a local variable of the same data type. Local
variable accesses need much fewer resources because less processor time is used. For
more information, see Efficient programming.
Also note that a source of error can be comparing REAL variables, LREAL variables, and
system variables (for example, axis position) with each other, see Compare REAL or LREAL
variables.
Scope of system variables

1. System variables, for example, the status flag, may only exist for just one IPO cycle clock.
2. All system variables have the documented Update property.
3. If you want to query the status of a task with a lower cycle time, the status should be
linked with the following OR status. The OR operation ensures that all states of the
application are used. The operation ensures that the subsequent ENUMS of the status
flag are grouped.
Examples of system variables

You want to check the axis position and dynamic axis state of Axis1.
Requirements:
You have created Axis1 in SIMOTION SCOUT or have defined and initialized it in the
program, e.g. using the myAxis variable of PosAxis data type.
You have defined variables in the program for recording the axis position and the
dynamic axis state. The data type of these variables must match the data type of the
variables to be checked, e.g.:
VAR
act_pos : LREAL;
act_motionState : EnumAxisMotionState;
END_VAR
Example of accessing a system variable using a structure element of an elementary data
type:
act_pos := Axis1.positioningState.actualPosition;
PositioningState is the system variable and actualPosition is the structure element of data
type LREAL that will be queried.
Example of querying a system variable with an enumeration element:
act_motionState := Axis1.motionStateData.motionState;
motionStateData is the system variable and motionState is the structure element of
enumerator data type EnumAxisMotionState that will be queried.
Basic functions
Initialization of system variables

System variables are not reinitialized as a rule when you download the project; their actual
values are not reset to the initial values. In general, system variables are only reinitialized
when the SIMOTION device is restarted.
Readin substitute value or the last value of system variables at restart (as of V4.1)
The access to system variables is also possible at RESTART of the TO or at activated TO,
without the system going to STOP. Instead of reading the system variables via the function
_getSaveValue, you can configure the following via an entry in the config data (restart info):
read last value (LAST_VALUE = default)
Read default value (=value when loading the project; DEFAULT_VALUE)
Go to STOP (STOP_DEVICE)
Example
restartInfo : RestartInfo
behaviorInvalidSysvarAccess : EnumInvalidSysvarAccess
[
LASTVALUE
DEFAULT_VALUE
STOP_VALUE
]
Exceptions
Variables that deliver the current TO status, also return the correct status at RESTART. This
affects the system variable restartActivation, which you can access via _getSafeValue.
Note
Writing to the TO system variable during a RESTART is possible. The values will be applied
or are effective after the RESTART.
Note
System variables saved ONLINE cannot be saved with "Save to memory card (Ram2Rom)"
or "Save in the engineering project (load configuration data to PG)" is not possible.
So that values of system variables can also be saved in the engineering project and on
memory card the value of system variables must be changed OFFLINE and then loaded into
the target system per download and saved. See Storage concept in the target system
(Page 37).
Basic functions
3.2.9 Configuration data

Configuration data define the basic functionality of a technology object. They are normally
set during the configuration of the technology object with SIMOTION SCOUT and for the
most part cannot be modified during runtime.
A major part of this configuration data can, however, be modified while the program is
running. Whether or not a configuration data item can be modified during runtime is specific
to each configuration data item and is documented in the Parameter Manual for SIMOTION
technology package configuration data.
Depending on the configuration data item, the following options are available:
Cannot be modified online:
These configuration data can only be modified during configuration of the technology
object with SIMOTION SCOUT.
Can be modified online, effective after restart:
These configuration data can be changed by variable access from the user program. The
change does not take effect until the technology object is restarted (see Resetting a
technology object).
Can be modified online, immediately effective:
These configuration data can be changed by variable access from the user program.
Change is immediately effective.
Note
Configuration data changed ONLINE can be saved on memory card with "Copy current
data to RAM" and subsequent "Copy from RAM to ROM" or saved with "Load
configuration data to PG" in the engineering project. See Storage concept in the target
system (Page 37).
Reading the configuration data

You can read each configuration data of a technology object and assign it to a variable, for
example:
Value stored in the RAM of the SIMOTION device
To do so, use the syntax: TO-name.setconfigdata.config-date.
Value currently in effect on the technology object
To do so, use the syntax: TO-name.activeconfigdata.config-date.
Only access to individual variables of the configuration data is permitted.
Table 3-19 Read access to a configuration data item of a technology object
Basic functions
VAR
lreal_var : LREAL;
drive_var : driveaxis;
END_VAR
lreal_var :=
drive_var.setconfigdata.TypeOfAxis.MaxJerk.maximum;
// Read access to saved value
lreal_var :=
drive_var.activeconfigdata.TypeOfAxis.MaxJerk.maximum;
// Read access to value currently in effect
A configuration data item can be assigned to a variable in two ways:

With a value assignment such as the example in the previous table (see also Value
assignments in the ST Programming Manual). In this case, the ExecutionFaultTask is
called in the event of an error. For more information on the error response, seeAccesses
to system variables.
With the _getSafeValue system function (see _getSafeValue (Page 316) function). In this
The use in an expression or as parameter in a function or function block is also possible. In
this case, the ExecutionFaultTask is called in the event of an error.
Modifying configuration data at runtime (online modification)

Configuration data are modified online by a simple variable write access to the value stored
in the RAM. To do so, use the syntax:
TO-name.setconfigdata.config-date.
The effectiveness (adoption as the current value in effect on the technology object) is
determined by the configuration data item (effective immediately / effective after restart).
See example of write access to a configuration data item.
Only access to individual variables of the configuration data is permitted.
Table 3-20 Write access to a configuration data item of a technology object
VAR
lreal_var : LREAL;
drive_var : driveaxis;
END_VAR
drive_var.setconfigdata.TypeOfAxis.MaxJerk.maximum :=
200000.0;
// Write access to saved value
A configuration data item can be assigned a value in two ways:

With a value assignment, such as the example in the previous table (see also Value
assignments in the ST Programming Manual). In this case, the ExecutionFaultTask is
called in the event of an error. For more information on the error response, seeAccesses
to system variables.
Basic functions
With the system function _setSafeValue (see function _setSafeValue (Page 318)). In this
In addition, there is the option to control the activation via a system variable.
Use technology object system variable activationModeChangedConfigData to define when
the modified configuration data are to take effect:
If activationModeChangedConfigData = ACTIVATE_CHANGED_CONFIG_DATA is set,
the modified data is set immediately active. If the system variable is set to this value, data
collected up to this point are also activated.
If activationModeChangedConfigData = COLLECT_CHANGED_CONFIG_DATA is set,
the modified data is collected.
They are activated as a body as soon as this system variable is set to
ACTIVATE_CHANGED_CONFIG_DATA.
The collected, modified configuration data can be deleted (without activation) by calling
the corresponding technology object system function (e.g. _resetAxisConfigDataBuffer).
NOTICE
When activationModeChangedConfigData:= ACTIVATE_CHANGED_CONFIG_DATA, it
takes a certain amount of time for a modified configuration data item to take effect after
it has been written.
In particular, when several configuration data are changed simultaneously, timeouts can
occur in the tasks. It is not possible to change configuration data in SynchronousTasks.
Note
If you want to change several configuration data at the same time, it is advisable to
collect them first with activationModeChangedConfigData =
COLLECT_CHANGED_CONFIG_DATA and then activate them as a body in a sequential
task using the ACTIVATE_CHANGED_CONFIG_DATA setting.
Config data changed at runtime can be saved on card and in the ES project, see Storage
Concept in the Target System (Page 37).
Note
For access to configuration data from the user program, (e.g. in a general FB) that the
respective configuration data is also available depending on TO type.
Basic functions
Access to config data for TO references and axis arrays

Access to config data for TO references is possible. For access to config data of an axis
array you must use an intermediate variable. If you attempt to use axis arrays directly you
will get a compiler message that an intermediate variable should be used.
Example
Vartemp
myPosAxis :posaxis;
End_Var
myPosAxis :=Pos[2]
myPosAxis.setconfigdata.TypeOfAxis.MaxJerk.maximum :=
200000.0;
3.2.10 Resetting a technology object
CAUTION
Resetting a technology object aborts the current motion without an error message.
To integrate configuration data that require a restart of the technology object, you must reset
the technology object. The procedure depends on the restart.restartActivationSetting
configuration data item of the technology object:
For the setting restart.restartActivationSetting = RESTART_BY_COMMAND:
The technology object can only be restarted by means of the corresponding system
function (e.g. _restartAxis). To do so, set the parameter activateRestart =
ACTIVATE_RESTART.
For the setting restart.restartActivationSetting=
RESTART_BY_SYSVAR_AND_COMMAND:
The restart can be performed in two ways:
By calling the corresponding system function (e.g. _restartAxis). By setting parameter
activateRestart = ACTIVATE_RESTART.
By assigning a value to the technology object system variable: restartActivation=
ACTIVATE_RESTART. The system variables are initialized, the technology object
loses all of its status information, such as axis homed.
The restart is always performed asynchronously. After a successful restart of the
technology object, this system variable has the value NO_RESTART_ACTIVATION.
Basic functions
3.2.11 Use of technology packages in libraries

Libraries can also contain TO functions and accesses to the system variables of a
technology object.
You specify the SIMOTION device and technology package for which the library is compiled
in the object properties of the library:
1. Select the library in the project navigator.
2. Select the Edit > Object Properties menu command.
3. Select the TPs/TOs tab there.
4. Select the SIMOTION devices (including the version number) and the technology
packages for which the library is to be compiled.
NOTICE
To compile a project without errors, observe the rules governing the selection of
SIMOTION devices and technology packages in the following table!
You can also specify the technology package in the library's ST source files if you want (with
the USEPACKAGE command), however, this is not necessary.
Table 3-21 Selection of devices and technology packages in a library
Selection Description
Device-independent You must also select:
The technology packages
The version number of the selected technology packages
Note:
1. The library is compiled without reference to a SIMOTION device or a
version of the SIMOTION Kernel.
For this reason, the following must not be used:
System functions of SIMOTION devices
System variables of SIMOTION devices
Version-dependent system functions
Configuration data of technology objects
2. The library is compiled precisely to the version selected. The use of
system functions or variables which are not available in the selected
version will result in a compilation error.
3. If a device-independent library is to be made available for another version
it must be copied and inserted under a different name. This copy must be
recompiled with a different version reference.
Basic functions
3.3 Response to faults and events
Selection Description
SIMOTION device Only those technology packages are displayed that are available for all of the
including version selected devices.
(multiple selection Note:
possible)
1. The library is compiled for all of the selected devices and technology
packages (of the selected device versions).
2. The use of system functions or variables which are not available for one of
the selected devices, or the technology package of the respective device
version, will result in a compilation error.
3. The library can only be used for the selected devices and technology
packages. When you use the library in an ST source file, the following is
therefore checked:
Whether the library is compiled for the SIMOTION device (including
version) that contains the importing ST source file.
Whether the technology package set on the SIMOTION device and
specified in the ST source file with the USEPACKAGE command
corresponds to the one in the library.
Any inconsistencies will result in compilation errors.
3.3.1 Evaluating faults and events

The SIMOTION system has various execution levels for scheduling programs. One of these
execution levels is the interrupt execution level, which is started in response to specific
events, such as errors.
Options for responding to faults and events

There are two classes of events that can start tasks in the interrupt execution level:
When events are user-defined, they are called UserInterruptTasks; the programs
assigned to these tasks are also user-defined.
If the events are system or technology-related (system errors or technology objects), we
refer to SystemInterruptTasks. The following table lists the available
SystemInterruptTasks.
Messages generated by the system are known as alarms. The reaction is defined in the
interrupt configuration (see below).
Table 3-22 Specified SystemInterruptTasks
SystemInterruptTask Called for the following events

ExecutionFaultTask Execution errors in programs
PeripheralFaultTask Process and diagnostic alarms from I/O modules
TechnologicalFaultTask Alarms, warnings, and notes from technology objects
Basic functions
SystemInterruptTask Called for the following events

TimeFaultBackgroundTask Timeout for the BackgroundTask
TimeFaultTask Timeouts for TimerInterruptTasks
Note
Message generation is another system feedback option. User-assigned messages can be
used in programs, e.g. if certain events occur (tank empty, etc.). For more information, see
Programming messages (Page 353).
Alarm configuration
You can define the system behavior for technological alarms in SIMOTION SCOUT (alarm
configuration). You can choose between:
STOP: Transition to STOP mode (all system and user tasks are stopped.)
STOP U: Transition to STOP U mode (only user program tasks are stopped.)
START TechnologicalFaultTask: Starts the associated SystemInterruptTask
NONE: No response
Each alarm has a default response. Details for the alarm configuration can be found at Error
handling for technology objects.
When you select START TechnologicalFaultTask, you must assign a program to the
TechnologicalFaultTask that responds to the associated alarm.
Besides a configurable response to program execution, alarms also have a reaction in the
technology object (see SIMOTION Motion Control Technology Objects function manuals).
3.3.2 Execution errors in programs

You set the response to execution errors in programs in the task configuration
(seeConfiguring the execution system).
This affects the following operations, for example:
Invalid operation with floating-point numbers (e.g. logarithm of a negative number)
Incorrect type conversions
Division by zero
Violation of array limits
The possible error responses are listed in the following table.
Basic functions
Table 3-23 Error response in case of execution errors in the program
Error reaction Task type Description

CPU to STOP All tasks SIMOTION device switches to STOP mode
and the ShutdownTask is started.
ExecutionFaultTask Sequential (non-cyclic) The ExecutionFaultTask is started.
The task in which the error occurred, is
aborted; the aborted task can be dispatched
again by the user.
Cyclic The ExecutionFaultTask is started.
The task in which the error occurred is
aborted.
When the ExecutionFaultTask is finished, the
SIMOTION device switches to STOP mode;
the ShutdownTask is started.
See also
Specifications for the configuring (Page 215)
3.3.3 Access errors to system variables and configuration data, as well as I/O variables
for direct access
This section describes the response when errors occur while accessing system variables,
configuration data, or I/O variables with the usual methods (using the variable identifier in an
expression or variable assignment).
Errors in system variables and configuration data:
The ExecutionFaultTask is started, and the additional error response depends on the task
type (sequential or cyclic) in which the error occurs (see the following table).
Table 3-24 Response at start of ExecutionFaultTask for incorrect access to system variables and
configuration data
Task type Description

Sequential (non-cyclic) The ExecutionFaultTask is started.
The task in which the error occurred, is aborted; the aborted task can be
dispatched again by the user.
Cyclic The ExecutionFaultTask is started.
The task in which the error occurred is aborted.
When the ExecutionFaultTask is finished, the SIMOTION device switches
to STOP mode; the ShutdownTask is started.
Errors for I/O variables (direct access to inputs and outputs)
The error response is specified when the I/O variables are defined (see Direct access
and process image of the cyclical tasks in the ST Programming Manual).
Basic functions
CPU stop: The ExecutionFaultTask is started. The SIMOTION device then switches to
STOP mode; the ShutdownTask is started.
Substitute value: The substitute value specified when the I/O variable was defined is
taken, and the task is continued.
Last value:
With read access (to inputs or outputs): The last valid value is applied, and the task is
continued.
With write access (to outputs): The value is written to the variable. However, it will not
be active at the output until the output becomes available again. The task is continued.
In specific cases it is necessary to respond differently to errors or to deviate from the defined
error response. The functions _getSafeValue and _setSafeValue, and getInOutByteserve
this purpose. The functions _getSafeValue and _setSafeValue are very time intensive.
Note
You can read a replacement value or the last value of a system variable during a RESTART.
See system variables (Page 77).
See also
_getSafeValue function (Page 316)
_setSafeValue function (Page 318)
_getInOutByte function (Page 322)
General information on accessing system variables and inputs/outputs (Page 315)
3.3.4 Errors when generating the process image

This section describes the response when errors occur during updating of the process image
with the assigned task.
For the process image of the cyclical tasks (see Direct access and process image of the
cyclical tasks in the ST Programming Manual)
The error response is specified when the I/O variables are defined:
CPU stop: For response information, see the following table.
Substitute value: The substitute value specified when the I/O variable was defined is
taken, and the cyclic task is continued.
Last value:
Process input image (reading of inputs): The value of the process image at the
address is not changed; the cyclic task is continued.
Process output image (writing to outputs): The value only takes effect at the output
with the address when the output is available again; the cyclic task is continued.
For the fixed process image of the BackgroundTask (see Accesses to the fixed process
image of the BackgroundTask in the ST Programming Manual):
Basic functions
The error response depends on whether direct access was defined at the same address
using I/O variables:
No direct access is defined: Error response is always CPU STOP; for response
information, see the following table.
Direct access is defined: The error handling specified in the definition of the I/O
variables does apply (see above, like process image of cyclic tasks).
Table 3-25 Error response during process image update for CPU STOP response
Event Description
Error occurs 1. An incoming message is generated once.
2. If no program is linked to the PeripheralFaultTask, the SIMOTION
device goes to STOP mode, and the ShutdownTask is started.
3. Otherwise:
The PeripheralFaultTask is started once immediately (rather than in
the next IPO cycle clock):
TSI#interruptId = _SC_IMAGE_UPDATE_FAILED.
TSI#logBaseAdrIn or TSI#logBaseAdrOut contains the address at
which the error occurred.
Process input image: The value of the process image at the address
is not changed.
Process output image: Value will not take effect at the output with
the address until the output becomes available again.
The cyclic task in which the error occurred is continued.
Error persists No additional messages are generated.
The PeripheralFaultTask is not restarted.
Process input image: The value of the process image at the address is
not changed.
Process output image: Value will not take effect at the output with the
address until the output becomes available again.
Error disappears 1. An outgoing message is generated once.
2. The PeripheralFaultTask is started once immediately (rather than in the
next IPO cycle clock):
TSI#interruptId = _SC_IMAGE_UPDATE_OK.
3. The cyclic task is continued.
3.3.5 Using Taskstartinfo

Important information about starting the task is stored in the Taskstartinfo for each task, e.g.:
Start time of task
For the TechnologicalFaultTask: the triggering instance of the technology object and the
alarm number,
For the TimeFaultTask: TimerInterruptTask that caused the timeout error.
Within a task, you can query the relevant Taskstartinfo of this task. To do this, use the
TSI#<info> system variable; where <info> is the particular information to be queried. The
Basic functions
contents and scope of the task start information and the associated system variables depend
on the relevant task (see following table).
The query of the Taskstartinfo is normally used for SystemInterruptTasks (see examples,
Querying the Taskstartinfos in the TechnologicalFaultTask and Querying the Taskstartinfo in
the TimeFaultTask).
Table 3-26 Taskstartinfo of user program tasks
Task Taskstartinfo Significance

Description : Data type
StartupTask
TSI#startTime : DT Start time of the task
TSI#currentTaskId : StructTaskId TaskId of task
TSI#cycleTime : TIME Configured cycle time of task (= 0, because the task is
sequential)
MotionTasks
sequential)
BackgroundTask
TSI#startTime : DT Time of cycle control point
TSI#cycleTime : TIME Configured cycle time of task (= 0, because the task is non-
equidistant and cyclic)
TimerInterruptTasks
TSI#startTime : DT Time of cycle control point
TSI#cycleTime : TIME Configured cycle time of task
SynchronousTasks
TSI#startTime : DT Start time of task (= cycle clock with which the task runs
synchronously)
TSI#cycleTime : TIME Configured cycle time of task
ServoSynchronousTask: Position control cycle
IPOsynchronousTask: Interpolator cycle clock (IPO)
IPOsynchronousTask_2: Interpolator cycle clock (IPO_2)
PWMsynchronousTask: Pulse-width modulation cycle
clock
InputSynchronousTask_1: Input1 cycle clock
InputSynchronousTask_2: Input2 cycle clock
PostControlTask_1: Control1 cycle clock
PostControlTask_2: Control2 cycle clock
TimeFaultTask
Basic functions

sequential)
TSI#interruptId : UDINT Triggering event:
_SC_CYCLE_TIMER_OVERFLOW ( = 301)
Additional events are not defined at this time.
TSI#taskId : StructTaskId TaskId of TimerInterruptTask during which the time watchdog
responded.
Table 3-27 Taskstartinfo of user program tasks (continued)

TimeFaultBackgroundTask
sequential)
TSI#interruptId : UDINT Triggering event:
_SC_BACKGROUND_TIMER_OVERFLOW ( = 300)
Additional events are not defined at this time.
TechnologicalFaultTask
sequential)
TSI#alarmNumber : DINT Number of the triggered alarm (see description in the
SIMOTION Alarms Diagnostics Manual)
The parameters output in the alarm message are available in
TSI#alarmP1_DINT to TSI#alarmP5_LREAL (e.g.
TSI#alarmP3_UDINT is parameter 3 with data type UDINT).
TSI#toInst : ANYOBJECT TO instance responsible for error, can be converted with the
AnyObject_to_Object function.
Comparison to the instance of the technology object is also
possible (see example Querying the Taskstartinfos in the
TechnologicalFaultTask).
TSI#commandId.low : UDINT Commandld of triggering command (less significant word)
TSI#commandId.high : UDINT Commandld of triggering command (more significant word)
TSI#alarmP1_DINT : DINT Parameters 1 to 5 (auxiliary value) of the message for the
TSI#alarmP1_UDINT : UDINT triggered alarm in the data type.
TSI#alarmP1_LREAL : LREAL Example: In TSI#alarmP3_UDINT contains parameter 3 with
UDINT data type).
TSI#alarmP2_DINT : DINT
You can obtain the significance of the parameter from the
TSI#alarmP2_UDINT : UDINT description of the alarm in the SIMOTION Alarms Diagnostics
TSI#alarmP2_LREAL : LREAL Manual. This states the number and data type of the
TSI#alarmP3_DINT : DINT parameter with the following syntax:
TSI#alarmP3_UDINT : UDINT /n/%A
TSI#alarmP3_LREAL : LREAL Where:
Basic functions
TSI#alarmP4_DINT : DINT /n/: Number of the parameter

TSI#alarmP4_UDINT : UDINT %A: Abbreviation for the data type
TSI#alarmP4_LREAL : LREAL %d: DINT
TSI#alarmP5_DINT : DINT %X: UDINT
TSI#alarmP5_UDINT : UDINT %lf : LREAL
TSI#alarmP5_LREAL : LREAL Example: /3/%X means parameter 3 with UDINT data type.
Only the parameters documented in the SIMOTION Alarms
Diagnostics Manual for the triggered alarm are released for
use.

ExecutionFaultTask
TSI#cycleTime : TIME Configured cycle time of task (= 0, because the task is sequential)
Basic functions
TSI#executionFault : UDINT Type of execution error in user program

Type _SC_DIVISION_BY_ZERO ( = 500)
Error during division and modulo generation of integers (data
type ANY_INT): Divisor is 0
_SC_INVALID_FLOATING_POINT_OPERATION ( = 501)
Error during the processing of floating-point numbers:
Addition: Both addends are infinite but have different signs
Subtraction: Minuend and subtrahend are infinite and have
the same sign
Multiplication: One factor is 0 and the other is infinite
Division: The divisor is 0 or both operands are infinite.
ST system function SQRT: The radicand is less than 0
ST system functions LN and LOG: The argument is 0.
ST system functions SIN, COS, and TAN: The argument is
infinite
ST system functions ASIN and ACOS: Argument is >1
ST system functions EXP, EXPD or Operator "**": Base is
0_
_SC_ARRAY_BOUND_ERROR_READ ( = 502)
Array boundaries exceeded during read access
_SC_ARRAY_BOUND_ERROR_WRITE ( = 503)
Array boundaries exceeded during write access
_SC_VARIABLE_ACCESS_ERROR_READ ( = 504)
Error during read access:
To system variables of a technology object:
Violation of array limits;
Access while technology object is being reset (RESET);
Access to a technology object data type variable with a
value of TO#NIL;
To an I/O variable by means of direct access. _
_SC_VARIABLE_ACCESS_ERROR_WRITE ( = 505)
Error during write access:
To system variables of a technology object:
Array limits exceeded;
access while the technology object is being reset (RESET);
access to a variable of a technology object data type that
has the TO#NIL value;
to an I/O variable using direct access. _
_SC_TO_INSTANCE_NOT_EXISTENT ( = 506)
Access to a non-existent TO instance: A technology object data
type variable with a value of TO#NIL is used in a TO function. _
TSI#taskId : StructTaskId TaskId of task in which the execution error has occurred.
Basic functions

PeripheralFaultTask
TSI#cycleTime : TIME Configured cycle time of task (= 0, because the task is sequential)
TSI#interruptId : UDINT _SC_PROCESS_INTERRUPT ( = 200)
Process interrupt occurred at I/O module
Additional information in the following TSI:
TSI#logBaseAdrIn
TSI#logBaseAdrOut
TSI#details
TSI#eventClass
TSI#faultId
_SC_DIAGNOSTIC_INTERRUPT ( = 201)
Diagnostic interrupt occurred at I/O module
TSI#logBaseAdrIn
TSI#logBaseAdrOut
TSI#logDiagAdr
TSI#details
TSI#eventClass
TSI#faultId
_SC_STATION_DISCONNECTED ( = 202)
PROFIBUS DP: A DP slave station has failed
PROFINET IO: Station failure of an IO device
TSI#logDiagAdr
TSI#eventClass
TSI#faultId
_SC_STATION_RECONNECTED ( = 203)
PROFIBUS: Station reconnection of a DP slave
PROFINET IO: Station return of an IO device
TSI#logDiagAdr
TSI#eventClass
TSI#faultId
_SC_IMAGE_UPDATE_FAILED ( = 204)
Error during process image update (for DP slave: in connection
with station failure)
TSI#logBaseAdrIn
TSI#logBaseAdrOut
TSI#logDiagAdr
_SC_PC_INTERNAL_FAILURE ( = 205)
Error in local controller module
TSI#details
Basic functions

PeripheralFaultTask (continued)
TSI#interruptId : UDINT _SC_IMAGE_UPDATE_OK ( = 206)
(continued) Process image update works again (for DP slave: In connection
with station recovery)
TSI#logBaseAdrIn
TSI#logBaseAdrOut
TSI#logDiagAdr
_SC_DP_CLOCK_DETECTED ( = 207)
Clock signal detected for the first time, and valid PRM message
frame is received
_SC_DP_SYNCHRONIZATION_LOST ( = 208)
Multiple cycle failure or PLL has slipped (in internal
DP_INTERFACES_SYNCHRONIZED state).
PLL switches to uncontrolled mode
_SC_DP_SLAVE_SYNCHRONIZED ( = 209)
PLL has slipped into synchronized operation
_SC_DP_SLAVE_NOT_SYNCHRONIZED (= 210)
Multiple cycle failure or PLL has slipped (in internal
DP_SLAVE_SYNCHRONIZED state).
PLL remains in controlled mode
_SC_BATTERY_WARNING_LEVEL1 ( = 211)
D435 V3.0 only: Battery voltage has fallen below prewarning
level.
_SC_BATTERY_WARNING_LEVEL2 ( = 212)
D435 V3.0 only: Battery voltage has fallen below warning level;
when switched off, only the Super-Cap still buffers for its
defined backup time.
_SC_BATTERY_NOT_PRESENT (=213)
Battery module is not present or has been removed.
_SC_IO_MODULE_SYNCHRONIZED ( = 214)
TM15 / TM17 High Feature: Synchronization attained.
More information in the following TSI:
TSI#logBaseAdrIn
TSI#logBaseAdrOut
_SC_IO_MODULE_NOT_SYNCHRONIZED ( = 215)
TM15 / TM17 High Feature: Synchronization failed.
TSI#logBaseAdrIn
TSI#logBaseAdrOut
_SC_PULL_PLUG_INTERRUPT ( = 216)
PROFINET IO: Unplugging or plugging of modules in an IO
device.
TSI#logBaseAdrIn
TSI#logBaseAdrOut
TSI#eventClass
TSI#faultId
Basic functions
TSI#logBaseAdrIn : DINT Logic base address for following TSI#InterruptId if the interrupt was
caused by an input area on the module:
_SC_PROCESS_INTERRUPT ( = 200)
_SC_IMAGE_UPDATE_OK ( = 206)
Otherwise _SC_INVALID_ADDRESS (= -1)
Taskstartinfo of user program tasks (continued)

PeripheralFaultTask (continued)
TSI#logBaseAdrOut : DINT Logic base address for following TSI#InterruptId if the interrupt
was caused by an output area on the module:
_SC_PROCESS_INTERRUPT ( = 200)
TSI#logDiagAdr : DINT Diagnostic address of a DP slave or IO device for following
TSI#InterruptId
_SC_STATION_DISCONNECTED ( = 202)
_SC_STATION_RECONNECTED ( = 203)
TSI#details : DWORD Detailed information depending on TSI#InterruptId (see
Significance of the TSI#details table)
TSI#eventClass : UINT Event class depending on the TSI#InterruptId
Description in connection with TSI#faultId: See Significance of the
TSI#eventClass and TSI#faultId table
TSI#faultId : UINT Fault ID depending on the TSI#InterruptId
Description in connection with TSI#eventClass: See Significance
of the TSI#eventClass and TSI#faultId table
UserInterruptTasks
sequential)
Basic functions
ShutdownTask
sequential)
TSI#shutDownInitiator : UDINT Initiate transition to STOP:
_SC_MODE_SELECTOR ( = 400):
Mode selector switch
_SC_DEVICE_COMMAND ( = 401):
System function in user program
_SC_EXTERNAL_COMMAND ( = 402):
Command in SIMOTION SCOUT
_SC_EXCEPTION ( = 403):
Exception
_SC_ALARM_CONFIGURATION ( = 404)
Configured response to technological Alarm_
Example of exceptions:
Execution errors in programs
Level overflow
Withdrawing a central module in RUN mode
Table 3-31 Significance of TSI#details depending on TSI#InterruptId (PeripheralFaultTask)
TSI#InterruptId Significance of TSI#details

_SC_PROCESS_INTERRUPT Interrupt data of module signaling interrupt
( = 200)
The structure of these data is presented in the module manual.
If interrupt source is in a SIMOTION I-slave:
Call parameters of the _sendProcessInterrupt() system function
_SC_DIAGNOSTIC_INTERRUPT DS0 ( = byte 0 - 3 of DS1) of module/station signaling interrupt
( = 201) The structure of the DS0 is presented in the module manual.
_SC_PC_INTERNAL_FAILURE The cause of the interrupt is represented as an OR operation to the following causes
( = 205) (sum of hexadecimal values).
Value Cause
16#00000001 "Fatal error" of host operating system (Windows
blue screen - P350).
16#00000002 Temperature error (P350, D4xx)
16#00000004 Temperature returned to normal (P350, D4xx)
16#00000008 Battery warning (battery voltage low, but still
sufficient - P350, D4xx)
16#00000010 Battery voltage returned to normal (P350, D4xx)
16#00000020 Battery error (battery voltage too low - P350,
D435)
16#00000040 Battery module removed (P350, D4xx)
16#00000080 Fan failure (P350, D4xx)
Basic functions
TSI#InterruptId Significance of TSI#details

16#00000100 UPS in buffer state (P350)
16#00000200 UPS non-chargeable interval expired, PC is
booting (P350)
16#00000400 UPS okay again (P350)
16#00000800 UPS battery warning (P350)
16#00001000 UPS battery error (battery no longer operational
P350)
16#00002000 UPS battery warning (P350)
)
Table 3-32 Significance of TSI#eventClass and TSI#faultId depending on TSI#InterruptId (PeripheralFaultTask)
TSI#InterruptId TSI#eventC TSI#faultId Bus system1 Significance

lass
_SC_PROCESS_INTERRUPT 16#11 16#41 PROFIBUS DP Process interrupt
( = 200) PROFINET IO
P-Bus
_SC_DIAGNOSTIC_INTERRUPT 16#392 16#42 PROFIBUS DP Incoming diagnostic interrupt
( = 201) PROFINET IO
P-Bus
16#383 16#42 PROFIBUS DP Outgoing diagnostic interrupt
PROFINET IO
P-Bus
_SC_STATION_DISCONNECTED 16#392 16#C4 PROFIBUS DP A DP slave station has failed
( = 202) 16#CA PROFINET IO System error PROFINET IO4
16#CB PROFINET IO Station failure of an IO device
16#CC PROFINET IO IO device faulty.
Channel diagnostics or manufacturer-
specific diagnostics pending.
_SC_STATION_RECONNECTED 16#383 16#C4 PROFIBUS DP A DP slave station has been
( = 203) reconnected
16#CB PROFINET IO An IO device has been reconnected
without errors
16#CC PROFINET IO IO device error corrected
16#CD PROFINET IO An IO device has been reconnected,
but error: set configuration <> actual
configuration
16#CE PROFINET IO An IO device has been reconnected,
but error during module
parameterization:
_SC_PULL_PLUG_INTERRUPT 16#392 16#51 PROFINET IO PROFINET IO module has been
( = 216) removed or cannot be addressed.
16#54 PROFINET IO PROFINET IO submodule has been
removed or cannot be addressed.
16#383 16#54 PROFINET IO PROFINET IO module or submodule
has been inserted, module type OK
(actual configuration = set
configuration)
Basic functions
TSI#InterruptId TSI#eventC TSI#faultId Bus system1 Significance

lass
16#55 PROFINET IO PROFINET IO module or submodule
has been inserted, but wrong module
type (actual configuration <> set
configuration)
16#56 PROFINET IO PROFINET IO module or submodule
has been inserted, but error during
module parameterization
16#58 PROFINET IO IO status of a module has changed
from BAD to GOOD
1 Bus system which signals the TSI#InterruptId with the specified TSI#eventClass and TSI#faultId
2 Signals incoming event
3 Signals outgoing event
4Outgoing event (TSI#eventClass = 16#38) is signaled for each existing station as station reconnection. Depending on the
error status, the values 16#CB, 16#CD or 16#CE are displayed in TSI#faultId.
The following example shows you how to query the TO instance that initiated the alarm and
the alarm number using the Taskstartinfo in the TechnologicalFaultTask. The TO_AlarmProg
program must therefore be assigned to the TechnologicalFaultTask.
Table 3-33 Example of polling for Taskstartinfo in the TechnologicalFaultTask
PROGRAM TO_AlarmProg
VAR
dintVar : DINT;
dtVar : DT;
END_VAR;
dtVar:=TSI#startTime;
dintVar:=TSI#alarmNumber;
IF TSI#toInst = axis_1 THEN // from TO you have created
; // commands
END_IF;
IF TSIalarmNumber = 30002 THEN // Triggering alarm
; // commands
END_IF;
END_PROGRAM
The next example shows you how to determine the TimeFaultTask that caused the timeout
error in the TimerInterruptTask. You use the _checkEqualTask function for this. The program
TimeFaultProg must be assigned to the TimeFaultTask .
Basic functions
Table 3-34 Example for the query of Taskstartinfo in the TimeFaultTask
PROGRAM TimeFaultProg
VAR
beq : BOOL;
END_VAR;
beq := _checkEqualTask(TSI#TaskID, TimerInterruptTask_1);

// beq is TRUE if the triggering task
// is the TimerInterruptTask_1.
END_PROGRAM
Basic functions
This section describes the error handling in SIMOTION technology objects.
4
4.1 Possible errors in technology objects
The following basic errors are possible in the programming of technology objects:
The technology object itself cannot execute the function required by the application or
reports certain events or states:
A technological alarm is output.
You can find information on the individual alarms in the SIMOTION Reference Lists.
The command issued to a technology object cannot be executed:
The return value of the command provides information about the cause.
You can find information on the return values of the commands in the SIMOTION
Reference Lists.
Error while accessing configuration data, system variables or I/O variables
The ExecutionFaultTask is called in the event of errors when configuration data or
variables are being read or written
See also
Process Alarms (Page 103)
Return values of commands (Page 114)
Error while accessing system data (Page 115)
4.2 Process Alarms

If an event (error, note) occurs on a technology object, the object issues a technological
alarm.
A maximum of 160 technology object alarms can be stored in the system at one time. In this
regard per TO identical alarms are counted as one alarm. If this buffer overflows because
more than 160 alarms are pending simultaneously, the system switches to STOP mode with
a Message buffer overflow diagnostics entry. The user cannot read out the buffer level.
If a series of the same alarms occur in succession, the detailed information will only be
displayed on the first alarm. For the subsequent alarms the information will only be displayed
when the first alarm that occurred has been acknowledged.
Basic functions
4.2 Process Alarms
Effects of alarms
Technological alarms cause subsequent responses in the system. A distinction is made
between:
Effects on the affected technology object itself: Local response
Effects on other technology objects or the execution system: Global response
For each alarm, certain effects have a default setting. However, you can adapt these settings
to suit your requirements.
By specifying the error activation, you can define whether the alarm is to be activated
immediately, after repeated occurrences of an error, or after a certain period of time.
You can hide some alarms. This allows you, for example, to suppress unimportant
information.
See also
Local response (Page 104)
Global response (Page 105)
Error activation (Page 105)
Configure technological alarms (Page 106)
Displaying and acknowledging technological alarms (Page 109)
Acknowledging via the user program (Page 110)
Evaluating in the user program (Page 113)
4.2.1 Local response

With the local response setting, you specify how the relevant technology object is to react
when the alarm occurs and how subsequent commands for this TO will be handled.
Alarm responses are prioritized. The alarm responses below are listed in order of increasing
priority for the respective technology object. Only one response can be in progress at any
given time. This is the response with the highest priority of all the alarms pending at that
particular point in time. When an alarm response occurs (except for NONE), the command
decoder is always stopped. Any programmed commands issued subsequently are rejected.
Command execution can continue after the alarm has been acknowledged in cases where
the global error response for the alarm does not automatically require a Power ON.
You can select specific response options depending on the individual technology object and
technology object alarm.
For information on the specific local response, please refer to the function manuals of the
respective technology objects.
Basic functions
4.2 Process Alarms
4.2.2 Global response

The global response describes the effect of a technology object alarm on the execution
system. You can select the following response options depending on the respective
technology object alarm.
NONE
System does not respond when the alarm occurs.
START TechnologicalFaultTask
The TechnologicalFaultTask is started. Programs assigned to this task are started. This
provides the user with the option of programming an application-specific response to the
TO alarm. If there is no program assigned to this task, the system switches to STOP
mode.
STOP
The system switches to STOP mode. In this mode, all technology objects are inactive, the
user program is not executed, and all outputs are at zero. However, all system services
are still active, and user programs can be downloaded.
STOPU
The system switches to STOPU mode. The program execution is terminated, the axis
enable and thus the position control is deactivated. The technology objects also remain
active and can still process requests for testing and commissioning functions. Otherwise,
identical to STOP mode.
4.2.3 Error activation
Type of error activation (TypeOfActivation)

Alarms and their associated alarm responses can be triggered in a variety of ways.
Depending on the error type, the error activation is preset to one of the following values.
Table 4-1 Type of error activation
TypeOfActivation parameter Meaning

ACTIVATE_IMMEDIATELY The alarm is activated immediately when the
error occurs.
ACTIVATE_AFTER_NTIME The alarm is activated after the error occurs n
times. The number n of error repetitions is set in
the Continue parameter, see Error reproducibility
table.
ACTIVATE_AFTER_NTIME_CONSECUTIVE The alarm is activated after time t. The error must
be pending without interruption over the entire
time t. The time is set in the Time parameter, see
Error response time table.
Basic functions
4.2 Process Alarms
Error repeatability (Continue)
Table 4-2 Error repeatability
Continue parameter Meaning

NO_TIME The alarm is activated immediately when the error occurs.
TIME_n The alarm is activated after the error occurs n times.
This parameter is relevant only if the TypeOfActivation parameter is set to
ACTIVATE_AFTER_NTIME.
TIME_n can be set to values TIME_10, TIME_100, and TIME_1000, depending on the alarm.
Error response time (Time)
Table 4-3 Error response time
Time parameter Meaning

NO_TIME The alarm is activated immediately when the error occurs.
TIME_n The alarm is triggered after a temporally uninterrupted error presence
of n milliseconds.
This parameter is relevant only if the TypeOfActivation parameter is set to
ACTIVATE_AFTER_NTIME_CONSECUTIVE.
TIME_n can be set to values TIME_1, TIME_10, TIME_100, and TIME_1000, depending on
the alarm.
Type
You can set the Type parameter to specify whether certain TO alarms are to be displayed. If
you select the Hidden setting, an alarm message is not displayed when this alarm occurs
and no entry is written to the diagnostics buffer. You can thereby prevent an overflow of the
alarm buffer when a particular technology alarm is issued frequently, or suppress a note
message that is not important to you.
4.2.4 Configure technological alarms

Individual responses are preset for each alarm. To change these default settings, proceed as
follows:
1. Select the Execution System path in the project navigator. The Execution System window
opens. Select the path SystemInterruptTasks TechnologicalFaultTask. Then click the
Alarm configuration button in the window.
Basic functions
4.2 Process Alarms
Figure 4-1 Configuring a technological alarm
2. In the combo box, select the technology object for which you want to configure alarms.
The alarms for the technology object are displayed.
3. Select the alarm for which you want to change the response.
4. Select the required response from the list for the corresponding technology object alarm.
The options available depend on the type of alarm.
Basic functions
4.2 Process Alarms
Figure 4-2 Selecting a technological alarm
Note
The technology object whose alarms you want to configure must already be configured.
The alarm configuration can be transferred to other technology objects via the corresponding
buttons in the Alarm configuration dialog (via export/import).
Exporting or importing technological alarms

To export all TO alarms in XML format, proceed as follows:
1. Open the Configuration: Technological alarms dialog.
2. Click on export to select the Export alarm configuration dialog.
3. Select a path for the export and confirm with OK.
The alarms will be saved in the specified path.
To import TO alarms in XML format, proceed as follows:
1. In the Configuration: Technological alarms dialog click on Import.
This displays the Import alarm configuration dialog.
2. Under Source path and source name of the import select the desired XML file.
3. Click OK to import the data. The alarms will then be displayed in the dialog.
Basic functions
4.2 Process Alarms
Configure messages for all TOs of a certain TO type

You can assign an alarm configuration to all TOs of a certain type. For example you can
assign a configuration to all position axes.
1. Open the Configuration: Technological alarms dialog.
2. Adapt the configuration of the alarms. Once you have changed the settings of at least
one alarm the entries in the Technology object list will be extended by the TO types, e.g.
position axes.
3. Select the TO type from the list.
4. Click on OK to assign the the settings to all TOs of the selected type.
4.2.5 Displaying and acknowledging technological alarms

Technological alarms can be evaluated and acknowledged in different ways:
When SIMOTION SCOUT is in online mode, alarms and messages are displayed on the
Alarms tab in the detail view of the workbench.
With Acknowledge, all alarms of the associated type are deleted.
Alarms can be output, displayed, and acknowledged via the Human Machine Interface
(HMI).
All pending or individually selected alarms of a technology object can also be queried,
evaluated and acknowledged via the user program.
Acknowledging via SIMOTION SCOUT

1. Select the alarm in the Alarms tab of the detail view
2. Click Acknowledge.
All alarms of the associated type are then deleted.
Note
Because drive alarms usually generate technology object alarms as well, the drive alarms
are also deleted with the Acknowledge (TO) switch. If however the cause of a drive alarm
still exists then a new TO alarm will be triggered immediately. In this case first correct the
cause of the drive alarm.
Display and acknowledge via HMI

1. Connection via ProTool or WinCC Flexible
Alarms are displayed in a configured message line or in message windows.
WinCC or ProTool devices are acknowledged via the ACK key or via user-configured
softkeys or buttons.
(See the WinCC flexible description or the ProTool description for more information)
Basic functions
4.2 Process Alarms
2. Link via OPC

Alarms can be displayed and acknowledged in SimaticNet as of V6.0 SP4 OPC Alarms &
Events. In addition the diagnostic buffer can be read out and acknowledged if necessary.
(For operating instructions see the Ethernet-based HMI and diagnostic functions product
information, which you can find on the SIMOTION SCOUT CD documentation)
4.2.6 Acknowledging via the user program
Acknowledge all pending technology object alarms

_resetTechnologicalErrors Acknowledge all currently pending technology object alarms
ST call example: Acknowledge all pending alarms
UNIT ST_1;
INTERFACE
USEPACKAGE CAM;
PROGRAM EXAMPLE;
END_INTERFACE
IMPLEMENTATION
PROGRAM EXAMPLE
VAR
s_i_RetVal : DINT;
END_VAR;
(* Acknowledge all TO alarms *)
s_i_RetVal:= _resetTechnologicalErrors();
END_PROGRAM
END_IMPLEMENTATION
MCC call: Acknowledge all pending alarms
Figure 4-3 MCC call: Acknowledge all pending alarms
Basic functions
4.2 Process Alarms
Acknowledge all pending alarms of a technology object

ST call example: Acknowledge all alarms on a TO axis, TO measuringInput and TO
outputCam
UNIT ST_1;
INTERFACE
USEPACKAGE CAM;
PROGRAM EXAMPLE;
END_INTERFACE
IMPLEMENTATION
PROGRAM EXAMPLE
VAR
s_i_RetVal : DINT;
END_VAR;
(* Acknowledge TO alarms ('ResetTOAlarms') *)
s_i_RetVal:= _resetAxisError(axis:=Axis_1);
s_i_RetVal:= _resetMeasuringInputError(
measuringInput:=MeasuringInput_1);
s_i_RetVal:= _resetOutputCamError(outputCam:=OutputCam_1);
END_PROGRAM
END_IMPLEMENTATION
MCC call: Acknowledge all alarms on a TO axis, TO measuringInput and TO outputCam
Figure 4-4 MCC call: Acknowledge all alarms on a TO axis, TO measuringInput and TO outputCam
Acknowledging a specific alarm of a technology object

By adding errorResetMode := SPECIFIC_ERROR and errorNumber := XXXXX to the _reset..
commands, it is possible to specifically acknowledge a certain alarm.
Example:
_resetAxisError (..., errorResetMode := SPECIFIC_ERROR, errorNumber := 30002)
ST call example: Acknowledging alarm 30002 on a TO axis
Basic functions
4.2 Process Alarms
UNIT ST_1;
INTERFACE
USEPACKAGE CAM;
PROGRAM EXAMPLE;
END_INTERFACE
IMPLEMENTATION
PROGRAM EXAMPLE
VAR
s_i_RetVal : DINT;
END_VAR;
(* Acknowledge specific TO alarm ('ResetSingleTOAlarm') *)
s_i_RetVal := _resetAxisError(axis:=Axis_1,
errorResetMode:=SPECIFIC_ERROR,
errorNumber:=30002);
END_PROGRAM
END_IMPLEMENTATION
MCC call: Acknowledge alarm 30002 on a TO axis
Figure 4-5 MCC call: Acknowledging alarm 30002 on a TO axis
Resetting a technology object

The technology object is set to its initial state and all pending alarms are acknowledged.
Note
In addition to troubleshooting the commands for reset have other effects on the TO as well.
Therefore, as a general rule, errors should be acknowledged with the _reset...Error
commands.
For example, the _resetCam command deletes the entire cam.
Basic functions
4.2 Process Alarms
Call example: Resetting TO axis, TO measuringInput and TO outputCam
UNIT ST_1;
INTERFACE
USEPACKAGE CAM;
PROGRAM EXAMPLE;
END_INTERFACE
IMPLEMENTATION
PROGRAM EXAMPLE
VAR
s_i_RetVal : DINT;
END_VAR;
(* Reset object ('ResetObject') *)
s_i_RetVal := _resetAxis(axis:=Axis_1,
userDefaultData:=DO_NOT_CHANGE);
s_i_RetVal := _resetMeasuringInput(
measuringInput:=MeasuringInput_1,
s_i_RetVal:= _resetOutputCam(outputCam:=OutputCam_1,
END_PROGRAM
END_IMPLEMENTATION
4.2.7 Evaluating in the user program

In the case of alarms for which the StartTechnologicalFaultTask global response is
configured, the TechnologicalFaultTask is called once with every alarm occurrence. The
number of the pending alarm and the technology object triggering the alarm can be scanned
in this task. The information is passed to the TechnologicalFaultTask via the task start info
(TSI).
You can add a program to the TechnologicalFaultTask and thus program an individual error
reaction for specific alarms or, for example intercept alarms and forward them to higher-level
alarm evaluation.
Note
If you have not added any program to the TechnologicalFaultTask, the CPU will switch to
STOP mode if the task is called by an alarm.
The following parameters are transferred in TechnologicalFaultTask for evaluation:
TSI#startTime time at which the alarm was registered

TSI#alarmNumber alarm number
TSI#toInst name of the technology object that triggered the alarm (e.g.
Axis_1)
Programming example
Every time Alarm 30002 occurs on Axis_1, a counter (s_i_Count) is to be incremented and
the alarm acknowledged automatically.
Basic functions
4.3 Return values of commands
Note: This sample program must be added to the TechnologicalFaultTask in the execution
system!
UNIT ST_1;
INTERFACE
USEPACKAGE CAM;
PROGRAM TO_AlarmProg;
END_INTERFACE
IMPLEMENTATION
PROGRAM TO_AlarmProg
VAR
s_i_Count : INT;
s_i_RetVal: DINT;
END_VAR;
(*Query whether alarm 30002 is pending for Axis_1*)

IF (TSI#alarmNumber = 30002) AND
(TSI#toInst = Axis_1) THEN
(*Increment counter*)
s_i_Count:= s_i_Count + 1;
(* Acknowledge specific TO alarm
('ResetSingleTOAlarms') *)
s_i_RetVal := _resetAxisError(axis:=Axis_1,
errorResetMode:=SPECIFIC_ERROR,
errorNumber:=30002);
END_IF;
END_PROGRAM
END_IMPLEMENTATION
4.3 Return values of commands

The user program indicates whether or not an executed command was able to be executed
successfully during runtime.
Any error information is contained in the return value of the block. You do not have to
acknowledge this error information.
Evaluating the return value

When a command returns a value of zero, this signifies that the command has been
executed without error. If an error has occurred, the return value contains an error number
that can be used to identify the cause of the error.
The possible error numbers for the respective commands can be found in the SIMOTION
Reference Lists.
You can respond to possible errors during system function execution in the user program,
thus preventing secondary errors.
Likewise for MCC commands you can program a specific error reaction by entering a return
variable with the return value of the command (see MCC Programming Manual, section
Expert tab).
Basic functions
4.4 Error while accessing system data
Call example
If an error occurs when the _pos command is being executed, the g_bo_error variable is to
be set to true, the return value entered in the g_i_errornumber parameter and the block
aborted.
Note: This sample program must be added to a MotionTask in the execution system!
UNIT ST_1;
INTERFACE
USEPACKAGE CAM;
VAR_GLOBAL
g_bo_error: BOOL;
g_i_errornumber: DINT;
g_i_RetVal: DINT;
END_VAR
PROGRAM RETURN_VALUE;
END_INTERFACE
IMPLEMENTATION
PROGRAM RETURN_VALUE
(* Position axis ('Pos') *)

g_i_RetVal:= _pos(axis:=Axis_1,
direction:=SHORTEST_WAY,
positioningMode:=ABSOLUTE,
position:=222,
velocityType:=DIRECT,
velocity:=1000,
velocityProfile:=TRAPEZOIDAL,
blendingMode:=INACTIVE,
mergeMode:=IMMEDIATELY,
nextCommand:=WHEN_MOTION_DONE,
commandId:=_getCommandId());
(*Evaluation of the return value *)
IF g_i_RetVal <> 0 THEN
g_i_errornumber := g_i_RetVal;
g_bo_error := true;
Return; // End block
END_IF;
// Further user program as of here.
END_PROGRAM
END_IMPLEMENTATION
Error while accessing configuration data, system variables or I/O variables

The ExecutionFaultTask is called in the event of errors when configuration data or variables
are being read or written
However, in certain cases it is necessary to respond differently to an error or to deviate from
the configured error response. The functions _getSafeValue and _setSafeValue serve this
purpose.
Basic functions
Substitute value strategy for the non-availability of system data

There are various situations in which the reading or writing of a system variable, a
configuration data item or an I/O variable can fail.
Table 4-4 Possible causes for the read/write failure
Cause System variable Config data item I/O variable

Variable temporarily not TO in Reset TO in Reset Faulty input
available - Data not visible in the current Faulty output
configuration
Illegal value (for write) Value lies outside the limits Value lies outside the limits -
Value not in the grid Value not in the grid -
Depending on the cause, the following responses are possible:
Table 4-5 Possible responses in case of an error
Cause Possible response

Variable temporarily cannot be read Go to STOP
Do not read
Read substitute value
Read last valid value
Variable temporarily cannot be written Go to STOP
Do not write
Accept substitute value, will take effect later
Accept current value, will take effect later
Illegal value Go to STOP
Do not write
Write default value
The following responses are implemented in SIMOTION:
Table 4-6 System response in the case of an error
Required response System variable Config data item I/O variable

A value that temporarily cannot be accessed while reading:
Go to STOP Call STOP_DEVICE STOP_DEVICE STOP_DEVICE
Answer STOP STOP STOP
Value Unchanged Unchanged Unchanged
Do not read Call NO_CHANGE NO_CHANGE Not implemented
Answer NO_CHANGE DEFAULT_VALUE
Value Undetermined Undetermined
Read substitute value Call Not implemented Not implemented DEFAULT_VALUE
Answer DEFAULT_VALUE
Value Substitute value
Read last valid value Call Not implemented Not implemented NO_CHANGE
Answer NO_CHANGE
Basic functions
Required response System variable Config data item I/O variable

Value Last valid value
A value that temporarily cannot be accessed while writing:
Go to STOP Call STOP_DEVICE STOP_DEVICE STOP_DEVICE
Answer STOP STOP STOP
Value Unchanged Unchanged Current value
Do not write Call NO_CHANGE NO_CHANGE Not implemented
Answer NO_CHANGE DEFAULT_VALUE
Value Unchanged Unchanged
Accept substitute Call Not implemented Not implemented DEFAULT_VALUE
value, will take effect Answer DEFAULT_VALUE
later
Value Substitute value
Accept current value, Call Not implemented Not implemented NO_CHANGE
will take effect later Answer NO_CHANGE
Value Current value
While writing an invalid value:
Go to STOP Call STOP_DEVICE STOP_DEVICE Does not occur
Answer STOP STOP
Do not write Call NO_CHANGE NO_CHANGE
Answer NO_CHANGE NO_CHANGE
Write default value Call DEFAULT_VALUE DEFAULT_VALUE
Answer DEFAULT_VALUE INVALID_VALUE
Value Default value Unchanged
Basic functions
This section describes the SIMOTION execution system with its execution levels and
5
assigned tasks.
5.1 Execution system

The SIMOTION execution system provides various execution levels.
The execution levels are assigned user program tasks.
The user tasks are assigned programs.
All programs - and thus also tasks - can contain PLC and motion control tasks.
The following execution levels are available:
Synchronous execution levels: synchronous with control and interpolator cycle clocks
Time-driven execution levels
Event-driven execution levels
Interrupt-controlled execution levels
Sequential execution levels
Free-running execution levels
Various tasks with different execution properties are available for specific tasks:
System tasks are regularly executed by the system.
The system cycle clock can be specified.
The following tasks are executed by system tasks:
Communication
System tasks for the connection to the isochronous PROFIBUS, to PROFINET IO with
IRT or the system cycle clock and for I/O processing.
Motion control
Several isochronous execution levels are available and can be used for jerk-free
motion control (IPO/IPO_2), position control (servo) and drive communication (DP).
With digital drives, these execution levels are synchronized with the isochronous
PROFIBUS or PROFINET IO with IRT.
With analog drives without isochronous PROFIBUS, the execution levels are supplied
with a settable system cycle clock from an internal timer.
Basic functions
Temperature control
In connection with the TControl technology package, execution levels are available for
the temperature control: Actual value measurement, control and pulse width
modulation of the output signals.
Execution levels for the task-related programming are available for the user programming
(user program tasks): Motion control, logic and technological functions.
See also
5.1.1 Execution levels / tasks

The execution levels define the chronological sequence of programs in the execution
system. Each execution level contains one or more tasks.
A task provides the execution framework for the programs. Each task is executed when
specific conditions are satisfied. You can assign one or more user programs to each task
and specify their order within the task.
Besides user program tasks there are also several system tasks, the contents and execution
sequence of which you cannot influence.
Execution levels
The following figure shows the execution levels with their tasks.
Basic functions
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Figure 5-1 Execution levels and tasks in the SIMOTION runtime system
When you use technology packages, the execution levels provided by the system are
automatically assigned. The user program cannot influence the processing of technology
functions in these execution levels. System tasks are acyclic communication (Ethernet,
PROFIBUS DP. PROFINET IO), debug services or trace preprocessing, for example.
The DCC levels and tasks are not visible in the execution system in the SCOUT user
interface. The DCC plans are arranged in the DCC editor via execution groups, see
Description of the DCC editor.
Basic functions
Tasks
One or more tasks are available in each execution level for user programming.
The main features of the tasks are:
Start behavior: When and under what conditions a task is started. (refer to Table )
Priority: Which task is interrupted by which other task. (refer to the table for the task
priorities in the next section)
The following table shows the tasks available for user programs.
Table 5-1 Tasks in the SIMOTION runtime system
Task Description
StartupTask The StartupTask is executed once at the transition from STOP or STOPU mode to
RUN mode. It is intended for initialization and resetting of technology objects.
Free-running tasks: In the round robin execution level, the MotionTasks and BackgroundTask are
executed by the system in the background in the time-slice procedure.
MotionTasks MotionTasks are intended for the programming of sequences, for programmed
motion control or other sequential executions.
MotionTasks are started by user programs and executed once.
BackgroundTask The BackgroundTask is provided for the programming of cyclic sequences without
a fixed time frame.
The BackgroundTask is started after system start-up and then executed cyclically
and free-running.
Time-driven tasks and synchronous Cyclic tasks. They are called cyclically in a certain time frame and are
tasks: automatically restarted after the execution of the assigned programs.
TimerInterruptTasks TimerInterruptTasks are intended for the periodical starting of programs.
SynchronousTasks SynchronousTasks are started periodically, synchronous with a specified system
cycle clock.
Event-driven tasks: Sequential tasks. They are started and executed once when an event occurs and
then terminated.
SystemInterruptTasks SystemInterruptTasks are started and executed once when a system event
occurs.
UserInterruptTasks UserInterruptTasks are started and executed once when a user-defined event
occurs.
ShutdownTask The ShutdownTask is executed once at the transition from RUN mode to STOP or
STOPU mode.
Note
In addition to the user program tasks, there are various system-internal tasks that the user
cannot influence.
The ControlPanelTask is such a system-internal task, for example. It is visible during the
task run times of the device diagnosis, but not in the execution system.
Basic functions
See also
StartupTask (Page 130)
MotionTasks (Page 132)
BackgroundTask (Page 135)
TimerInterruptTasks (Page 138)
SynchronousTasks (Page 141)
SystemInterruptTasks (Page 148)
UserInterruptTasks (Page 153)
ShutdownTask (Page 157)
5.1.2 Execution system in SIMOTION SCOUT

All tasks used in the execution system can be viewed in SIMOTION SCOUT.
Select the SIMOTION device in the project navigator and select Target system >
Configure execution system in the menu or double-click EXECUTION SYSTEM.
Figure 5-2 Overview of the tasks in SCOUT
Basic functions
Execution system
The execution system with the execution levels and the assigned tasks are displayed here.
Execution levels tree

The execution levels tree displays the available execution levels / tasks as fixed entries.
The OperationLevel folder contains the tasks that are available in the RUN mode.
To open the OperationLevel folder, click the plus sign in front of it.
The list below each execution level or task name shows the configured tasks and the
programs assigned to them.
After you have assigned programs to tasks, they are displayed in the execution levels tree.
Use task in execution system

Select the tasks from the list that should be used in the execution system.
Activate the checkbox of the respective task.
Only those tasks that have been selected will be shown in the execution levels tree.
Execution system - context menu

You can select the following functions:
Function Meaning/Note
Open Use this to open the execution level configuration.
Expert
Set system cycle clocks Use this to set the ratio between the system cycle clocks (e.g.
between the interpolator cycle clock and the servo cycle clock)
depending on a parameterized isochronous operation at the
PROFIBUS or PROFINET interface.
Print Use this to print the contents of the execution system. All tasks with
the associated configuration are printed.
Print preview Use this to open the print preview for the execution system.
Basic functions
5.1.3 Task priorities

Tasks and the programs assigned to them are started and executed at a certain time. If
several tasks are to be started and executed at the same time, the task priority determines
which task will be executed first.
Table 5-2 Overview of the task priorities
Priority Execution level Task Cyclic/ Significance

sequential
High Servo, DP - z
communication
Servo / T1(DCC) Servodcc z Task of a DCC runtime group (T1)
ServoSynchronousTask User program task in the servo
ServoTask cycle clock
System task
IPO / T2(DCC) Ipodcc z Task of a DCC runtime group (T2)
IPOSynchronousTask z User program task in the
Check UserInterrupt interpolator cycle clock
User program
IPOTask z System task in the IPO cycle clock
Check the condition for
WAITFORCONDITION (IPO,
system)
IPO_2 / T3(DCC) Ipodcc_2 z Task of a DCC runtime group (T3)
IPOSynchronousTask_2 z User program task in the
interpolator cycle clock 2
IPOTask2 z System task in the IPO cycle clock
2
TControlTasks PWMsynchronousTask z Temperature controller task
InputSynchronousTask_ 1 z Temperature controller task
InputSynchronousTask_ 2 z Temperature controller task
PostControlTask_1 z Temperature controller task
PostControlTask_2 z Temperature controller task
+ associated system tasks z
DccAux (DCC) Dccaux z Task of a DCC runtime group (T4)
DccAux_2 (DCC) Dccaux_2 z Task of a DCC runtime group (T5)
SystemInterruptTasks TimeFaultTask s System alarm
(in the order of events)
TimeFaultBackgroundTask s System alarm
TechnologicalFaultTask s System alarm
PeripheralFaultTask s System alarm
Basic functions
Priority Execution level Task Cyclic/ Significance

sequential
ExecutionFaultTask s System alarm
TimerInterruptTasks TimerInterruptTask1 ... z ... z Timer alarms
TimerInterruptTask5
UserInterruptTasks UserInterruptTask_1 s User alarm (in the order of events)
UserInterruptTask_2 s User alarm (in the order of events)
Round robin BackgroundTask z User program task (the sequence
cannot be specified)
Low MotionTask_1 ... MotionTask_32 s ... s User program tasks (the sequence
cannot be specified)
Priorities
The priority of a task cannot be changed by the user.
Note
Tasks run according to their priorities. Thus, higher priority tasks supersede lower priority
tasks.
Therefore, fluctuations of the cycle time can occur for lower priority tasks.
TimerInterruptTasks:
The shorter a time slice, the higher its priority.
UserInterruptTasks:
All tasks have the same priority and are executed in the order of their activation events.
Wait for condition / WAITFORCONDITION temporarily increases the priority of a
MotionTask:
The condition is checked with the same priority as for UserInterruptTasks.
If the condition is satisfied, the MotionTask (that was previously pending) is
reactivated.
The commands enclosed between WAITFORCONDITION and
ENDWAITFORCONDITION are executed with increased priority (between
SystemInterruptTasks and TimerInterruptTasks).
Further information on Wait for condition / WAITFORCONDITION can be found in the
SIMOTION MCC or SIMOTION ST programming manuals.
Checking the condition for UserInterruptTask

The condition for the UserInterruptTasks is checked in the IPOSynchronousTask, prior to the
execution of the user program of the IPOSynchronousTask.
Any errors that occur for the UserInterruptTask condition will be handled as if they came
from the IPOsynchronousTask.
Basic functions
The time required for checking the condition of the UserInterruptTask is part of the runtime of
the IPOsynchronousTask.
Checking the wait condition

If wait conditions can be used, such as Wait for condition / WAITFORCONDITION, the
system performs the check, the task is not started for the check.
A synchronous setting on the command (e.g. Wait until motion end) is reasonable especially
in sequential tasks.
The WAITFORCONDITION condition is checked after the user program for the
IPOSynchronousTask at the start of the IPOTask.
Any errors that occur for WAITFORCONDITION will be handled as if they came from the
associated MotionTask.
The time required for checking the WAITFORCONDITION condition(s) is part of the runtime
of the IPOTask.
Task start sequence

When the StartupTask is completed, RUN mode is reached.
The following tasks are then started:
SynchronousTasks
TimerInterruptTasks
BackgroundTask
MotionTasks for which the attribute for automatic start is set
Note
The priorities of the execution levels or their tasks do not indicate the order in which the
MotionTasks, BackgroundTask and time-triggered tasks are started after RUN mode is
reached.
Basic functions
5.1.4 Runtime model in SIMOTION

The following diagram shows the general sequence and (from top to bottom) the priorities of
the tasks in SIMOTION.
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Figure 5-3 Runtime model in SIMOTION - general sequence, priorities
Explanations for the figure:

The display applies to a ratio between DP, Servo and IPO of 1:1:1
Color blue/green: available to the user (application / technology objects)
Color yellow (dashed): not available to the user (system tasks)
Explanation of the system tasks

1. DP/PN-ASIC <-> Bus:
Data is copied from the communications chip to the PROFIBUS or PROFINET IO with
IRT or fetched from there. The transfer of the I/O inputs on the logical addresses (2) is
started at the end of the copy action.
The copy action runs on its own processor and thus asynchronously to the remaining
execution system. The synchronization point is the end of the data exchange between the
bus and the ASIC.
Basic functions
2. DP/PN-ASIC -> log. addr.:

The I/O inputs are loaded from the communications chip.
3. System servo:
System calculations in the servo cycle clock (position controller, etc.).
The tasks of the servo execution level must be completed within the servo cycle clock. In
the case of an overflow of the servo execution level, the CPU goes to STOP.
4. Log. addr. -> DP/PN-ASIC:
The I/O outputs are written to the communications chip.
5. UserInterrupt - Check:
The conditions of the two user interrupts are checked.
6. Wait for condition - Check:
The conditions for WAITFORCONDITION (wait for axis, wait for signal, etc.) are checked.
7. System IPO/IPO_2:
The system-side components of the IPO cycle clock are calculated (motion control:
Positioning profiles, synchronous operation, etc.).Error! Bookmark not defined.
8. MotionTask n:
A MotionTask that is waiting with a WAITFORCONDITION will be switched in preference
when the condition occurs (with higher priority).
9. BackgroundTask:
The BackgroundTask runs here.
The updating of the background process image (PI) is performed at the start and after
completion of the complete BackgroundTask.
The runtime model normally runs several times between the reading of the input image
and the writing of the output image. I.e. depending on the size of the user program, the
BackgroundTask is interrupted several times by higher priority tasks (starting with the
ServoTask).
10.Communication:
Communication functions (HMI, PG/PC, etc.).
See also
BackgroundTask (Page 135)
Basic functions
5.2 Description of the user program tasks
5.2.1 StartupTask
The StartupTask is provided for the one-time initialization and the resetting of the technology
objects.
It is activated when the operating mode switches from STOP or STOPU to RUN.
It must not be used for process start-up or homing or for setting up axes (motion commands
must not be used).
While the StartupTask is being executed, no other user program tasks except for the
SystemInterruptTask and the UserInterruptTask are active.
Access to process image and symbolic I/O variables is restricted. The process image of the
inputs is updated before the startup task and remains constant for the duration of the startup
task. The process image of the outputs is set to zero before the startup task, and output after
the startup task. Direct accesses to inputs provide the current values. Write I/O variables can
be set to initial values. These values, however, act only after the startup task with the enable
of all outputs on the terminals.
When the StartupTask is completed, RUN mode has been reached. The following tasks are
now started:
SynchronousTasks
TimerInterruptTasks
MotionTasks, in which the automatic start attribute is set
BackgroundTask
Select the Program assignment tab to assign the created and compiled programs to the
StartupTask and define their execution sequence.
Basic functions
Configuring the StartupTask

1. Click StartupTask in the Execution Levels tree.
Figure 5-4 Configuration of the StartupTask (program assignment)
2. In the Program assignment tab, assign the required programs to this task and define the
execution sequence.
Figure 5-5 Configuration of the StartupTask (task configuration)
3. Switch to the Task Configuration tab.

4. If required, enter the Range limit for dynamic data (stack size).
5. Specify the Error reaction with program error (e.g. ExecutionFaultTask).
Basic functions
Task configuration - StartupTask

In the Task configuration tab, parameterize the error reaction with program errors.
You can set the following parameters:
Field/Button Significance / Note

Limits for dynamic data Enter the stack size for this task in bytes. When the programs assigned
to this task are executed, this size is made available for data in the
stack. The guide value is 16 KB for a task.
Error reaction with program Select the error reaction if errors occur while processing programs.
error Program errors are, for example, faulty operations with floating-point
numbers, division by zero and overshooting array limits.
CPU to STOP The CPU switches to STOP mode and the ShutdownTask is started.
ExecutionFaultTask The ExecutionFaultTask is started. All programs assigned to this task
are started.
If no programs assigned, the CPU switches to STOP mode. The task in
which the error occurred is terminated.
See also
Assigning programs to the execution levels/tasks (Page 159)
5.2.2 MotionTasks
MotionTasks are intended for the programming of sequences, for programmed motion
control or other sequential executions.
Example for the sequential execution: An axis traverses to a target position, waits for an
enable signal, and then traverses to the next target position.
Several MotionTasks are available:
Up to V3.2: 20 MotionTasks MotionTask_1 to MotionTask_20
As of V4.0 only for D4xx and P350: 32 MotionTasks MotionTask_1 to MotionTask_32
The names of the MotionTasks can be changed, see Assigning programs to the tasks
(Page 216).
MotionTasks are executed in the round robin execution level.
MotionTasks and BackgroundTask share the free time apart from the higher-priority system
and user program tasks. The relationship of the time slices between both levels can be
parameterized, see Setting the time allocation (Page 177).
There is no fixed sequence of execution for MotionTasks and BackgroundTask.
Instructions for influencing task execution are provided in Overview of the task control
commands (Page 239).
Basic functions
Starting a MotionTask
MotionTasks are usually controlled from the user program via task control commands such
as _startTaskID, _stopTaskID,, ... . With the corresponding configuration (set attribute), a
MotionTask starts automatically when the RUN mode has been reached. You can scan the
current task status using the _getStateOfTaskID system command.
A MotionTask does not have any time monitoring, i.e. once a MotionTask is started, it can
remain active for an indefinite period.
A MotionTask that waits for a synchronous command remains active with regard to its status.
Completing a MotionTask
A MotionTask is completed when the task has been completed or at the transition to the
STOP or STOPU mode (start of the ShutdownTask).
One way to automatically suspend the task is to use wait commands Wait for condition /
WAITFORCONDITION.
The task is suspended when the wait command is issued. The condition specified in the
command is checked in the IPO cycle clock. When the condition is fulfilled, the MotionTask
is automatically resumed. Depending on where you position the wait command, you can
influence the task priority when execution continues.
The commands enclosed between WAITFORCONDITION and ENDWAITFORCONDITION
are executed with increased priority (between SystemInterruptTasks and
TimerInterruptTasks).
MotionTasks and define the execution sequence.

MotionTask Select the motion task you want to assign the programs to from the
MotionTasks under MotionTask. You can assign several programs to one
MotionTask.
MotionTask_1 to Predefined names of the possible MotionTasks.
MotionTask_n
Use task in execution Activate the checkbox to display and use the task in the execution
system system. If the checkbox is deactivated, you cannot assign any programs
to this task.
Configuring MotionTasks
You can define which tasks are to be started automatically when the RUN mode is reached.
Otherwise MotionTasks must be explicitly started via programmed task control commands.
1. Click MotionTasks in the Execution Levels tree.
2. Select the required task in the MotionTask list. Task names can be changed, see
Assigning programs to the execution level (Page 159).
Basic functions
Figure 5-6 Configuration of the MotionTasks (program assignment)
execution sequence.
Figure 5-7 Configuration of the MotionTasks (task configuration)
4. Select the Task Configuration tab.

5. Activate the Activation after StartupTask option to start the MotionTask once after the
StartupTask.
8. Repeat steps 2 through 7 for all the MotionTasks to be configured.
9. Specify the time allocation in the round robin execution level between MotionTasks and
BackgroundTasks, see Setting the time allocation (Page 177).
Basic functions
Task configuration - MotionTasks

In the Task configuration tab, parameterize the time allocation between the MotionTasks and
BackgroundTasks in the round robin execution level, and define when the MotionTasks are
activated.

Limits for dynamic data Enter the stack size for this task in bytes. When the programs assigned to
this task are executed, this size is made available for data in the stack.
The guide value is 16 KB for a task.
Activation after Select this if you want the MotionTask to start once when RUN mode is
StartupTask reached (StartupTask is completed).
Time allocation Clicking this button opens the screen form for time allocation in the round
robin execution level.
This is where you can parameterize the time allocated to MotionTasks
and BackgroundTasks in the round robin execution level.
Error reaction with Select the error reaction if errors occur while processing programs.
program error Program errors are, for example, faulty operations with floating-point
numbers, division by zero, and overshooting array limits.
ExecutionFaultTask The ExecutionFaultTask is started. All programs assigned to this task are
started.
If no programs are assigned, the CPU switches to STOP mode. The task
in which the error occurred is terminated.
5.2.3 BackgroundTask
The BackgroundTask is provided for the programming of cyclic sequences without a fixed
time frame.
It is executed cyclically in the round robin execution level, which means it will be
automatically restarted on completion.
The BackgroundTask is used in programs that have to be executed cyclically, e.g.
interlocking tasks, PLC tasks.
The cycle time of the BackgroundTask is monitored. When the cycle time monitoring
responds, the TimeFaultBackgroundTask is started. The CPU will switch to STOP mode if
the task is not configured or there is no program assigned to it.
The process image of the inputs and outputs is generated for the BackgroundTask in
address space 0.0 to 63.7. The process image remains consistent during the time the
BackgroundTask is being processed.
You can use the BackgroundTask to implement lower-priority, cyclical logic functions,
interlocks, calculations, monitoring functions.
The BackgroundTask shares available CPU time with the MotionTasks.
Basic functions
Note
The BackgroundTask shares computation time with MotionTasks and SystemTasks (e.g.
communication tasks). Relative to time allocation you must consider that the runtime, i.e. the
performance, is influenced by the settings (time allocation of the round robin execution level).
Starting the BackgroundTask

The BackgroundTask is started automatically when the RUN mode has been reached or
when the task has been completed (with the next servo cycle clock).
Completion of the BackgroundTask

A MotionTask is completed at the transition to the STOP or STOPU mode (start of the
ShutdownTask).
BackgroundTasks and define the execution sequence.
Configuring the BackgroundTask

1. Click BackgroundTask in the Execution Levels tree.
Figure 5-8 Configuration of the BackgroundTask (program assignment)
execution sequence.
Basic functions
Figure 5-9 Configuration of the BackgroundTask (task assignment)
3. Switch to the Task configuration tab.

5. Enter a value for the time monitoring.
If this time is exceeded, the relevant SystemInterruptTask (TimeFaultBackgroundTask)
can be called or the CPU to STOP can be set, 0 ms = no monitoring).
6. Specify the Error reaction on timeout.
CPU in STOP or call TimeFaultBackgroundTask.
7. Specify the time allocation in the round robin execution level between MotionTasks and
BackgroundTasks, see Setting the time allocation.
Task configuration - BackgroundTask

You can parameterize the time monitoring and the error reaction in the Task configuration
tab.

Limits for dynamic data Enter the stack size for this task in bytes. When the programs
assigned to this task are executed, this size is made available for
data in the stack. The guide value is 16 KB for a task.
Watchdog Specify the cycle time in ms for executing the BackgroundTask.
Enter a value for time monitoring. The time monitoring is inactive if
you enter 0 or no value.
Error reaction with program You can select the error reaction, if the cycle for the
error BackgroundTask is not terminated within the time frame specified
under Time monitoring. You can select and configure a
SystemInterrupt as error reaction.
TimeFaultBackgroundTask Timeout system interrupt in the BackgroundTask
Basic functions

CPU to Stop The CPU switches to STOP mode.
Time allocation Clicking this button opens the screen form for time allocation in the
round robin execution level.
This is where you can parameterize the time allocated to
MotionTasks and BackgroundTasks in the round robin execution
level.
error Program errors are, for example, faulty operations with floating-
point numbers, division by zero, and overshooting array limits.
CPU to Stop The CPU switches to STOP mode and the ShutdownTask is
started.
ExecutionFaultTask The ExecutionFaultTask is started. All programs assigned to this
task are started.
The CPU subsequently changes to STOP.
See also
Watchdog (Page 173)
Setting of the time allocation (Page 177)
Time allocation in the round robin execution level (Page 175)
5.2.4 TimerInterruptTasks
TimerInterruptTasks are intended for the periodical starting of programs.
Five TimerInterruptTasks, i.e. TimerInterruptTask_1 to TimerInterruptTask_5, are available
for different time levels.
TimerInterruptTasks are periodically started and executed in the configured fixed time frame
(e.g. 100 ms).
This time frame must be a multiple of the interpolator cycle clock.
In this task, you can implement closed-loop control or monitoring functions that require a
reproducible time reference without a direct link to I/O or motion control of the axes.
Additional system and user tasks are provided for the TControl technology package. The
TControl technology package is processed in the system tasks, whereas the application-
specific adaptations are processed in the user program tasks.
You can find additional information in the functional description of the temperature controller,
refer to the Motion Control Additional Technology Objects Function Manual.
Basic functions
Starting a TimerInterruptTask
TimerInterruptTasks are started periodically. A start delay can be set.
Completing a TimerInterruptTask
TimerInterruptTasks are completed automatically after completion of the programs assigned
to the TimerInterruptTask.
You can assign the created and compiled programs to the selected TimerInterruptTask and
define their execution sequence in the Program assignment tab.

For task Use this to select one of the five TimerInterruptTasks to which you
want to assign the programs. You can assign several programs to one
TimerInterruptTask.
TimerInterruptTask_1 to Predefined names of the five TimerInterruptTasks.
TimerInterruptTask_5
Defined time level Use this to select the time frame for restarting the TimerInterruptTask.
You can choose time levels from the available list or enter additional
ones as required. The value must be a multiple of the IPO cycle clock.
system system. If the checkbox is deactivated, you cannot assign any
programs to this task.
Configuring TimerInterruptTasks
1. Click TimerInterruptTasks in the Execution Levels tree.
2. Select the required task in the For task selection box. The names (TimerInterruptTask_1
to TimerInterruptTask_5) are preset.
Figure 5-10 Configuration of the TimerInterruptTasks (program assignment)
Basic functions
3. Select a Defined time level or enter an arbitrary integer value. This value must be an
integral multiple of the interpolator cycle clocks (IPO cycle clocks). Different settings are
rounded up to the next integral multiple of the IPO cycle clock.
execution sequence.
Figure 5-11 Configuration of the TimerInterruptTasks (task configuration)

7. Enter the Start delay for this task, if applicable.
To prevent different time-triggered tasks from starting at the same time, you can define a
start delay for each task. This prevents different TimerInterruptTasks from being executed
at the same time.
Example:
IPO cycle clock: 4 ms
TimerInterruptTask_1: 8 ms
TimerInterruptTask_2: 16 ms
Both TimerInterruptTasks are started simultaneously in every fourth IPO cycle clock. By
delaying the start of one of the two tasks by 4 ms, you can prevent them from being
executed at the same time. In this way, the load on the system is distributed more evenly,
and the behavior of the lower-priority tasks can be reproduced.
8. Enter a value for time monitoring.
If this time is exceeded, the relevant SystemInterruptTask (TimeFaultTask) can be called
or the CPU to STOP can be set, 0 ms = no monitoring).
9. Specify the Error reaction on timeout.
CPU to STOP or call TimeFaultTask.
10.Specify the Error reaction with program error (e.g. ExecutionFaultTask).
11.Repeat steps 3 through 10 for all the TimerInterruptTasks to be configured.
Basic functions
Task configuration - TimerInterruptTasks

You can define the start delay, time monitoring and the error reaction for the
TimerInterruptTasks in the Task configuration tab.

Limits for dynamic data Enter the stack size for this task in bytes. When the programs assigned to
this task are executed, this size is made available for data in the stack.
The guide value is 16 KB for a task.
Start delay Enter a time value in ms for the task start delay. The start of
TimerInterruptTask is delayed by this time value. This delay ensures that
different TimerInterruptTasks will not start simultaneously, resulting in a
timeout.
Watchdog Specify the cycle time in ms for executing the TimerInterruptTask. Enter a
value for time monitoring. The time monitoring is inactive if you enter 0 or
no value.
Error reaction with You can select the error reaction if the TimerInterruptTask is not
timeout terminated within the time frame specified under Time monitoring.
You can configure the following as error reaction:
TimeFaultTask Timeout SystemInterrupt in the TimerInterruptTask.
CPU to Stop The CPU switches to STOP mode.
Error reaction with Select the error reaction if errors occur while processing programs.
program error Program errors are, for example, faulty operations with floating-point
ExecutionFaultTask The ExecutionFaultTask is started. All programs assigned to this task are
started.
If no programs are assigned, the CPU switches to STOP mode. The task
in which the error occurred is terminated.
See also
Watchdog (Page 173)
5.2.5 SynchronousTasks
SynchronousTasks are started synchronously to the specified system cycle clock. They run
with high priority in the time-triggered execution level.
The following SynchronousTasks are available:
ServoSynchronousTask (V4.0 and higher): Synchronous with the servo cycle clock
In the servo-synchronous task you can implement time-critical terminal - terminal
responses for I/O or fast influencing of setpoints on the servo level.
Basic functions
Isochronous I/O processing on PROFIBUS DP

Application, such as for fast terminal - terminal response. If a TO is configured for
execution in the servo cycle clock then TO and motion commands can also be issued.
IPOSynchronousTask/IPOSynchronousTask_2: Synchronous with interpolator cycle clock
IPO/IPO_2
In IPO-synchronous tasks, you can implement time-critical functions that have a direct
effect on the functions of the technology object. The user program is executed prior to the
interpolator, i.e. the programmed functions can be effective in the same IPO cycle clock.
Application, e.g. for a fast start depending on the event, fast response to events terminal -
axis
Additionally, there are further SynchronousTasks for TControl:
PWMsynchronousTask: Synchronous with the PWM cycle clock
InputSynchronousTask_1/InputSynchronousTask_2: Synchronous with the Input1/2 cycle
clock before temperature control
PostControlTask_1/PostControlTask_2: Synchronous with the Control1/2 cycle clock after
temperature control
You can assign the created and compiled programs to the selected SynchronousTask and

For cycle clock level Use this to select the SynchronousTask to which you want to
assign the programs. You can assign several programs to one
SynchronousTask.
ServoSynchronousTask SynchronousTask which is started in the servo cycle clock
IPOSynchronousTask SynchronousTask which is started in the interpolator cycle clock
(IPO cycle clock).
IPOSynchronousTask_2 SynchronousTask which is started in the second interpolator cycle
clock (IPO2 cycle clock).
PWMsynchronousTask SynchronousTask which is used for the actuating signal output of

(TCPWM_Tasks) the TO TController (temperature channel). Defines the basic cycle
clock for further tasks of the TO TController.
InputSynchronousTask_ 1/2 SynchronousTask which is used for the actual value measurement
(TCInput_Tasks_1/2) of the TO TController.
PostControlTask _1/2 SynchronousTask which is used for the control of the TO
(TCTasks_1/2) TController.
Use task in execution system Activate the checkbox to display and use the task in the execution
system. If the checkbox is deactivated, you cannot assign any
programs to this task.
Basic functions
ServoSynchronousTask
ServoSynchronousTasks are provided for applications in which fast processes are to be
implemented with the help of isochronous mode (V4.0 and higher).
ServoSynchronousTasks run within a servo cycle clock and behave similar to
IPOsynchronousTasks.
The ServoSynchronousTask is reasonable for:
Fast responses (e.g for short terminal - terminal times for I/O processing)
Influencing servo-effective system variables
Information on servo efficacy of the system variables is provided in the SIMOTION
reference list technology package CAM system variables.
for motion commands if a TO (in exceptional cases) is configured for execution in the
servo cycle clock.
It is not reasonable for:
Communication
For motion commands if a TO is configured for execution in the IPO cycle clock (since
this is evaluated in the IPO cycle clock)
If a TO is configured for execution in the servo cycle clock then TO and motion commands
can also be issued.
The same characteristics as for the IPOSynchronousTask apply, but it is not possible to set
a tolerance.
The ServoSynchronousTask can be configured in the execution system. (The cycle time of
the servo execution level is set with the servo). The default setting is active.
There is a process image available for the ServoSynchronousTask as for the other cyclic
tasks. This only results in an improved performance if the same I/O addresses are accessed
several times.
In the case of an overflow of the ServoSynchronousTask, the CPU goes to STOP. It is not
possible to set a tolerance.
Note
Synchronous commands are not permitted in the ServoSynchronousTask, because the task
is not allowed to overflow. If, for example, you call the _waittime function, the CPU goes into
STOP mode.
Basic functions
IPOSynchronousTask/IPOSynchronousTask_2
IPOSynchronousTasks are intended for applications that require, for example, fast and
deterministic responses or correction movements. Optimum time transfer of motion
commands to the motion control system is thus possible.
IPOsynchronousTasks run immediately before the interpolator within an IPO cycle clock.
Thus, commands in these tasks can directly affect the motion control.
The IPOSynchronousTask is started synchronously to the IPO cycle clock, whereas the
IPOSynchronousTask_2 is started synchronously to the IPO cycle clock 2, i.e. a reduced
IPO cycle clock.
The IPOSynchronousTask is executed prior to the internal IPOTask and
IPOsynchronousTask_2 is executed before IPOTask_2.
The following properties must be specified for the IPOsynchronousTasks:
Task configuration
Sum (number) of level overflows in the IPO/IPO_2 cycle clock
If the tasks in the IPO level (IPOSynchronousTask, IPOTask) are not completed within an
IPO cycle clock, an overflow will occur. An overflow of a task in the cycle clock (n) must
be processed in the following cycle clock (n+1).
The same applies for the tasks in the IPO_2 level (IPOSynchronousTask_2, IPOTask_2).
You can set the number of overflows which should be tolerated in sequence (n = 0 ... 5).
(The ratio can be violated n-times.) The internal monitoring counter is reset when a task
has been performed without overflowing.
The accumulated level overflows are displayed in the
numberOfSummarizedTaskOverflow system variables.
Error reaction with timeout (level overflow): The CPU goes to STOP mode and a starting
lockout is set.
IPOSynchronousTask/IPOTask: Time ratio between IPOSynchronousTask and IPOTask.
A timeout occurs if an IPO-synchronous task exceeds this ratio.
You also define the time frame for the IPOTask in the system cycle clocks. In the
IPOSynchronousTask/IPOTask parameter, you can specify the percentage of time that is
to be made available for the IPOSynchronousTask per cycle clock.
If, for example, 4 ms is set as IPO cycle clock and 25% set as ratio, the runtime of the
IPOSynchronousTask must not exceed 1 ms, including possible interrupts of higher-
priority tasks.
Recommendation: With a gear ratio of servo : IPO_1 > 1, enter a percentage value that is
as large as possible.
Note
If a synchronous system function is called that suspends the IPOSynchronousTask, the
CPU will go into STOP mode with a diagnostic buffer entry (as of V3.2).
It is possible to configure whether time monitoring is to be performed.
Basic functions
Configuring SynchronousTasks
1. Click the appropriate task in the Execution Level tree.
2. Select the required SynchronousTask in the For cycle clock level selection box.
Figure 5-12 Configuration of the SynchronousTasks (program assignment)
execution sequence.
Figure 5-13 Example: Configuration of the IPOsynchronousTask (task configuration)

5. The following options are also available:
Stack size as an option in the Task Configuration tab
Enter the number (0-5) of permitted level overflows in the Level overflows selection
box
Basic functions
Select the ratio between SynchronousTask and IPO task

Select the Error reaction with program error
Configure the IPOSynchronousTask/IPOTask time monitoring
6. Repeat steps 3 through 5 for all the synchronous tasks to be configured.
Task configuration - SynchronousTasks

In the Task configuration tab you can select the error response for the SynchronousTask.
Table 5-3 Task configuration ServoSynchronousTask

Task / cycle clock Here you can select the duration for the specified task as a percentage
of the specified cycle clock. If the task requires more time than set
here, the system will respond according to the settings in error
reaction.
are started.
If no programs are assigned, the CPU switches to STOP mode. The
task in which the error occurred is terminated.
Table 5-4 IPOSynchronousTask task configuration

Basic functions

Number of IPO/IPO2 cycle Enter the number of tolerable level overflows in the IPO/IPO_2 cycle
clock overflows clock for the SynchronousTask. If the number of overflows is less than
the entered overflows, there will be no error reaction.
When arithmetic operations are processed, level overflows in the
IPO/IPO_2 cycle clock can occur that can be tolerated by the user for
the SynchronousTask and SynchronousTask_2 execution levels.
Execution level overflows may occur if:
IPOSynchronousTask + IPO task > IPO cycle clock or
IPOSynchronousTask_2 + IPO_2 task > IPO_2 cycle clock
This set tolerance level causes the next IPO cycle clock to be used for
terminating the arithmetic operation of the previous cycle clock without
triggering the set error reaction. When the set number of overflows is
exceeded, or if no tolerance has been set, an entry is made in the
diagnostic buffer and the error response (CPU to STOP with starting
lockout) results. A maximum of 5 execution level overflows can be set.
Monitoring when executing You can select the error reaction if the SynchronousTask is not
synchronous functions completed within the system cycle clock.
Suspend time Compatible with the functionality up to V3.1.1
monitoring and interrupt With synchronous functions, time monitoring is suspended and one
task IPO cycle clock is lost - all old projects have this setting, too, if they
have been updated to V3.2 (CPU replacement).
Leave time monitoring Time monitoring is not suspended, i.e. the CPU goes to STOP with
active timeout when synchronous functions are called which really interrupt
the IPOSynchronousTask.
If IPO overflows are tolerated, it might be possible to avoid STOP - this
is the default setting for newly created V3.2 CPUs.
Diagnostics buffer entry: "STOP by execution system, cause: Timeout".
CPU goes to STOP There is no synchronous function permitted. In the case of a
synchronous function, the CPU goes to STOP - even if the
IPOSynchronousTask is not interrupted in the concrete case.
Diagnostics buffer entry: "Impermissible calling of a system/package
function".
The behavior applies to the IPOsynchronousTask,
IPOsynchronousTask_2 and PWMTask.
Task / cycle clock Here you select the duration for the specified task as a percentage of
the cycle clock (e.g. IPOsynchronousTask / IPO cycle clock). If the task
requires more time than set here, the system will respond according to
the settings in error reaction.
To configure the system cycle clocks, select the CPU in the project
navigator and select Target system > Expert > Set system cycle clocks
in the menu.
25%: The maximum duration of the task is 25% of the cycle clock.
Basic functions

are started.
If no programs are assigned, the CPU switches to STOP mode. The
task in which the error occurred is terminated.
See also
Isochronous I/O processing on fieldbus systems (Page 184)
Timeouts and level overflows (Page 171)
Sequence model for DCC blocks (DCB) (Page 195)
5.2.6 SystemInterruptTasks
SystemInterruptTasks are started and executed once when a system event occurs.
The following SystemInterruptTasks are available:
TimeFaultTask: starts in the event of a TimerInterruptTask timeout
TimeFaultBackgroundTask: starts in the event of a BackgroundTask timeout
TechnologicalFaultTask: starts in the event of an error on a technology object
PeripheralFaultTask: starts in the event of an error on the I/O
ExecutionFaultTask: starts in the event of an error when executing a program
Starting a SystemInterruptTask
A SystemInterruptTask is started automatically after the set event has occurred.
If an event that triggers a SystemInterruptTask occurs, the SystemInterruptTask must be
used in the execution system, and a program must be assigned to this task; otherwise, the
CPU switches to STOP mode.
Up to 8 different interrupts can be stored in the buffer. If another interrupt occurs, the buffer
overflows and the CPU goes into STOP mode, too.
The events that caused a SystemInterruptTask to be called can be queried using the
associated TaskStartInfo for this task and are described under Using Taskstartinfo
(Page 90).
Basic functions
Completing a SystemInterruptTask
A SysteminterruptTask is completed automatically after completion of the programs assigned
to the SystemInterruptTasks.
You can assign the created and compiled programs to the selected SystemInterruptTask and
Field/Button Meaning/Note
For task Use this to select one of the SystemInterruptTasks to which you
want to assign the programs. You can assign several programs
to one SystemInterruptTask.
ExecutionFaultTask Program processing error, for example, division by zero.
PeripheralFaultTask I/O alarms such as process alarms, diagnostic alarms, removing
and inserting modules.
TechnologicalFaultTask Technological alarms such as alarms, warnings and notes.
TimeFaultBackgroundTask Timeout in the BackgroundTask.
TimeFaultTask Timeouts, for example in the SynchronousTasks,
TimerInterruptTasks, system runtime and cycle time.
Alarm configuration This displays the window for the configuration of the
technological alarms. You can configure the alarm response to
a technological alarm for the SystemInterruptTasks.
Use task in execution system Activate the checkbox to display and use the task in the
execution system. If the checkbox is deactivated, you cannot
assign any programs to this task.
TimeFaultTask
The TimeFaultTask is started when the time monitoring of a TimerInterruptTask responds.
The CPU will switch to STOP mode if the TimeFaultTask is not configured or there is no
program assigned to it.
In the TimeFaultTask, you can program the response to timeouts of TimerInterruptTasks.
For additional information, see Using Taskstartinfo (Page 90)).
TimeFaultBackgroundTask
The TimeFaultBackgroundTask is started when the time monitoring of the BackgroundTask
responds. The CPU will switch to STOP mode if the TimeFaultBackgroundTask is not
configured or there is no program assigned to it.
In the TimeFaultBackgroundTask, you can program how timeouts of BackgroundTasks are
handled.
Basic functions
TechnologicalFaultTask
The TechnologicalFaultTask is started when the technology package generates an alarm or
information message. The CPU will switch to STOP mode if the TechnologicalFaultTask is
not configured or there is no program assigned to it.
Generally, alarm messages have a direct effect on the behavior of the technology package
and must be acknowledged before technology functions can be activated again.
In the TechnologicalFaultTask you can, for example, acknowledge errors directly and/or
initiate further responses with respect to the sequence of operations on the machine.
PeripheralFaultTask
The PeripheralFaultTask is started immediately in accordance with its priority for I/O access
errors.
I/O access errors can occur, for example, when the load voltage supply for the I/O module
fails or other errors occur on the I/O module.
For further information, refer to the descriptions of the I/O modules.
The task for which an error occurred during its I/O access, will not be terminated.
The CPU will switch to STOP mode if the PeripheralFaultTask is not configured or there is
no program assigned to it.
For additional information, see Using Taskstartinfo (Page 90))."
ExecutionFaultTask
The ExecutionFaultTask is started immediately in accordance with its priority for program run
errors.
Examples of program run errors:
Faulty operations with floating point numbers, such as logarithms of negative numbers,
invalid numbers, etc.
Division by zero
Violation of array limits
Error while accessing system variables
The task in which the error occurred is terminated.
The CPU will switch to STOP mode if the ExecutionFaultTask is not configured or there is no
program assigned to it.
The CPU to STOP error response is possible for all tasks and starts the ShutdownTask. The
SIMOTION device switches to STOP mode.
An error reaction for the ExecutionFaultTask restarts the ExecutionFaultTask.
The following tasks can be restarted by commands in the program of the
ExecutionFaultTask:
StartupTask
ShutdownTask
Basic functions
MotionTasks
For the following tasks, the SIMOTION device switches to STOP mode once the
ExecutionFaultTask is completed and the ShutdownTask is started:
BackgroundTask
TimerInterruptTasks
SynchronousTasks
Note
Program errors in the ExecutionFaultTask and in the ShutdownTask switch the system to
STOP mode immediately.
Configuring SystemInterruptTasks
1. Click SystemInterruptTasks in the Execution Levels tree.
2. Select one of the specified tasks in the For task selection box.
Figure 5-14 Configuration of the SystemInterruptTasks (program assignment)
execution sequence.
Basic functions
Figure 5-15 Configuration of the SystemInterruptTasks (task configuration)

5. Configure the task.
6. Repeat steps 3 through 5 for all the synchronous tasks to be configured.
7. To configure the technological alarms:
Click Alarm configuration.
Task configuration - SystemInterruptTasks

In the Task configuration tab, parameterize the error reaction to program errors.
Limits for dynamic data Enter the stack size for this task in bytes. When the programs
assigned to this task are executed, this size is made available for
data in the stack. The guide value is 16 KB for a task.
ExecutionFaultTask The ExecutionFaultTask is started. All programs assigned to this
task are started.
If there are no programs assigned, the CPU switches to STOP
mode. The task in which the error occurred is terminated.
Basic functions
5.2.7 UserInterruptTasks
UserInterruptTasks are intended for user-defined actions.
Two UserInterruptTasks are available: UserInterruptTask_1 and UserInterruptTask_2.
A defined condition must be specified for the UserInterruptTask. Each time the condition is
fulfilled, the UserInterruptTask is started.
If you want to use a UserInterruptTask, the IPOsynchronousTask must be used in the
execution system.
UserInterruptTasks are not active during a StartupTask and a ShutDownTask.
Starting a UserInterruptTask
UserInterruptTasks are started automatically as soon as the user-defined interrupt condition
is fulfilled. The interrupt condition is checked in the interpolator cycle clock.
If both UserInterruptTasks are started at the same time, UserInterruptTask_1 is processed
before UserInterruptTask_2.
Note
If a user-defined interrupt occurs during shutdown, the UserInterruptTask is not started
anymore.
During shutdown (ShutdownTask), starting the UserInterruptTask is only possible using the
_startTask() command.
Completing a UserInterruptTask
UserInterruptTasks are completed automatically after completion of the programs assigned
to the UserInterruptTask.
You can assign the created and compiled programs to the selected UserInterruptTask and
For task Use this to select one of the two UserInterruptTasks to which you want to
assign the programs. You can assign several programs to one
UserInterruptTask.
UserInterruptTask_1 Predefined names of the UserInterruptTask.
and
UserInterruptTask_2
Basic functions
Defined condition Here you define the condition for the selected UserInterruptTask
according to IEC 61131. During operation, the specified condition is
checked in the interpolator cycle clock. If the condition is fulfilled, the
UserInterruptTask is started with the assigned programs. You enter the
condition in the input field by using the symbol browser (variables via
drag and drop) and the Command library tab in the project navigator
(operators via drag and drop).
Only simple conditions (logic operations of inputs and local CPU
variables) and Boolean variables are permissible.
system system. If the checkbox is deactivated, you cannot assign any programs
to this task.
Configuring UserInterruptTasks
1. Click UserInterruptTasks in the Execution Levels tree.
2. Select a UserInterruptTask in the For task selection box.
3. Specify the condition for starting this task.
Figure 5-16 Configuration of the UserInterruptTasks (program assignment)
execution sequence.
Basic functions
Figure 5-17 Configuration of the UserInterruptTasks (task configuration)

6. Configure the task.
7. Repeat steps 3 to 6 for the second UserInterruptTask.
Formulating a Condition for a UserInterruptTask
Figure 5-18 Configuration of a UserInterruptTasks with condition
Figure legend - example:

When the digital input 0.0 = TRUE and the global variable "variable_1" has a value > 200.0, then the
UserInterruptTask_1 is executed once.
Basic functions
You enter the condition for starting a UserInterruptTask as a formula according to IEC 61131
(Structured Text). You can use the following variables:
Global device variables
Unit variables in an ST/MCC or LAD/FBD source file
SIMOTION SCOUT helps you create the formula.
To formulate a condition for starting the UserInterruptTask:
1. Under For task select the UserInterrupt for which you want to define the start condition.
2. Take the required operators from the Command library tab and insert them in the Defined
condition text field using drag and drop.
Alternatively, you can enter the operators directly in the text field.
3. Take the operands from the symbol browser and insert them in the Defined condition text
field using drag and drop or copy and paste. Alternatively, you can enter the operands
directly in the text field.
Command library
The Command library tab contains a list of mathematical operations and functions.
Figure 5-19 Command library in SCOUT
To open the individual operations, click the plus sign in front of the folder. You can drag the
operators to the required text field via drag and drop. You can use these commands, for
example, to define conditions.
Basic functions
Task configuration - UserInterruptTasks

In the Task configuration tab, parameterize the error reaction to program errors.
to this task are executed, this stack size is made available for data in
the stack. The guide value is 16 KB for a task.
Error reaction to program Select the error reaction when errors occur while processing programs.
are started.
If there are no programs assigned, the CPU switches to STOP mode.
The task in which the error occurred is terminated.
See also
5.2.8 ShutdownTask
The ShutdownTask is intended for selective intervention in the transition from RUN to
STOPU/STOP mode or for programming emergency stop sequences, e.g. selected setting of
outputs, defined shutdown of axes.
The ShutdownTask is not called in the case of a power failure.
The time monitoring must be specified in the Task configuration for the ShutdownTask: You
can configure the maximum duration for the execution of the ShutdownTask; 0 ms = no
monitoring. After this time, the CPU switches to STOP mode.
The I/O can be accessed directly in the ShutdownTask. Access to process image and
symbolic I/O variables is restricted. It is not practical to access the I/O by means of the
process image, as the process image is no longer being updated.
For additional information, see SIMOTION ST Structured Text, "Access to inputs and outputs
(process image, I/O variables)"
ShutdownTask and define their execution sequence.
Note
Program errors in the ExecutionFaultTask and in the ShutdownTask switch the system to
STOP mode immediately.
Basic functions
Configuring the ShutdownTask

1. Click ShutdownTask in the Execution Levels tree.
Figure 5-20 Configuration of the ShutdownTask (program assignment)
execution sequence.
Figure 5-21 Configuration of the ShutdownTask (task configuration)

4. If required, enter the Range limit for dynamic data (stack size). Error! Bookmark not
defined.
5. Enter a value for the time monitoring.
Basic functions
5.3 Configure execution system
Task configuration - ShutdownTask

Select the Task configuration tab to parameterize the time monitoring.
Watchdog Specify the cycle time in ms for executing the ShutdownTask. Enter a
value for time monitoring. The time monitoring is inactive if you enter 0
or no value.
CPU to STOP The CPU switches to STOP mode.
See also
Watchdog (Page 173)

Configuration of the execution system involves the following steps:
Assignment of user programs and definition of the task properties
Enabling of the tasks used
Selection of the cycle clock source and setting of the system cycle clocks
5.3.1 Assigning programs to the execution levels/tasks

The programs must be assigned to execution levels. Only then are the programs executed.
After creation, you can assign the programs of an MCC chart, an ST source file or a
LAD/FBD source file to one or more tasks with SIMOTION SCOUT.
You can assign more than one program to a task.
The assigned programs are then executed in the order in which they are listed; this order
can be specified and modified using SIMOTION SCOUT.
If several programs are assigned to a task, execution of the first program must be finished
before the next program in the same task can be started. If, for example, the first program is
in a continuous loop, the second program will never be executed.
You can also assign one program to several tasks, which are then executed independently
of each other.
Basic functions
With the program assignment, you specify the following:

Priority with which the programs are executed
The execution behavior: sequential/cyclic
The initialization behavior of program variables
See the SIMOTION MCC Programming Manual or SIMOTION ST - "Time of variable
initialization" and Influence of the compiler on variable initialization (Page 218).
Please note the following when assigning a program to one or more tasks:
Before programs can be assigned, they must be compiled without error.
The assignment must be made before downloading the program to the target system.
It is possible that the program (if multiple tasks are assigned) may be called by another
task while it is being executed. No measures are taken in the system to ensure data
consistency.
Once you have assigned a program to a task, it will remain assigned even in the event of
recompilation.
Note
DCC tasks are assigned via the DCC editor, see the description of the DCC editor.
Execution system - program assignment

You can assign the created and compiled programs to the various tasks of the execution
levels in the Program assignment tab.
Programs A list of all compiled programs that are available in the project is displayed
here. Non-compiled programs are not displayed. The number after the
program name indicates how often the program has been assigned to the
different tasks of the execution levels.
Assign Use this to assign selected programs to the task. Select the program in the
Programs list and click Assign. The program is assigned to the task and is
displayed in the task list.
Removing Use this to remove programs assigned to a task. Select the program in the
Task list and click Remove. The program is removed from the task.
Task A list of all programs assigned to this task is displayed here. The sequence
of the programs in the list corresponds to the execution sequence when the
program is executed. The program at the top of the list is executed first.
Arrow up Use the arrow up to move the selected program up one position within the
task. In this way you can determine the order of program execution within
the task.
Arrow down Use the arrow up to move the selected program down one position within
the task. In this way you can determine the order of program execution
within the task.
Basic functions
Assigning programs to the tasks

1. Select the SIMOTION device in the project navigator and select Target system >
Configure execution system in the menu or double-click EXECUTION SYSTEM.
The EXECUTION SYSTEM window opens in the working area of the workbench.
Figure 5-22 Configuration of the execution system in SCOUT
In the left-hand pane of the window, you can see the execution levels tree. The available
execution levels / tasks are displayed as fixed entries.
The OperationLevels folder contains the tasks that are available in the RUN mode.
The list below each execution level or task name shows the configured tasks and the
programs assigned to them.
1. Select the task to be configured.
2. Select the Program assignment tab.
The left-hand list box lists all available programs (ST programs, MCC charts and
LAD/FBD with Task creation type).
3. Select the programs in the list box on the left that you want to assign to the task.
4. Click .
Basic functions
The assigned programs are listed in the right-hand list box.

They are still listed in the left-hand list box. You can assign programs to several tasks.
The number of assignments made appears in brackets.
5. Select the Task configuration tab and make any additional settings, such as:
Error reaction with program error
Time watchdogs for cyclic tasks
Start behavior of MotionTasks
After you have assigned a program to one or more tasks, you can establish the connection
to the target system, download the project to the target system, and start it.
Change execution sequence

Programs are executed in the order entered. You can change this order.
1. Select the entry to be moved in the right-hand list box.
2. Click or to move the element up or down.
3. Repeat Step 2 as often as required.
Task names
The names of the MotionTasks can be changed.
Figure 5-23 Task names in SCOUT
1. Select the desired task on the left-hand side.

2. Enter the desired new task name in the drop-down list on the right-hand side.
Basic functions
Task control
The MCC, ST and LAD/FBD programming languages provide several commands for the task
control (e.g. start, stop, etc.).
See SIMOTION MCC, SIMOTION ST and SIMOTION LAD/FBD Programming Manual
These programming guides also provide information about how to use these task control
commands and several examples.
Stack size
In SIMOTION SCOUT as of V3.0, the stack size (limit for dynamic data) of the associated
task can be set in the Task configuration tab of the Task Configuration window. A default
value is specified for each task.
For more information, refer to the SIMOTION ST Programming Manual, "Setting the size of
the local data stack"
5.3.2 Selecting the cycle clock source

Selection of the cycle clock source is implemented in the device configuration in the HW
configuration.
As soon as you parameterize one of the interfaces as isochronous DP/PN interface (select
"Isochronous mode" in the Properties dialog box), the cycle clock setting is used as the bus
cycle clock.
The DP/PN communication level and servo and interpolator levels are synchronized with the
bus cycle clock. This setting is essential if you want to utilize the motion control functions of
the TPCam/TPCam_ext technology package in combination with digital drives in accordance
with PROFIDRIVE V3 on the PROFIBUS DP / PROFINET. Drives that support and require
this communication are, for example: SIMODRIVE 611U, MASTERDRIVES MOTION
CONTROL, SINAMICS. Synchronization to the bus cycle clock if you must isochronously
access I/O from your application.
You can still operate drives that do not support isochronous mode as drive axes on the
isochronous bus. Examples of these drives are Micromaster MM4 and MASTERDRIVES VC.
If you are not using an isochronous DP/PN interface, you can set the basic system cycle
clock. The servo and interpolator levels are synchronized to the basic cycle clock. You can
select this setting if you are not using the TPCam technology package or are using it
exclusively with analog drives on SIMOTION.
Basic functions
5.3.3 Defining system cycle clocks

Once the cycle clock source is selected, you specify the sampling times of the isochronous
execution levels derived from the basic cycle clock.
Included here:
Bus cycle clock (DP cycle clock / PN cycle clock): refer to the table for the execution
system - system cycle clocks
Servo cycle clock (position control cycle clock) / T1(DCC) cycle clock
Inputs/outputs are updated in the servo cycle clock.
The position control for the axes and the processing of the centralized and distributed I/O
are carried out in the servo cycle clock. The servo cycle clock can be operated relative to
the bus cycle clock at a ratio of 1:1 or 1:2.
Note
The reduction ratio between the bus and servo cycle clocks must also be set on the drive
as master application cycle. This setting is necessary to enable reciprocal sign-of-life
monitoring. For further information, refer to the drive descriptions.
Interpolator cycle clock (IPO cycle clock) / T2(DCC) cycle clock

The axis motion control is calculated in the IPO cycle clock.
The IPOSynchronousTask is executed in this cycle clock. The IPO cycle clock can be
reduced relative to the servo cycle clock at a ratio of 1:1 to 1:6.
Interpolator cycle clock 2 (IPO_2 cycle clock) / T3(DCC) cycle clock
The IPO cycle clock 2 is the basis for motion control of lower-priority axes.
The IPOSynchronousTask_2 and the PWM Task (TControl) are executed in this cycle
clock.
The IPO_2 cycle clock can be reduced relative to the IPO cycle clock at a ratio of 1:2 to
1:64.
DccAux (DCC) - cycle clock
The DCCAux cycle clock can be reduced relative to the T3(DCC) cycle clock at a ratio of
1:2 to 1:32.
DCCAux_2(DCC) cycle clock
The DCCAux_2 cycle clock can be reduced relative to the DCCAux cycle clock at a ratio
of 1:2 to 1:32.
PWM cycle clock: For the TControl technology package
Note
The settings of the system cycle clocks affect the system operating sequence
considerably. You must therefore exercise caution when making these settings.
Basic functions
Set system cycle clocks

1. Call the configuration window in the main menu via Target system > Expert > Set system
cycle clocks..., or in the context menu of the device, or in the EXECUTION SYSTEM
context menu via Expert > Set system cycle clocks.
Figure 5-24 Setting of the system cycle clocks in SCOUT
2. Specify the basic/bus cycle clock (only if the isochronous mode is not configured).
Possible values: 1.0 ... 8.0 ms for PROFIBUS
As of V4.0 of SIMOTION P with PROFINET and SIMOTION D445: 0.5 ... 4.0 ms
As of V4.1 for SIMOTION P with PROFINET: 0.25 ms to 4 ms.
The bus cycle time for PROFIBUS must be a integral multiple of 0.125 ms; for C2xx of
0.25 ms.
The bus cycle time for PROFINET must be an integral multiple of 0.125 ms. Change the
value in HW Config if this is not the case.
3. Specify the ratio between the cycle clocks.
Note
If the basic/bus cycle clock has been set too small for a large hardware configuration, this
can result in the CPU not switching to the RUN mode. In this case, note the entries in the
diagnostics buffer for timeouts.
DCC
The entries for DCC are displayed as soon as a chart has been added under programs. DCC
charts are started automatically when the appropriate task is started.
Basic functions
Setting the system cycle clocks for TControl

1. You can use the TControl button in the System Cycle Clocks configuration window to
display the settings for the TControl system tasks.
2. You can use the Use system tasks for TControl checkbox to activate or deactivate the
TControl system tasks.
If Use system tasks for TControl is activated, the special tasks for the temperature
channels are displayed in the execution system.
If you have not configured a temperature channel, you should deactivate the system
tasks for TControl as they require unnecessary computation time.
3. Furthermore, you can specify here the cycle clock ratios of the TControl tasks.
The PWM cycle clock must be an integer multiple of the position control cycle clock.
The cycle clock of InputTask_1/2 depends on the PWM cycle clock.
The cycle clock of PostTask_1/2 depends on the cycle clock of InputTask_1/2.
Figure 5-25 Setting of the system cycle clocks for TControl in SCOUT
Basic functions
Execution system - system cycle clocks

Cycle clock ratios
Basic cycle clock or The basic/bus cycle clock (DP cycle clock or PN cycle clock) is
bus cycle clock used as a basis for setting further tasks.
Servo / T1(DCC) You can set an integral ratio between the servo cycle clock and
bus cycle clock here.
Among others, the position control of the axes is calculated in this
cycle clock.
Normally the factor 1 should be used. If you set the factor 2,
although the dynamic performance of the controller will
deteriorate, more computing time will be available for processing
other tasks.
The reduction ratio between the bus cycle clock and the servo
cycle clock must also be set as "master application cycle" for the
drive. This setting is necessary to enable reciprocal sign-of-life
monitoring. For further information, refer to the drive descriptions.
If isochronous mode is not configured, the default setting for the
basic time to servo cycle clock ratio is 1:1. It cannot be changed
then!
Ipo / T2(DCC) You can set an integral ratio between the IPO cycle clock and
servo cycle clock here.
As standard, the motion control of the axes will be calculated in
the interpolator cycle clock. The interpolator cycle clock factor is
used to determine how fast the drive setpoints are calculated.
Ipo2 / T3(DCC) You can set an integral ratio between the IPO_2 cycle clock and
IPO cycle clock here.
The interpolator cycle clock 2 is used for the motion control of low-
priority axes. The factor is used to determine how fast the
setpoints of the low-priority drives are calculated.
DCCAux (DCC) You can set an integer ratio between the DCCAux DCC cycle
clock and T3(DCC) DCC cycle clock here.
DCCAux_2(DCC) You can set an integral ratio between the DCCAux_2 DCC cycle
clock and DCCAux DCC bus cycle clock here.
TControl Click the arrow to open the configuration of the system tasks for
the TP TControl. There, you can set the ratio of the cycle clocks
for the task of the temperature channels to the servo cycle clock.
Use system tasks for Activate the checkbox if the special tasks for the temperature
TControl channels in the execution system should be displayed. If you have
not configured a temperature channel, you should deactivate the
system tasks for TControl as they require unnecessary
computation time.
Servo cycle clock The servo cycle clock is displayed here for information purposes.
(master application cycle) To change this, you must select the value further up in the dialog
box. All other cycle clocks of the temperature channel are a
multiple of the servo cycle clock.
Basic functions
PWM (Pulse Width Cycle clock which is used for the actuating signal output of the
Modulation) temperature channel. Specifies the basic cycle clock for further
cycle clocks. Select the cycle clock in ms or in Hz. If you select
Hz, the ratios to the input cycle clock and the control cycle clock
are specified automatically.
Input1/2 Cycle clock which is used for the actual value measurement of the
temperature channel. Select the ratio of this cycle clock to the
PWM cycle clock. The duration is displayed in the grayed-out field.
Control1/2 Cycle clock which is used for the closed-loop control of the
temperature channel. Select the ratio of this cycle clock to the
input cycle clock. The duration is displayed in the grayed-out field.
Network settings
Network settings at the DP Indicates whether isochronous mode was configured on the
master submodule X9 PROFIBUS interface. This display is for information purposes
only.
Isochronous bus cycle Isochronous operation parameterized on the PROFIBUS interface.
activated
Isochronous bus cycle not Isochronous operation not parameterized on the PROFIBUS
activated interface.
Isochronous bus cycle Displays the fieldbus cycle in ms if isochronous mode was
configured for the fieldbus interface. This display is for information
purposes only and corresponds to the isochronous mode
calculated in HW Config.
Assigning system cycle clocks

You can make better use of the performance reserves of the SIMOTION CPU by assigning
priorities to your technology objects and specifically assigning the system cycle clocks. The
definition of low-priority tasks allows you to gain performance reserves for higher-priority
tasks.
Consequently a higher time level can be used for the TOs, particularly at uniform motions,
without significant acceleration/delay. (For example call of the TO in the interpolator cycle
clock 2).
Change the standard setting,
If you detect a job processing that lasts too long
If you detect too great a utilization of the technology in the CPU
Assign the interpolator cycle clock 2 to the TO axis and the TO externalEncoder with low-
priority tasks and assign the IPO cycle clock or the interpolator cycle clock 2 to the TO
outputCam and the TO measuringInput.
Assign the interpolator cycle clock or the servo cycle clock to the technology objects with
high-priority tasks.
You can assign the following cycle clocks to the technology objects:
Motion control task High priority ... Low priority

Technology object Servo cycle Interpolator cycle clock Interpolator cycle clock
clock 2
Drive axis (x) Standard X
Basic functions
Motion control task High priority ... Low priority

Position axis (x) Standard X
Following axis (x) Standard X
External encoder (x) Standard X
Output cam (camType) X X X
Cam track (camTrackType) X X X
Measuring input X X X
The system cycle clocks for output cams and measuring inputs, and as of V3.2 for axes as
well, are set in SIMOTION SCOUT in the Configuration dialog.
As of V4.1 in exceptional cases the IPO share can also be calculated in the servo, in this
regard see Motion control / interpolator in the TO axis manual.
5.3.4 Task runtimes

You can use the task runtimes to check whether the computer performance of the system is
sufficient for the demands of the application.
The task runtimes are displayed in the Taskruntime and effectiveTaskruntime device
variables.
A distinction is made between:
The runtimes of the individual tasks within a level (Taskruntime)
The Taskruntime displays the sum of the net runtimes of the task (without the interrupt
times).
The runtime of the level (effectiveTaskruntime)
The effectiveTaskruntime displays the effective runtime of a level (including the interrupt
times). This is the time from the start of the level until the end of the last task in the level.
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Figure 5-26 Representation of the Taskruntime and effectiveTaskruntime (cycle clock ratio IPO1 :
IPO2 = 2)
Basic functions
Legend:
Servo: Servo cycle clock
IS1: IPOSynchronousTask
IS2: IPOSynchronousTask_2
IPO1: IPOTask
IPO2: IPOTask2
The following table shows the tasks and the levels for which a Taskruntime (tasks) and an
effective Taskruntime (levels) can be determined.
Tasks (Taskruntime) Levels (effective Taskruntime)

servodcc Servo / T1(DCC)
servo
servosynchronous
Ipodcc Ipo / T2(DCC)
ipo
iposynchronous
ipodcc_2 Ipo_2 / T3(DCC)
ipo_2
Iposynchronous_2
dccaux DCCAux
dccaux_2 DCCAux_2
background Background
Note
To determine the task runtimes, the system variable taskRuntimeMonitoring must be set to
enable.
The task runtimes are also shown in the SCOUT device diagnostics.
See also
Functions for runtime measurement of tasks - overview (Page 254)
Optimizing the execution system (Page 415)
Efficient programming - overview (Page 413)
Basic functions
5.3.5 Timeouts and level overflows

Timeouts and/or level overflows may occur when executing computing processes.
You have the possibility of configuring various responses for the system response to
overflows of certain execution levels.
Timeout
You can configure maximum execution cycles for the execution levels BackgroundTask,
TimerInterruptTask, SynchronousTasks and ShutdownTask.
If the set maximum duration is exceeded, the associated SystemInterruptTask
(TimeFaultTask or BackgroundFaultTask) or a standard function (e.g. CPU to STOP) can be
called up.
Level overflow
A toleration of level overflows can be set for the execution levels IPOSynchronousTask and
IPOSynchronousTask_2.
A level overflow occurs when a level (IPOTask/IPOSynchronousTask or
IPOTask2/IPOSynchronousTask_2) has not been executed within the set system cycle
clock, IPO or IPO_2.
With a set tolerance, the next IPO cycle clock is used in order to:
Complete the computing process of the previous cycle clock without triggering the set
error reaction.
Start the computing process of the current cycle clock.
If another level overflow occurs in the next level cycle (if no tolerance is set or the number
has been exceeded), the CPU is set to STOP in order to prevent a blockade of the entire
system. This results in an entry in the diagnostics buffer and the error reaction (CPU to
STOP) with starting lockout.
You can set a maximum of 5 level overflows to be tolerated in the task configuration in the
execution system.
Examples
The following are examples of the execution relationships for level overflows:
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Figure 5-27 IPO overflow example
Basic functions
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Figure 5-28 Overflow of the IPOSynchronousTask example
Servo: Servo cycle clock

IS1: IPOSynchronousTask
IPO1: IPOTask
High-performance programming
If level overflows occur, but it is not possible to increase the DP/servo cycle clock, the
following measures can be taken:
In task configuration for IPOSynchronousTask
Ratio of IPOSynchronousTask : IPO cycle clock = 75%
Tolerate two IPO overflows
Use optimized PROFIBUS
User-defined profile: HSA=2 (highest PROFIBUS address)
with, for example, two nodes on the PROFIBUS, RetryLimit = 1, switch off cyclic
distribution of the bus parameters (then, however, a PG can no longer be connected to
the isochronous PROFIBUS)
Change ratio BackgroundTask : MotionTasks
If, for example, focus is placed on the MotionTask, an event in the BackgroundTask
results in a MotionTask being quickly started and handled with few interruptions.
Read system variables only once and temporarily store them in a local variable for later
use
Monitoring of timeouts and level overflows

The system variables Taskruntime and effectiveTaskruntime can be used to determine
whether a level overflow or a timeout has occurred.
If the Taskruntime in the IPO/IPO_2 cycle clock is the same as the effectiveTaskruntime
in the IPO/IPO_2 cycle clock, then the task has not been interrupted by a higher-priority
task.
If the Taskruntime in the IPO/IPO_2 cycle clock is not the same as the
effectiveTaskruntime in the IPO/IPO_2 cycle clock, then the task has been interrupted by
a higher-priority task.
Recommendation: With a ratio of servo : IPO : IPO_2 > 1, enter a percentage value of the
IPO cycle clock for the duration which is as large as possible in the task configuration of
the SynchronousTasks.
Basic functions
If the effectiveTaskruntime of the level which has overflowed is less than the set cycle
clock of the level, a timeout has occurred.
You can prevent this by adjusting the monitoring time of the levels to the values of the
system variable effectiveTaskruntime.
If the effectiveTaskruntime of the level which has overflowed is very close to or greater
than the set cycle clock of the level, a level overflow has occurred.
You can prevent this by adjusting the system cycle clocks, or you can tolerate these
overflows.
See also
Task runtimes (Page 169)
5.3.6 Information on starting a task: TaskStartInfo (TSI)

Every time a task is started, important information is stored in the TaskStartInfo, e.g.:
The starting time of the task
For the TechnologicalFaultTask: The triggering instance of the technology object and the
alarm number
For the TimeFaultTask: The TimerInterruptTask that caused the timeout error
Within a task, you can query the relevant TaskStartInfo of this task.
See also
Using Taskstartinfo (Page 90)
5.3.7 Watchdog
The maximum duration for the execution of a task (cycle time) can be configured. If this time
is exceeded, the associated SystemInterruptTask (TimeFaultTask or
TimeFaultBackgroundTask) or the response CPU to STOP mode can be called.
The cycle time monitoring can be activated for the following tasks:
BackgroundTask
TimerInterruptTasks
SynchronousTasks
ShutdownTask
Basic functions
Configure cycle watchdog

Switch to the Task configuration tab in the Configuration window for the task.
For BackgroundTask, TimerInterruptTask, ShutdownTask:
Enter the maximum execution time in the Time monitoring field (0 ms = no monitoring).
For IPOsynchronousTask:
Choose the ratio between the maximum execution period and the IPO cycle clock.
For tasks other than ShutdownTask:
Select as error response to timeout either the associated SystemInterruptTask or the
CPU to STOP mode response.
Note
For time-triggered tasks: If the task is restarted before it has been executed, there is a
timeout error. The SystemInterruptTask is started or the CPU goes to STOP mode.
See also
Basic functions
5.4 Time allocation in the round robin execution level

The time remaining after high-priority user and system tasks have been processed is used
by the MotionTasks and the BackgroundTask.
This time is allocated to the BackgroundTask and the MotionTasks according to the round
robin principle.
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Figure 5-29 Overview of the time allocation in the round robin execution level
Round robin principle

Computing time that is not consumed by higher priority talks is distributed over the remaining
tasks in the round robin principle (Background Task, MotionTasks and Systemtasks); this
means that these tasks run one after the other. Thus a quasi parallel (quasi "concurrent")
processing of these tasks take place.
The next task is always started when the previous task gives up the computing time (task
completed or in the "wait" state). The computing time of a round robin task is also limited to
the maximum number of servo cycle clocks. In the next round robin cycle the computing time
is continued at the point of interruption. The system ensures that a round robin task always
gets at least the computing time of a servo cycle clock. BackgroundTasks can be favored so
that the computing time of multiple successive servo cycle clocks can be made available to
these tasks (slider execution system).
Additional tasks
In addition to the user program tasks (BackgroundTask, MotionTask), other system tasks
(e.g. for communication) that require computing time in the round robin cycle also run in the
round robin execution level.
Basic functions
Sequence
In general, the tasks run successively in the round robin cycle. (The sequence is non-
deterministic and can, for example, change each time via a download, PowerON.)
Time allocation
A task can successively run a specified number of servo cycle clocks (remaining runtime)
before it must transfer the computation time to the next task. However, it can also be
transferred beforehand to the next task if it "does not have anything to do".
For the constructed case that all tasks in the round robin execution level have already been
handled once, the first task is restarted. In this way, there is no IDLE time.
There are times in which no user program is being executed. This, for example, is the case
when the BackgroundTask and the MotionTask are very brief (shorter than the remaining
runtime in a servo cycle clock); the system tasks will then use the remaining runtime.
Restart / process image

After finishing, the BackgroundTask is not started again until the process image has been
updated. The update is performed in the ServoTask.
Performance
A continuous loop in a MotionTask, without wait commands or synchronous motion
commands, causes the MotionTask to use its maximum computation time. Consequently,
the cycle of a BackgroundTask is additionally utilized (a larger part of the computation time
goes into the MotionTask). Consequently, the system tasks in the round robin level are
called at longer time intervals, which, for example, may influence the communication.
During the allocation of the round robin execution level for the BackgroundTask and
MotionTasks, the BackgroundTask in a complete round robin cycle receives at least one
time slice, a MotionTask receives two time slices (if, for example, they are required because
of a continuous loop).
Cyclic MotionTasks
Note when Motion Tasks should run cyclically:
If you want to use continuous loops in MotionTasks, then issue, for example, a
_waitTime(0s) in each cycle. This MotionTask then passes to the following MotionTask.
Note
MotionTasks with (continuous) loops without _waitTime (0s) burden the round robin
execution level as the MotionTask needs two complete servo cycle clocks.
If you want a MotionTask to be executed cyclically, it is better to end the task in the normal
way and restart the MotionTask again from a different task (e.g. BackgroundTask) rather
than use a continuous loop or a step command at the start of the program. This also has
advantages for a download during RUN.
Basic functions
See also
Optimizing the execution system (Page 415)
5.4.1 Setting of the time allocation

You can use a slider accessible via the Time allocation button for MotionTasks or for the
BackgroundTask to set the chronological weighting of the BackgroundTask to the remaining
tasks of the round robin execution level.
Figure 5-30 Task configuration in SCOUT
Specifying the time allocation in the round robin execution level

1. Select the Task configuration tab in the configuration window of a MotionTask or the
BackgroundTask.
2. Click the Time allocation.
The Time Allocation in the Round Robin Execution Level window opens.
3. Use the slider to set the ratios of the computation times.
4. Click OK to confirm.
Figure 5-31 Time allocation in the round robin execution level
Basic functions
Time allocation in the round robin execution level

This is where you specify the ratio of the time allocation between the BackgroundTask and
all other round robin tasks (MotionTasks and Systemtasks, see Execution levels/tasks
(Page 120)).
The BackgroundTask gets a (maximum) of n-times the computing time of a different round
robin task (all other round robin tasks, e.g. MotionTask_1, each have the same maximum
share of computing time). You can set this factor with the slider.
When the BackgroundTask has run to an end, it will be restarted when the inputs are
updated, at the earliest (after the next servo cycle).
If the computing time of the BackgroundTask is set high, and thus disadvantages the other
round robin tasks then, for example, this will slow the communication to SCOUT/OP. Such a
setting should only be made for extremely time-critical applications.
Table 5-5 Effect of computation time allocation to MotionTasks and BackgroundTask
Increased computation Effect

time for
MotionTasks BackgroundTask takes longer to run from beginning to end; time monitoring
may respond in extreme cases.
BackgroundTask Programs in the MotionTask may take longer to execute under some
circumstances.
The computation time for the BackgroundTask also includes the time required for acyclic
communication (via PROFIBUS or PROFINET IO with IRT).
5.4.2 Settings (examples)

To explain the time allocation in the round robin execution level, two examples are provided
here for setting the slider.
Case 1: Slider at the far right-hand side

The BackgroundTask runs for at least one servo cycle clock.
Figure 5-32 Time allocation in the round robin: Setting of the computation time for MotionTasks
In this setting, the BackgroundTask runs for one servo cycle clock, then all MotionTasks run
(each MotionTask runs for maximum two servo cycle clocks, unless it enters the suspend
mode beforehand), then the BackgroundTask runs again for one servo cycle clock, etc.
Basic functions
Table 5-6 Example:
Servo cycle clock Servo cycle clock Servo cycle clock Servo cycle clock Servo cycle clock
1 2-3 4-5 6 7-8
Background MotionTask 1 MotionTask 2 Background MotionTask 1
Task Task
Sample program:
MotionTask 1 and 2 run concurrently with the BackgroundTask;
servo cycle clock = 3 ms
A counter in a While loop is incremented in the BackgroundTask (green line).
A counter in a While loop is incremented in MotionTask 1 (red line).
A counter in a While loop is incremented in MotionTask 2 (blue line).
Figure 5-33 Execution example for the time allocation in the round robin: Setting of the computation time for MotionTasks
t = 1518 ms BackgroundTask runs for one servo cycle clock

t = 1521 ms, 1524 ms MotionTask 1 runs for two servo cycle clocks
t = 1533 ms BackgroundTask runs for one servo cycle clock
Case 2: Slider at the far left-hand side

The BackgroundTask runs for 20 servo cycle clocks.
Figure 5-34 Time allocation in the round robin: Setting the computation time for BackgroundTask
Basic functions
In this setting, the BackgroundTask runs for 20 servo cycle clocks, then all MotionTasks run
(each MotionTask runs for maximum two servo cycle clocks, unless it enters the suspend
mode beforehand), then the BackgroundTask runs again for another 20 servo cycle clocks,
etc.
Table 5-7 Example:
Servo cycle clock Servo cycle clock Servo cycle clock Servo cycle clock Servo cycle clock
1-20 21-22 23-24 25-40 41-42
Background MotionTask 1 MotionTask 2 Background MotionTask 1
Task Task
Sample program:
MotionTask 1 and 2 run concurrently with the BackgroundTask;
servo cycle clock = 3 ms
A counter in a While loop is incremented in the BackgroundTask (green line).
A counter in a While loop is incremented in MotionTask 1 (red line).
A counter in a While loop is incremented in MotionTask 2 (blue line).
Figure 5-35 Execution example for the time allocation in the round robin: Setting the computation time for BackgroundTask
t = 1788-1845 ms The BackgroundTask runs for 20 servo cycle clocks

t = 1860-1917 ms The BackgroundTask runs for 20 servo cycle clocks
Basic functions
5.4.3 Processing of the tasks (examples)

The following examples illustrate the chronological execution of the various tasks.
The examples refer to PROFIBUS and apply to PROFINET IO with IRT analogously.
Example 1: Chronological execution when no InterruptTask is active

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1 In the execution system, the cycle clocks have been selected as follows for this example:
DP cycle: Servo cycle clock: IPO cycle clock: 1:1:2
This means that the servo task is executed in each DP cycle and the IPO task is only
executed in every second DP cycle.
2 DP communication has the highest priority followed by the servo task.
3 IPO tasks are executed after servo tasks.
4 The round robin execution level is executed in the remaining time.
Basic functions
Example 2: Chronological execution when an InterruptTask is active and IPOTask lasts longer than
one servo cycle clock
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Figure 5-37 Chronological task execution, example: with InterruptTask active and IPOTask lasts
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1 The program executed in the IPO task lasts longer than the servo cycle clock. As a result, the
IPO task is interrupted and the DP communication and the servo task are executed. Then,
execution of the IPO task resumes.
2 After the IPO task is completed, the SystemInterruptTask is executed. Then the lower-priority
TimerInterruptTask is started.
3 The UserInterruptTask is also not executed until the higher-priority tasks are completed, even
if the condition for the UserInterruptTask was previously satisfied.
4 The round robin execution level is executed in the remaining time.
Basic functions
Example 3: Special features for task change in multitasking

However multitasking behavior must be taken into account when querying conditions in
MotionTasks and also in the BackgroundTask.
Example:
Table 5-8 Example:
BackgroundTask MotionTask1 MotionTask2

Sources: x=5
if x <> 5 if x = 5
x=4 _enableAxis _stopAxis
Endif Endif

BackgroundTask MotionTask1 MotionTask2

Execution sequence: x=5
Task change if x <> 5
Condition not fulfilled
endif
Task change if x = 5
Condition fulfilled
Task change
x=4
Task change
Task change
_stopAxis
Although the execution seems clear in MotionTask2, it may occur that the execution is other
than intended due to a task change.
After the renewed change in the BackgroundTask (x=4), the if-queries have already been
processed and the query results from before the task change are still valid. This means that
although the condition x=5 is not fulfilled anymore at this time:
_enableAxis is not executed in MotionTask1
_stopAxis is executed in MotionTask2
The execution depends on when the task change is performed.
Basic functions
5.5 Isochronous I/O processing on fieldbus systems

The general sequence of isochronous I/O processing in a control system with I/O connection
via a fieldbus system is presented below:
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In an isochronous system, the individual actions are chronologically synchronized with each
other. Thus, short and reproducible response times (i.e. with the same length) are achieved.
Cycle clock and time reference are preset by an isochronous, i.e. clocked bus system.
5.5.1 Data protocol on PROFIBUS DP

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The data protocol on the bus contains the following:

An isochronous global control message frame (GC) that defines the bus cycle clock
Cyclic data: Data transmitted between the nodes in each cycle clock
Cyclic data communication allows for especially short and reproducible process response
times. The transfer of information is done in each cycle.
A user program accesses this data via the process image or via direct access to the I/O.
Basic functions
Acyclic data: Data transmitted only if required and in larger quantities

The acyclic transmission is suitable especially for the non-time-critical transmission of
larger data quantities; the data can be distributed to several tasks.
Example of acyclic data: Alarms, diagnostic services and data sets
A user program accesses this acyclic data, e.g. using the commands _readrecord,
_writerecord.
Reserve: Remaining time until the next global control.
The residual time differs depending on the current running acyclic communication, and is
a maximum of TDP-TDX.
5.5.2 Data protocol on PROFINET IO
Description
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Figure 5-40 Data protocol on PROFINET IO
The data protocol on the bus contains the following:

The IRT communication that transfers cyclic data in a planned time interval.
The RT and standard communication in which the following data can be transferred:
Cyclic RTC telegrams with which IO data can be transferred, for example.
Acyclic RTA telegrams with which alarm data can be transferred, for example.
NRT data (standard communication), standard Ethernet telegrams with which all
standard Ethernet-based protocols can be transferred.
Standard communication (last interval prior to synchronization telegram); here only
communication can take place that is concluded by the time the synchronization telegram
is used.
TIME IO Output Valid describes the time during which the new output data are available.
Basic functions
5.5.3 Isochronous data processing
Isochronous application
For an isochronous application the processing cycle clock of the controller and drives, or
decentral I/O, if connected, is synchronized to the bus cycle.
Isochronous data transmission on the Profibus DP

For PROFIBUS the bus cycle clock is synchronized to the Global Control Telegram (GC).
The GC embodies the bus cycle clock and is also the system cycle clock for the entire
system.
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Isochronous data transmission on PROFINET IO

For PROFINET IO the processing cycle clock of the controller is synchronized to the IRT
communication.
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Figure 5-42 Structure of a bus cycle for PROFINET IO
The data transmitted via cyclic data communication can thus be processed isochronously.
Basic functions
Isochronous data acquisition with PROFIBUS DP

In an isochronous complete system, data acquisition, data processing and data output refer
to the total system cycle clock.
The application is started when the cyclic data transfer has been completed (TDX).
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Figure 5-43 Calculation of the reaction times (PROFIBUS DP)
Basic functions
Isochronous data transmission with PROFINET IO

The application is started when the cyclic data transfer has been completed (Time IO Output
Valid).
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Figure 5-44 Calculation of the reaction times (PROFINET IO)
Calculation of the reaction times (PROFIBUS DP and PROFINET IO)

The read-in process in the distributed I/O must be brought forward, offset by the time TI so
that a consistent status of the inputs can be read in at the starting time of the new bus cycle.
The time TI comprises at least the signal processing, and conversion time on the electronic
modules, and in the case of a modular ET 200 I/O system also the transmission time of the
inputs on the ET 200 backplane bus. In general TI is selected in such a manner that it is the
same for all modules, the slowest module determines the time in this regard.
The time TO ensures that the process reactions of the user program (data processing) are
switched through simultaneously and consistently to the "terminals" of the distributed I/O on
the bus. analagously for drives the set point is made available for the drive control. The time
TO comprises at least the time for the cyclic data exchange of all nodes on the bus; in the
case of a modular ET 200 I/O system the transmission time of the outputs on the ET 200
backplane bus and the signal processing, and conversion time on the electronic modules.
Reaction times or dead times (for drives)

By synchronizing the individual cycles it is possible to read the input data in the cycle clock
"n-1", to transmit and process the data in the cycle clock "n", and to transmit the calculated
output data at the beginning of the cycle clock "n+1", and to connect the output data to the
"terminals" in the same cycle clock.
Basic functions
PROFIBUS
This results in a real process reaction time of:
TI +TDP +TO minimum
TI + 2TDP + TO maximum
PROFINET
This results in a real process reaction time of:
minimum TI +T_DC+TO
maximum TI + 2T_DC+ TO
5.5.4 Dynamic response with respect to data processing in the control
Data processing in the ServoSynchronousTask

For data processing in the ServoSynchronousTask, for the bus cycle clock: Servo = 1 : 1
the setting can produce a processing time of one bus cycle clock in the controller.
This applies, for example, for the setting of output data, e.g. DO or AO, depending on the
input signals.
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Figure 5-45 Data processing in the control - setting the output data
When influencing axis data/axis motions, the processing time depends on the fact if the
data is already active in the servo (e.g. superimposed setpoint or output value).
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If the data or commands become effective not until the IPO (e.g. issuing of motion
commands), the output data on the outputs only become effective with the next servo.
Note: To keep the runtime of the ServoSynchronousTask low (and thus the time until
Data Out), it is preferable to implement the programming of such tasks in the
IPOSynchronousTask.
Basic functions
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Figure 5-47 Data processing in the control - output data effective in the IPO
Data processing in the IPOSynchronousTask

In the data processing in the IPOSynchronousTask, the output data on the I/O become
effective with the next servo.
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Or: Motion data in the next IPO or servo (see above)
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Figure 5-49 Data processing in the control - output data effective in the IPO - influencing motion data
In those cases where the output data of the I/O are only transmitted in the next servo, the
reaction time is increased by one bus cycle clock each (for bus cycle
clock: servo : IPO = 1 : 1 : 1).
Scenario Recommendation for user program task

Fast terminal-terminal response on I/O Use ServosynchronousTask
Fast influencing of the setpoint (servo level) Use ServosynchronousTask
Switching/superimpositioning the motion Use IPOsynchronousTask
(e.g. _stop, _move, _pos, )
e.g. print mark
As of V4.1 in exceptional cases the IPO share can also be calculated in the servo, in this
regard see Motion control / interpolator in the TO axis manual.
Basic functions
5.5.5 Dynamic response with respect to data transmission from the acquisition to the
processing
When using a PROFIBUS or PROFINET bus system, the specified times for data
transmission (TDX) must be taken into account in the calculation of the system cycle clock.
Small TDX allow for shorter cycle clocks or more processing time for the application with the
same cycle clock length.
For PROFIBUS DP TDX is shown by the HW config.
On the SIMOTION D on PROFIBUS-integrated depending on the degree of extension of
the SINAMICS project (I/O extension on SIMOTION D4xx and SIMOTION CX32) a
transmission time in the range of 125 s TDX 375 s is set automatically.
For PROFINET IO TDX = 0.5 TDP is set automatically
5.5.6 Dynamic response for data acquisition and data output

When configuring time TO take TDX into consideration. The following always applies: TDX
T O.
The times can be set in HW Config.
When using TM15/TM17 High Feature modules for acquisition and output, the following
times are to be set:
For the acquisition: TI + 1 DRIVE-CLiQ cycle (typically 125 s)
For the output TO + 1 DRIVE-CLiQ cycle (typically 125 s)
See also
Determination of Tdp, Ti and To using HW Config for ET 200 I/O devices on the PROFIBUS
(Page 191)
5.5.7 Determination of Tdp, Ti and To using HW Config for ET 200 I/O devices on the
PROFIBUS
In HW Config in the Isochronous mode screen form (called from the Edit > Isochronous
mode menu), the times for TDP, TI and TO can be determined.
The dialog box gives an overview of the parameters and times set for the isochronous mode
of the involved objects PROFIBUS, slaves and modules in the respective slaves.
All times in the dialog are specified in milliseconds.
TI/TO setting
in the network means that the times TI and TO are centrally set "same for all slaves"
in the slave means that the times TI and TO are set individually on each slave
TI, TO, TDP
Shows the currently set or calculated values TI, TO and TDP for the selected DP master
system.
Basic functions
For a detailed description of the screen form and all other parameters, please refer to the
online help for HW Config.
Figure 5-50 Isochronous mode screen form in HW Config
Note
Full "terminal-to-terminal" support of isochronous mode is only possible if all components
within the sequence support the "isochronous mode" system property. When selecting from
the PM10 catalog or the hardware catalog of HW Config, pay attention to the entry
Isochronous mode in the information field of the module.
A current list of isochronous I/O modules can be found on the Internet under
http://support.automation.siemens.com/WW/view/de/14747353.
5.5.8 Handling cycle clock scaling

The following must be observed for cycle clock scaling:
At the end of an IPO synchronous task the process image is output with the next possible
servo (Data Out) (= reaction time optimized). When scaling the servo cycle clock to the
IPO cycle clock sooner or later this can cause the data of one or more servo cycle clocks
to be output within an IPO cycle clock, if the I/O access are executed via the
IPOSynchronousTask.
At the end of the servo execution level, the process image of the ServoSynchronousTask
is output with the next possible bus cycle clock (= reaction time optimized).
Basic functions
For PROFINET and downscaling PROFINET cycle clock to servo cycle clock this can
cause the data of one or more bus cycle clocks to sooner or later be output within one
servo cycle clock if the I/O accesses are executed via the ServoSynchronousTask and
the runtime of the server execution level fluctuates beyond one bus cycle clock.
For PROFIBUS the data are always output with the first bus cycle clock as the servo
execution level must always be concluded with the first bus cycle clock.
Thus with a different runtime of the servo execution level in the individual cycle clocks, the
terminal-terminal time may vary.
If an always constant reaction time is to be achieved instead of a reaction time optimized
behavior, the following must be set:
For PROFIBUS:
A reduction ratio servo: IPO = 1 : 1 so that the I/O accesses from the
IPOSynchronousTask are always implemented in isochronous mode.
Comment: I/O accesses from the ServoSynchronousTask are always isochronous for
PROFIBUS
For PROFINET:
A reduction ratio bus cycle clock : Servo: IPO = 1 : 1 : 1 so that the I/O accesses from
the IPOSynchronousTask are always implemented in isochronous mode
A reduction ratio bus cycle clock : servo = 1 : 1 so that the I/O accesses from the
ServoSynchronousTask are always implemented in isochronous mode
5.5.9 Configuring PROFIBUS DP in HW Config to optimize run-time
Introduction
Optimized configuration in HW Config can greatly improve the runtime behavior of the
SIMOTION firmware.
Runtime optimized configuration relative to station topology

On an isochronous PROFIBUS DP, isochronous drives intended for a TO Axis and
isochronous DP slaves should be given consecutive station addresses (e.g. 11, 12, 13, 14,
). There may be gaps in this address sequence (e.g. 11, 13, 16, etc.), provided that no
other slaves are allocated to these numbers.
Runtime optimized configuration for i-Slave

In the slot definition for an intelligent DP slave configuration, the slots for which no
consistency is applied across the entire slot should be arranged in consecutive slot numbers.
Basic functions
Runtime optimized configuration for ET200 slaves

You can enhance system cycle clock or process reaction times by selecting a PROFIBUS
DP topology.
Isochronous and non-isochronous I/O should be distributed to separate DP master
systems in order to maintain short and reproducible process reaction times
Isochronicity should only be activated for stations and peripheral modules where this
property is also required.
Reduce the number of slave stations in order to reduce basic load times and to minimize
the isochronous DP cycle time. Refrain for this reason from using OPs and text displays
on the isochronous DP master system. Operate these HMIs on a separate non-
isochronous DP master system or via the Ethernet interface.
Short filter times on the I/O inputs reduce process reaction time (consequently select the
lowest filter setting for the ET 200 S High Feature digital inputs)
Many peripheral modules have a special mode to achieve the shortest possible cycle
times (e.g. Fast Mode for ET 200M analog input or ET 200S SSI module, etc.)
The number of I/Os per station is also a decisive factor in terms of TI and TO times. The
greatest TI and TO times of the specific components determine the TI and TO times of the
entire system. Minimize TI and TO times by means of appropriate I/O distribution within
the system architecture.
The following architectures are not favorable in terms of dynamic response:
A small number of interface modules (ET 200M, ET 200S) and a large number of I/O
submodules
A large number of interface modules (ET 200M, ET 200S) and a small number of I/O
submodules
Architectures which are favorable in terms of dynamic response:
A small number of slaves /interface module) on the DP subnet
interface modules with a small number of I/O submodules
Interface modules operating only with input modules
Interface modules operating only with output modules
ET 200M: Insert the output modules with the longest processing time into the left slots
of the ET 200M.
ET 200M: Insert the input modules with the longest processing time into the right slots
of the ET 200M.
High PROFIBUS transmission rates contribute to the reduction of DP cycle times.
You can view and edit the resultant DP cycle time and the times TI and TO in the dialog
boxes of HW Config in order to create a practical configuration of your DP topology in HW
Config.
See also
Basic functions
5.6 Integrating DCC into the SIMOTION execution system
5.6.1 Introduction
Introduction
Drive Control Chart (DCC) allows you to implement your regulating and control tasks in a
drive-related manner. For this there is a set of blocks (DCB) available to you that you can
interconnect graphically via a configuration tool (DCC editor) in so-called charts. The DCBs
are available to you in the form of a library (DCBLIB).
Thus the charts created can be executed on the SIMOTION platforms as well as on
SINAMICS drives.
Additional references
DCB lib DCC editor description
5.6.2 Sequence model for DCC blocks (DCB)
Description
The individual DCC blocks (DCB Drive Control Block) are organized as runtime groups in
the DCC editor. You can freely assign these runtime groups to the DCC tasks in the DCC
editor (task T1 to T5). The DCC tasks in the DCC editor correspond to the DCC tasks in the
SIMOTION execution system.
Task in the DCC editor Execution level Task

T1 Servo servoDcc
D2 IPO ipoDcc
T3 IPO_2 IpoDcc_2
T4 DccAux dccAux
T5 DccAux_2 dccAux_2
Execution groups can be activated or deactivated via binary outputs of blocks. Detailed
description in the editor.
Basic functions
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In the user model, the DCC task assigns itself in the execution level next to the user program
tasks (execution environment for user programs in ST, MCC, LAD/FBD) and the system
tasks. If required, the DCC task is created by the Engineeringsystem (ES); this means it is
not present in the system as standard.
Execution of the DCC diagrams

The execution of DCC diagrams is linked to the task status but rather to the status of the
runtime group assigned to it. They are enabled and disabled depending on the mode
changes.
Mode Action
STARTUP->RUN ON runtime groups
SHUTDOWN->STOPU OFF runtime groups
SHUTDOWN->STOP OFF runtime groups
All other changes in the mode cause no changes to the runtime groups.
See also
servoDccTask in the servo level (Page 197)
ipoDcc Task in the IPO level (Page 198)
ipoDcc_2 Task in the IPO2 level (Page 199)
Execution levels for DccAux and DccAux_2 (Page 200)
Basic functions
5.6.3 servoDccTask in the servo level
Description
The T1(DCC) task runs in the servo level of the SIMOTION execution system. The servo
level is called synchronous to the data exchange with the isochronous I/O and used primarily
for fast control tasks.
At start, the cyclical I/O data for the technology objects and servo-synchronous I/O
variables is copied from the interface to the isochronous I/O in the execution system.
At conclusion, the cyclical I/O data is copied again from the execution system and, for
example, transferred with PROFIBUS to a PROFIBUS node.
The following graphic shows the chronological sequence of a task in the servo level.
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Figure 5-52 T1(DCC) task in the servo level
The T1(DCC) task is automatically started and executed at the begin of the servo level.
The following graphic shows the sequence of the tasks in the servo level.
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Figure 5-53 Servo level with T1(DCC) task
Level overflow in the servo level

Tasks in the servo level run with the same priority and so do not interrupt each other. If all
tasks of the servo level cannot be calculated in a single cycle, a level overflow occurs and
the system enters STOP mode and the start-up lock is set. Only after a new startup (power
on/off) or download can the system return to RUN mode.
Basic functions
See also
Defining system cycle clocks (Page 164)
5.6.4 ipoDcc Task in the IPO level
Description
The IPO level runs with the same cycle time as the servo level or in an integer reduction
ratio. Tasks in the servo level have a higher priority and so can interrupt tasks in the IPO
level. In addition, in the IPO level all I/O data not copied in the servo level are copied into the
execution system. The data can come both from the isochronous and the non-isochronous
I/O.
The command processing and the setpoint generation of the technology objects run in the
system task of the IPO level.
The following graphic shows the chronological sequence in the IPO level.
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Figure 5-54 IPO level with T2(DCC) task
The T2(DCC) task is automatically started and executed at the begin of the IPO level.
The following graphic shows the execution sequence in the IPO level.
Basic functions
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Figure 5-55 Execution sequence in the IPO level
Execution overflow in the IPO level

Tasks in the IPO level run with the same priority and so do not interrupt each other. A task in
the higher priority servo level can at anytime interrupt the processing in the IPO level; this
can possibly cause a level overflow, because not all tasks in the level can be processed.
In this case, the tasks of the level will be calculated to end in the next cycle and restarted. To
relieve load on the level and to better compensate the overflow, the DCC tasks are not
recalculated in the new cycle.
With the standard behavior, for a level overflow the device enters into STOP mode and the
start-up lock is set. Only after a new startup (power on/off) or download can the system
return to RUN mode.
However, you can also configure the system for toleration of up to five successive overflows.
You must set the behavior appropriately in the task configuration.
See also
Isochronous data processing (Page 186)
5.6.5 ipoDcc_2 Task in the IPO2 level
Description
The cycle time of the IPO2 level is an integer multiple of the cycle time of the IPO level.
However, it is not possible to set the IPO2 cycle clock equal to the IPO cycle clock.
The cycle time of the IPO2 level is shorter than that of the IPO level. Consequently, both the
IPO level and the servo level can interrupt the processing.
The T3(DCC) task is assigned in the IPO2 level as follows:
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Figure 5-56 Order of processing in the IPO2 level
Basic functions
Level overflow in the IPO2 level

In the case of a level overflow, the IPO2 level behaves like the IPO level.
See also
ipoDcc Task in the IPO level (Page 198)
5.6.6 Execution levels for DccAux and DccAux_2
Description
The two DCC execution levels, DccAux and DCCAux_2, are called synchronous to the
system.
The DCCAux and DCCAux_2 levels have the following properties:
DccAux has a multiple of the Ipo_ cycle clock.
DccAux_2 has a multiple of the DccAux cycle clock.
DccAux has a higher priority than DccAux_2
Synchronous trace recordings are possible.
Up to five level overflows are tolerated (the default is 1). The current number of level
overflows can be fetched.
In the case of a level overflow, the DCCTask is calculated to completion in the next task.
Table 5-9 System variables for fetching level overflows
System variable Data type Significance

_device.numberOfSummarizedT UDINT Number of overflows of the
askOverflow.DccAux DccAux level since system
startup
_device.numberOfSummarizedT UDINT Number of overflows of the
askOverflow.DccAux_2 DccAux_2 level since system
startup
See also
Basic functions
5.6.7 Data exchange between blocks
5.6.7.1 Data exchange between blocks (overview)
Overview
In the DCC editor, you can interconnect the connections of various blocks. Three basic
scenarios must be differentiated for the data exchange between the blocks:
You have connected connections of blocks with each other that lie in the same execution
level.
You have interconnected the output of one block with the input of a block in a higher
execution level.
You have interconnected the output of one block with the input of a block in a lower
execution level.
See also
Data exchange between blocks in the same level (Page 201)
Data for blocks from a lower-priority level (Page 203)
Data for blocks from a higher-priority level (Page 206)
5.6.7.2 Data exchange between blocks in the same level
Description
If you have interconnect the blocks in the same execution level, the data will be transferred
in accordance with the execution sequence of the blocks. The guarantees that the value is
current at the input of the execution sequences.
If you have defined the execution sequence in accordance with the data flow, no additional
dead time results in the level.
Basic functions
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Figure 5-57 Interconnection sequence and execution sequence are identical
If the execution sequence of the blocks in the level does not correspond to the data flow,
additional dead times result, because at the input access has been made to values from the
previous cycle clock.
Basic functions
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Figure 5-58 Interconnection sequence and execution sequence differ
To optimize the dead times, always orient the execution sequence on the data flow.
5.6.7.3 Data for blocks from a lower-priority level
Description
All blocks in an execution level must be calculated before their output values are made
available to blocks at the input in a different execution level. Output values from a higher-
priority level are accessed in a dedicated cycle clock (acceptance cycle clock) in order to
ensure isochronism of input values. The following graphic illustrates the isochronous value
transfer in a higher-priority level.
Basic functions
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Figure 5-59 Example for the data exchange from a lower priority level
The cycle clock ratio between the levels is 1:2. The task in the higher-priority level always
accepts the value in a second cycle clock, independent of whether the lower-priority task
was already calculated to the end in the previous cycle clock.
Level overflow of the lower-priority level

If a level overflow of the lower-priority level occurs, the current values have not yet been
calculated at the acceptance cycle clock. In this case, the old value is used for calculations
at the input until the next acceptance cycle clock.
The following graphic illustrates the overflow behavior for a cycle clock ratio of 1:2. A level
overflow for T2 occurs. This means the old values are transferred to the higher-priority task
at the acceptance time (cycle clock 1). A new value is accepted at the next acceptance time,
namely two cycle clocks later.
Basic functions
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Figure 5-60 Data exchange from a lower-priority level with overflow
The described overflow scenario is true only for an ideal system. In a real application, user
tasks and system tasks also run in a level together with the DCC task.
Example consideration of user programs and system tasks

If overflow occurs during the processing of the iposynchronous UP or of the IPO system
task, the values have already been calculated in the IPoDCC task and can be transferred to
the higher-priority level. However, no new value is calculated in the next cycle clock. If the
ipoDCC task already causes an overflow, a correct value will only be accepted again two
cycle clocks later. In the two cycle clocks between, the value is accepted delayed by one
cycle clock.
Basic functions
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Figure 5-61 Overflow in the execution context with other tasks
Note
To ensure an isochronal data transfer between the ipoDCC task in the IPO level and the
servoDCC in the servo level, the ipoDcc task in the IPO level considered by itself should not
already cause a level overflow. If this is the case, the higher-priority task does not have
available any updated values for the transfer of the values from the lower-priority level. The
updated values are then transferred only after the next cycle of the lower-priority levels.
5.6.7.4 Data for blocks from a higher-priority level
Description
If an access is made to the output values from a lower-priority level, the values must be
transferred from a dedicated cycle clock of the higher-priority level in order to guarantee the
isochronism of input values.
Basic functions
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Figure 5-62 Data transfer from a higher-priority level
5.6.8 Interconnection of blocks with variables
5.6.8.1 Interconnection with variables
Overview of the interconnection possibilities with variables

In addition to the possibility of interconnecting blocks, a PIN can also be interconnected to an
external variable. In this way, you can establish a connection with the I/O, the technology
objects, a user program and an HMI.
The following user variables can be interconnected with blocks:
I/O variables.
System variables
The following user variables can be interconnected with DCC:
Global device variables
Variables in the interface of a source
Basic functions
Interconnect PIN with variables

You can interconnect the various inputs and outputs of a block in the DCC editor. The
description of the DCC editor contains detailed information.
Figure 5-63 Interconnection of user variables in the DCC editor
Note
There are no restrictions as to how often an output can be interconnected to a variable. The
output value of the most recently calculated block is always effective.
5.6.8.2 Behavior for FPU exceptions
Description
DCC Tasks exhibit the following behavior for FPU (Floating-Point Unit) exceptions:
Exception Description SIMOTION response

Invalid Operation Invalid operation (0/0, INF/INF, Device switches to the STOP
INF - INF, SQRT(-1) mode.
Division by Zero Division by zero Device switches to the STOP
mode.
Basic functions
5.7 Include drive I/O
Exception Description SIMOTION response

Overflow The absolute result of an Device switches to the STOP
operation is larger than abs(+/-- mode.
Nmax)
Underrun The absolute result of an The result is 0.
operation is less than abs(+/--
Nmax)
Inexact The result cannot be The result is rounded.
represented exactly.
5.7.1 Terminal modules TM15 and TM17 High Feature
Description
The TM15 and TM17 High Feature terminal modules must be evaluated isochronously by
the SIMOTION motion control system. Details for the timing can be obtained from the TM15 /
TM17 High Feature Terminal Modules Commissioning Manual.
5.7.2 TM31, TM41, TM15 DI/DO terminal modules, TB30 terminal board and onboard
I/Os on SIMOTION D or CU310/CU320 and CX32.
Description
TM31, TM41, TM15 DI/DO, TB30 and the onboard I/Os operate free-running (not
isochronous) for SINAMICS.
The updating cycle is specified by the following drive parameters with 4 ms as default
setting:
p4099 for TM31, TM41 and TM15 DI/O or
p0799 for TB30 and the onboard I/O
The accesses are performed in a SINAMICS background task (for example, every 4 ms).
Access time to the inputs and outputs within the set updating cycle can vary from cycle to
cycle; this means that the system merely ensures that within each cycle an update is made
with a possible fluctuation range in accordance with the updating cycle. This can be
influenced using the setting for p4099 or p0799.
Note
The following figure only provides a schematic presentation of the times and does not
provide information on the absolute amount.
Basic functions
The I/O produces the following timing:
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Figure 5-64 I/O Timing
The figure shows all times that affect the terminal-terminal response time. Worst case values
should be used for the dashed times, thus:
The set updating cycle Tcyc (= maximum time for the access time)
The time Tservo or TIPO in the gray area. Depending on the time the input event occurs the
maximum terminal-terminal reaction time can be up to one servo or IPO cycle clock
longer than the minimum terminal-terminal reaction time.
The gray area shows the range in which the input event is acquired and processed with the
next call of the user program (UP). The size of this range depends on whether the user
program runs in the servo-synchronous task or IPO-synchronous task.
Note
Note that a reduction of the updating cycle leads to higher loading of the SINAMICS closed
loop control or the SIMOTION D4xx, this means that the quantity frame for drives, terminal
modules, etc., can be reduced under some certain circumstances!
The SIMOTION user program can access I/O components in the SINAMICS drive device
when they are added as I/O PZD (process data) to the PROFIBUS message frame using
BICO interconnection (refer to the SIMOTION D4xx Commissioning and Hardware
Installation Manual, "Message frame configuring for onboard I/O and drive objects" section):
As of V4.1 special telegrams (39x) can also be used:
The timing depends on which I/O component is accessed. The following table specifies the
maximum delay times. To determine the terminal-terminal times, the values for the "terminal
->UP" and "UP -> terminal" must be added.
Basic functions
Note
The dotted line areas in the Timing IO graphic for the IPO synchronous task only apply for
PROFINET IO. Analogously the times for PROFINET IO are presented in the following table
in the UP in iposynchronous task column. For PROFIBUS DP in the line OUT TIPO must be
replaced by TServo. The dotted line area is irrelevant for PROFIBUS as the servo cannot run
there over multiple bus cycles.
Maximum delay times

I/O module UP in servo-synchronous task UP in iposynchronous task Tcyc
TM31, TM41, Out UP -> terminal TDP + TCU_out TIPO + TDP + TCU_out p4099
TM15 DI/O In Terminal -> UP TServo + TCU_in TIPO + TCU_in
TB30 Out UP -> terminal TDP + To + Tcyc + TIO TIPO + TDP + To + Tcyc + TIO p07993)
In Terminal -> UP TServo + Ti + Tcyc + TIO TIPO + Ti + Tcyc + TIO
Onboard I/O Out UP -> terminal1) 75s 75s p07993)
D4xx, CX32, UP -> terminal2) TDP + To + Tcyc TIPO + TDP + To + Tcyc
CU310,
CU320 In Terminal -> UP TServo + Ti + Tcyc TIPO + Ti + Tcyc
1) Access to integrated drives SIMOTION D4xx or CX32 in conjunction with standard

telegram 39x for the DO1. Without standard telegram the timing behavior applies the same
as for CX32.
2.) Access to CX32 as well as via external PROFIBUS or PROFINET IO on CU310 / CU320
3) For isochronal operation, Tcyc = max (TDP, p0799)
Legend
TDP: Clock cycle PROFIBUS (see setting in HW Config)
Ti : Latch time of the inputs for isosynchronous PROFIBUS (see setting in HW Config for
the drive)
To: Delay of the outputs for isosynchronous PROFIBUS (see setting in HW Config for the
drive)
TIO: Module-specific signal delay (corresponds to a DRIVE-CLiQ cycle + the input delay
time for digital input or the load-dependent output delay time for digital outputs)
Tcyc: Updating cycle in the SINAMICS (p4099 or p0799 parameter)
Servo: SIMOTION servo-cycle clock; multiple of TDP (see cycle clock settings for
SIMOTION)
IPO: SIMOTION IPO-cycle clock; multiple of the servo cycle clock (see cycle clock
settings for SIMOTION)
TDQ: DRIVE-CLiQ clock cycle (for V4.1, always corresponds to the current controller cycle
clock)
UP: User program
Output time on the CU: TCU_out - TO + Tcyc + TDQ + TIO
Read in time on the CU: TCU_in - TI + Tcyc + TDQ + TIO
Basic functions
6
Programming Execution System/Tasks/System Cycle
Clocks
6.1.1 Introduction to the execution system

All programs are executed in the SIMOTION device execution system. The execution system
provides a series of execution levels with various execution properties.
Programs must therefore be assigned to the execution levels in order to be executed. To this
end, programs of the source files are assigned to one or more tasks.
This defines the sequence in which they are to be executed.
Note
Before programs can be assigned to the execution levels the ST/MCC/LAD/FBD sources
must be translated.
6.1.2 Execution levels and tasks

Execution levels define the chronological sequence of programs in the execution system.
Each execution level contains one or more tasks.
A task provides the execution framework for the programs. You can assign one or more user
programs to each task and specify their order within the task.
Besides user program tasks there are also several system tasks, the contents and execution
sequence of which you cannot influence.
The table shows the execution levels with their tasks that are available for the user programs
(user program tasks).
You can use task control commands to influence the execution system.
Basic functions
Table 6-1 Execution levels in SIMOTION
Execution level Description

The execution levels and tasks are described in detail in the SIMOTION
Motion Control Basic Functions Function Manual.
Time-controlled Cyclic tasks, automatically restarted once assigned programs have been
executed.
SynchronousTasks Tasks are started periodically, synchronous with specified system cycle
clock.
ServoSynchronousTask: synchronous with the position control cycle
clock
(SIMOTION Kernel V4.0 and higher)
IPOsynchronousTask: Synchronous with interpolator cycle clock IPO
IPOsynchronousTask_2: Synchronous with interpolator cycle clock
IPO_2
Synchronous tasks for the Tcontrol technology package:
PWMsynchronousTask: Synchronous to the PWM cycle clock
InputSynchronousTask_1: Synchronous with cycle clock Input1
InputSynchronousTask_2: Synchronous with cycle clock Input2
PostControlTask_1: Synchronous with cycle clock Control1
PostControlTask_2: Synchronous with cycle clock Control2
TimerInterruptTasks Tasks are started periodically in a fixed time frame. This time frame must
be a multiple of interpolator cycle clock IPO.
Interrupts Sequential tasks, executed once after start and then terminated.
SystemInterruptTasks Started when a system event occurs:
Detailed description
ExecutionFaultTask: Error processing a program
PeripheralFaultTask: Error on I/O
TechnologicalFaultTask: Error on the technology object
TimeFaultBackgroundTask: BackgroundTask timeout
TimeFaultTask: TimerInterruptTask timeout
UserInterruptTasks Started on edge trigger when a user-defined event occurs.
Round robin MotionTasks and BackgroundTasks share the free time remaining after
execution of the higher-priority system and user tasks. The proportion of the
two levels can be assigned.
MotionTasks Sequential tasks, executed once after start and then terminated. Start takes
place:
Explicitly via a task control command in a program assigned to another
task.
Automatically when RUN mode is attained if the corresponding attribute
was set during task configuration.
The priority of a MotionTask can be increased temporarily using the system
function WAITFORCONDITION (seeLet MotionTask wait until a condition is
satisfied).
BackgroundTask Cyclic task, restarted automatically once the assigned programs have been
executed; task cycle time depends on runtime.
StartupTask Task is executed once when there is a transition from STOP or STOP U
mode to RUN mode.
SystemInterruptTasks are started by their triggering system event.
Basic functions
Execution level Description

ShutdownTask Task is executed once when there is a transition from RUN mode to STOP
or STOP U mode. STOP or STOP U mode is reached by:
Corresponding mode selector position
Corresponding system function of the SIMOTION device
Alarm (fault) with corresponding error response
SystemInterruptTasks and PeripheralFaultTasks are started by their
triggering system event.
For information on behavior of sequential and cyclic tasks:
For the initialization of local program variables, refer to the Initialization of local program variables depending on the
task execution behavior table.
In the event of execution errors in the program, see Processing errors in programs section.
For information about options for accessing the process image and I/O variables, see Important properties for direct
access and process image table.
6.1.3 Task start sequence

When the StartupTask is completed, RUN mode is reached.
The following tasks are then started:
SynchronousTasks
TimerInterruptTasks
BackgroundTask
MotionTasks with startup attribute.
Note
The sequence in which these tasks are first started after RUN mode has been reached does
not conform to the task priorities.
6.1.4 Configure execution system
6.1.4.1 Specifications for the configuring

When configuring the execution system, you assign the programs you want to execute in
each task. In so doing, you specify the following:
Priority with which the programs are executed
Execution behavior (sequential, cyclical)
Initialization behavior of local program variables
Basic functions
Assignment of a program to one or more tasks can only be performed after compilation and
must occur before the program is loaded onto the target system.
When you have assigned a program to one or more tasks, you can establish the connection
to the target system, download the program to the target system, and start it.
See also
Configure execution system (Page 159)
6.1.4.2 Assigning programs to the tasks

In the Execute sample program section, you set up a task assignment using the sample
program. The basic procedure is as follows:
1. Select the SIMOTION device in the project navigator, and select the Target system >
Configure execution system menu command.
The configuration window for the execution system of the SIMOTION device opens.
2. Select the task to be configured.
3. Select the Program assignment tab, and assign the desired programs to the task.
4. Select the Task configuration tab and make any additional settings, such as:
The local data stack size (see Storage areas of the variablen type section) in the Area
limit for dynamic data field
Error response for program errors (see Processing errors in programs section)
Time watchdogs for cyclic tasks
Start behavior of MotionTasks
See also
6.1.5 Effect of the task execution behavior on the variable initialization
6.1.5.1 Time for the initialization of local program variables

The execution behavior of the task (sequential or cyclic) determines the initialization of local
variables in the assigned programs. These descriptions also apply to instances of function
blocks that were declared as local variables in the programs.
You will find a summary of all variable types and their time of initialization in the Time of the
variable initialization section.
Basic functions
Table 6-2 Initialization of local program variables according to task execution behavior
Execution Tasks Initialization of local

behavior program variables
Sequential MotionTasks, After start, sequential tasks are executed once and
(not cyclic) UserInterruptTasks, then terminated. On each start, all local variables of
SystemInterruptTasks, the assigned programs are initialized.
StartupTask, The time for data initialization is included in the task
ShutdownTask. runtime.
Behavior with compiler switch "One-time program
data initialization": The local variables of the
assigned programs will be instantiated once.
Cyclic BackgroundTask, Cyclic task are automatically restarted upon
SynchronousTasks, completion, and the values of static variables of the
TimerInterruptTasks assigned programs (declared in VAR / END_VAR)
are retained.
Static variables are initialized once only during the
transition from STOP to RUN.
Temporary variables (declared in VAR_TEMP /
END_VAR) are initialized every time the task is
started.
This one-time initialization of static variables is not
included in the task runtime.
Behavior with compiler switch "One-time program
data initialization": The local variables of the
assigned programs will be instantiated once.
6.1.5.2 Assigning initial values to unit variables

Unit variables and global device variables are not initialized during the transition from STOP
or STOPU mode to RUN mode (refer to the Time of the variable initialization section).
If you nevertheless want to assign initial values to these variables, use the StartupTask to do
so.
NOTICE
The task start sequence is not defined after the transition to RUN mode (refer to the Task
start sequence section).
Correct initial value assignment is not ensured if a task other than the StartupTask is used.
Basic functions
6.1.5.3 Use multiple VAR_GLOBAL, VAR_GLOBAL RETAIN blocks
Description
You can create multiple VAR_GLOBAL, VAR_GLOBAL RETAIN blocks in the interface and
implementation area of a UNIT (as of V4.1).
In the interface area and in the implementation area you can specify multiple declaration
blocks in any sequence. Each of these blocks will be versioned separately. Changes within a
block (whether direct or indirect via data type change) thus result in reinitialization of these
blocks when reloading. Thus the (RETAIN) data retain works block-by-block.
New blocks can be added on the end and the changed sources can be reloaded in the RUN,
without influencing the existing data blocks. If in one source section (statement applies
separately for interface and implementation) a block is added in front of an existing block of
the same type (RETAIN or not RETAIN) then all the subsequent blocks change and will be
reinitialized at download. Thus download in the RUN after such a change is not possible.
Via the functions _saveUnitDataSet /_loadUnitDataSet and _exportUnitDataSet
/_importUnitDataSet, the unit data block information can be saved. If when reading a data
set one or multiple blocks are missing this can be detected on the return code, the remaining
blocks however will be read.
Loss of retain data due to initialization

These data can be saved beforehand in the SCOUT via the "Save variables" function and
read in again via the "Restore variables" function.
Alternatively you can also use the runtime functions in the application _exportUnitDataSet /
_importUnitDataSet.
6.1.5.4 Influence of the compiler on variable initialization
Compiler switch "Extended language elements" (for non-IEC_conformity)

The compiler switch can be set on each source and thus overwrites the global setting. It
works regardless of the creation language and consequently it can also be used in LAD/FBD
and MCC.
The compiler switch allows the following:
Direct bit access, bit addressing for bitstring variables (except BOOL)
Reading and writing INPUT variables from function blocks outside the scope of the
"block"
Permissible call "program in program".
A program can be called within a different program, like a global FB instance within a POU,
such as calling "myprog" within a different program; within a different FB, however not within
a function.
Global availability of the instance data is a prerequisite for "program in program". This can be
satisfied either in that the PROGRAM does not have any instance data, or however through
using the compiler switch "One-time program data instantiation" when compiling the
PROGRAM that will be called (see One-time program data instantiation).
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Note
If you do not set the compiler switch, then the behavior remains unchanged relative to V4.0
(corresponds to DEFAULT).
Compiler switch "One-time program data instantiation"

The compiler switch can be set on each source and thus overwrites the global setting. The
compiler switch works regardless of the creation language and consequently it can also be
used in LAD/FBD and MCC.
The compiler switch governs how the instance data must be created in a PROGRAM
contained in a source. Instance data of a PROGRAM are formed by the content of the VAR
declaration block.
Generally, the following is valid: A program can be hooked into the execution system once
and only once per task.
Activation of the compiler switch "One-time program data instantiation" (also when using a
program in different tasks) causes the following:
Instance data of programs translated in this manner will only be created once. The
instance data are in the source, where the PROGRAM is declared.
Each use of a PROGRAM created in this manner works on the same data. This affects
the assignment to (possibly multiple) tasks and the call in other PROGRAMS or function
blocks.
With the setting 'one-time program data instantiation' the data initialization is executed
according to the rules of global initialization (see Download settings on the project) with
the download of the source/ of the code, in which the program is declared.
If "One-time program data instantiation" is not set (DEFAULT) then the following behavior
applies:
The program cannot be called from a different LAD.
The instance data of a program will be created separately for each task to which the
program is assigned.
The data initialization of the instance data is executed with the start of the TASK;
(sequential task with task start cyclic tasks for the STOP-RUN transition)
Instance data of PROGRAMs in sequential tasks can be changed in this mode in RUN (if
a loading is possible in principle).
Attributes for global variable blocks

In VAR_GLOBAL, VAR_GLOBAL RETAIN blocks the following pragmas are supported at the
beginning of the block:
HMI_Export := [true|false]; causes an address export for HMI devices deviating
from the default position (INTERFACE is exported, IMPLEMENTATION is not).
BlockInit_OnChange := true; causes (only IMPLEMENTATION), for changes on
the block structure for the download in the RUN a reinitialization of the data to be
executed with the values specified in the source.
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This pragma is also applicable in VAR declarations of PROGRAMs. However there it is only
effective if the compiler option "One-time program data instantiation" is selected.
6.1.5.5 Marking HMI relevant data
Marking data as "non HMI relevant data"

Use a compiler pragma at the beginning of the block to mark a block in the interface area as
not HMI relevant. In this case no more operate&observe addresses will be generated for the
contained variables and changes on this block will no longer have an effect on the HMI
consistency.
Table 6-3 Example
VAR_GLOBAL
{HMI_Export := false; }
x : INT;
y : INT;
END_VAR
Marking data as HMI-relevant data

Use a compiler pragma at the beginning of the block to mark a block in the interface area as
not HMI relevant. In this case operate&observe addresses will no longer be generated for
the contained variables and changes on this block will no longer have an effect on the HMI
consistency.
Table 6-4 Example
VAR_GLOBAL
{HMI_Export := true; }
x : INT;
y : INT;
END_VAR
This means that all HMI-relevant variables must be below the 64kbyte address limit for HMI
access. For device variants less than V4.1 this corresponds to the position of the block within
the source, and RETAIN blocks are ordered independently of association with the source
section in front of the dynamic blocks (no change possible).
For device variants as of V4.1 only HMI-relevant blocks still occupy areas in the HMI address
space.
If the 64kbyte address limit is exceeded then there is a warning, citing the variable from
which an HMI access is no longer possible. If data blocks are explicitly exported by
specifying the compiler pragmas for HMI, and it is not possible to reach variables of the block
via HMI, then then an error message is executed when translating.
Note
Access from HMI without consistency check setting is possible if variables at the end of the
entire VAR_GLOBAL area are added, this means they are added in the last VAR-GLOBAL
block variables, or that an entire VAR-GLOBAL definition block is supplemented at the end.
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6.1.6 Task status
6.1.6.1 Querying and meaning of the task states

You can check the task status with the _getStateOfTaskId(taskId) function. This function
requires the task ID as an input parameter and returns a value of data type DWORD.
For SIMOTION Kernel versions up to V3.0, use the function _getStateOfTask(name).
The table shows the possible combinations of task states in hex representation and as
symbolic constants. Task status combinations are possible and are displayed as the sum of
the hexadecimal values.
Table 6-5 Task states and their meaning
Symbolic constant Hex Symbolic constant

notation
TASK_STATE_INVALID 16#0000 The task does not exist.
TASK_STATE_STOP_PENDING 16#0001 Task has received signal to stop; it is in a state between
TASK_STATE_RUNNING and
TASK_STATE_STOPPED.
Actions may be performed until the task has stopped.
TASK_STATE_STOPPED 16#0002 Task stopped (e.g. via _resetTask function), completed
or not yet started.
TASK_STATE_RUNNING 16#0004 Task running, e.g.:
By _startTask function
As an active cyclic task
TASK_STATE_WAITING 16#0010 Task waiting due to _waitTime function or
WAITFORCONDITION.
TASK_STATE_SUSPENDED 16#0020 Task suspended by function _suspendTask.
TASK_STATE_WAIT_NEXT_CYCLE 16#0040 TimerInterruptTask waiting for start trigger.
TASK_STATE_WAIT_NEXT_INTERRUPT 16#0080 SystemInterruptTask or UserInterruptTask is waiting for
the triggering event to occur.
TASK_STATE_LOCKED 16#0100 Task locked by function _disableScheduler.
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6.1.6.2 Combinations of task states

_getStateOfTaskId (and _getStateOfTask) often return as value combinations of the task
states depending on the source file section contained in the Keywords for the declaration of
static and temporary variables table that are formed with an OR operation. Frequent
combinations are listed in the table.
Table 6-6 Frequently occurring task status combinations
Combination Hex Meaning

notation
TASK_STATE_WAITING OR 16#0014 Task running but currently waiting, for example, because
TASK_STATE_RUNNING of _waitTime or WAITFORCONDITION.
TASK_STATE_SUSPENDED OR 16#0024 Task running but currently suspended by _suspendTask.
TASK_STATE_RUNNING
TASK_STATE_WAIT_NEXT_CYCLE OR 16#0044 TimerInterruptTask running, but currently waiting for its
TASK_STATE_RUNNING start trigger.
TASK_STATE_WAIT_NEXT_CYCLE OR 16#0064 TimerInterruptTask running but currently waiting for its
TASK_STATE_SUSPENDED OR start trigger and suspended by _suspendTask.
TASK_STATE_RUNNING
TASK_STATE_WAIT_NEXT_INTERRUPT OR 16#0084 SystemInterruptTask or UserInterruptTask running, but
TASK_STATE_RUNNING currently waiting for its triggering event.
TASK_STATE_WAIT_NEXT_INTERRUPT OR 16#00A4 SystemInterruptTask or UserInterruptTask running, but
TASK_STATE_SUSPENDED OR currently waiting for its triggering event, and is
TASK_STATE_RUNNING suspended by _suspendTask.
TASK_STATE_LOCKED OR 16#0104 Task running but currently locked by _disableScheduler.
TASK_STATE_RUNNING
Other combinations are possible.
6.1.6.3 Example of using the task states

In the following example, the task status of a MotionTask is queried to decide whether it can
be started. The relevant bits of the return value are evaluated for this. If the result is positive,
the MotionTask is started.
Table 6-7 Example of a query whether a MotionTask can be started
ret_dword := _getStateOfTaskId (id := _task.motionTask_1);

IF (ret_dword AND
(TASK_STATE_STOPPED OR TASK_STATE_STOP_PENDING)
) <> 0 THEN
// MotionTask can be started.
ret_dword := _restartTaskId (id := _task.motionTask_1);
ELSE
; // MotionTask cannot be started.
END_IF;
See the MCC Programming Manual under the command Task status for an example with
MCC.
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6.1.7 Waiting in MotionTask for a condition to be satisfied
6.1.7.1 Syntax of the condition of the EXPRESSION

The following applies for programming in ST. For MCC, definition of the wait condition is
executed directly in the commands.
You can use the WAITFORCONDITION command in a MotionTask to wait for a condition to
be satisfied (e.g. an event to occur). The MotionTask in which the statement is called is kept
in TASK_STATE_WAITING status until the condition is satisfied.
When the VAR_IN_OUT in/out parameter is used, you can permit a time monitoring for
WAITFORCONDITION.
This condition is formulated in the form of an EXPRESSION.
The expression is a special type of function declaration (for information on the syntax, see
the Expressions section in the ST Programming Manual):
The data type of the return value can be defined as BOOL and is not specified explicitly.
The use of the VAR_IN_OUT in/out parameter and the VAR_INPUT input parameter is
possible.
An expression can only be declared in the implementation section of the unit.
Optionally, local (temporary) variables can be declared in the declaration section. No other
declarations (e.g. of input parameters or constants) are possible.
The following can be accessed in the statement section:

Local variables for the expression
Unit variables
Global device variables, I/O variables, and the process image
An expression of the BOOL data type must be assigned to the expression identifier in the
statement section of the expression (see Expressions section in the ST Programming
Manual).
Note
The statement section of the expression cannot contain any function calls or loops.
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6.1.7.2 Syntax of the WAITFORCONDITION statement

The following syntax is used to call the command for a waiting task subject to an expression:
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Figure 6-1 Syntax of WAITFORCONDITION statement
Expression identifier is a construct declared with EXPRESSION; its value defines (together
with WITH edge evaluation, if necessary) whether the condition is considered as satisfied.
The WITH edge evaluation sequence is optional. Edge evaluation is an expression of data
type BOOL; it determines how the value of expression identifier is interpreted:
Edge evaluation = TRUE: The rising edge of expression identifier is interpreted; i.e. the
condition is satisfied when the value of expression identifierchanges from FALSE to
TRUE.
Edge evaluation = FALSE: The static value of expression identifier is interpreted; i.e. the
condition is satisfied when the value of expression identifier is TRUE.
If is not specified, the default setting is FALSE, i.e. the static value of expression identifier is
evaluated.
You can use the NOT expression identifier to check for a trailing edge.
6.1.7.3 Effect of the WAITFORCONDITION statement

The WAITFORCONDITION statement sets the task that called it to TASK_STATE_WAITING
status until the condition (expression) is TRUE.
The priority of the task is increased if the expression is true. The priority is higher than for
UserInterruptTasks and lower than for SystemInterruptTasks, i.e. the MotionTask has its turn
Basic functions
before the other task in the round-robin execution level, as well as before the
UserInterruptTasks and TimerInterruptTasks.
The increased task priority applies to all statements between the WAITFORCONDITION
command and the END_WAITFORCONDITION command. The
END_WAITFORCONDITION command ends the increased task priority.
The statement section must contain at least one empty statement.
Please note the following when using the WAITFORCONDITION command:
The command is used to wait for an event in a MotionTask. If it is programmed within
another task, it is ignored.
There is no time watchdog in a MotionTask.
Therefore, make sure that the condition does actually become true. Otherwise, the
MotionTask would always be in the wait state and this would produce a timeout error.
As of V4.1 time monitoring for WAITFORCONDITION can be programmed in a Motion
Task.
The WAITFORCONDITION ... END_WAITFORCONDITION structure may not be nested.
Within the round-robin level, the waiting task is the next to be executed when the event
occurs, as long as it is not hindered by higher-priority tasks (such as alarms).
The time slice of the active task in the round robin level is interrupted.
For the behavior in the event of task interruption, see _suspendTask).
The expression is checked in the IPO cycle clock with high priority.
See also
Task priorities (Page 125)
6.1.7.4 Example of use of WAITFORCONDITION

The following example (assumes that the feeder program is running in a MotionTask. The
option Activation after StartupTask is selected for this MotionTask.
The assignment of programs to tasks is performed in SIMOTION SCOUT (see Assigning
programs to the execution levels / tasks).
Table 6-8 Example for use of the WAITFORCONDITION condition
INTERFACE
USEPACKAGE cam;
PROGRAM feeder;
END_INTERFACE
IMPLEMENTATION
// Condition for WAITFORCONDITION in MotionTask_1
EXPRESSION automaticExpr
automaticExpr := IOfeedCam; // Digital input
END_EXPRESSION
// feeder (MotionTask_1)
PROGRAM feeder
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VAR
retVal : DINT;
END_VAR ;
retVal := _enableAxis(axis := realAxis,
enableMode := ALL,
servoCommandToActualMode := INACTIVE,
// Wait for automatic start
WAITFORCONDITION automaticExpr WITH TRUE DO
retVal := _pos(axis := realAxis,
positioningMode := RELATIVE,
position := 500,
velocityType := DIRECT,
velocity:=300,
positiveAccelType := DIRECT,
positiveAccel:= 400,
negativeAccelType := DIRECT,
negativeAccel := 400,
velocityProfile:= TRAPEZOIDAL,
mergeMode:=IMMEDIATELY,
nextCommand:=WHEN_MOTION_DONE,
commandId:= _getCommandId() );
// Reduce priority after WAITFORCONDITION
END_WAITFORCONDITION;
retVal := _disableAxis(axis := realAxis,
disableMode := ALL,
servoCommandToActualMode := INACTIVE,
END_PROGRAM
END_IMPLEMENTATION
6.1.7.5 Example for time verification via FB
Example for using WAITFORCONDITION with time verification via FB (from V4.1 and greater)
The following example shows time monitoring of the expressions (WAITFORCONDITION).
The bonding of the expression at the call point to instance data of a calling function block
inclusive time monitoring is presented alongside. This is a TON type reference variable. The
call is executed within the expression with query of the output.
VAR_GLOBAL
v1, v2 : INT;
t1, t2 : TIME;
END_VAR
EXPRESSION exp
VAR_IN_OUT
v : INT;
t : TON;
END_VAR
t();
exp := v > 100 and not t.q ;
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END_EXPRESSION
FUNCTION_Block waitfb
VAR_IN_OUT
refpar1 : INT;
refpar2 : TIME;
END_VAR
VAR_TEMP
expr_timeout : TON;
END_VAR
expr_timeout(pt := refpar2, IN := true);
// Set monitoring time and
//activate timer
WAITFORCONDITION exp(v := refpar1, t := expr_timeout ) DO
; //Statement
IF (expr_timeout.q) THEN
// Error handling feasible, if Time-Out
;
END_IF;
END_WAITFORCONDITION
END_FUNCTION_BLOCK
The call of the waitfb type instance can then be executed at any point with different variables
in each case. These global variables can then be updated by cyclical tasks:
my_waitfb_1(refpar1 := v1, refpar2:=t1); //Wait until V1>100 and
time t1 not elapsed
my_waitfb_2(refpar1 := v2, refpar2:=t1);
6.1.7.6 Example for using WAITFORCONDITION with time monitoring directly in non-cyclic task /
Motion Task
Description
Example of time monitoring of the expression (WAITFORCONDITION).
The call is executed directly in a MotionTask.
The time monitoring is type TON, with call within the expression and query of the output.
VAR_GLOBAL
v1, v2 : INT;
t1, t2 : TIME;
END_VAR
EXPRESSION exp
VAR_IN_OUT
v : INT;
t : TON;
END_VAR
t();
exp := v > 100 and not t.q ;
END_EXPRESSION
VAR_TEMP
expr_timeout : TON;
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END_VAR
.....
expr_timeout(pt := t1, IN := true); // Set monitoring time, and
//activate timer
//Wait until V1>100 and
//time t1 not elapsed
WAITFORCONDITION exp(v := v1, t := expr_timeout ) DO
; Statement
IF (expr_timeout.q) THEN
; // Error handling feasible, if Time-Out
END_IF;
.....
You can update v1 in any cyclical tasks.
6.1.8 Making tasks wait a defined period
Place task in the wait state

You can place a task in the TASK_STATE_WAITING status for a specific period of time (see
Task states (Page 221)). To do so, use the _waitTime function. This places the calling task in
the wait state for the specified period.
Note
A task that is in the wait state does not (or hardly) requires any CPU time. The only load on
the target system is the periodic check to establish whether the wait time has expired. This
check takes place in the IPO cycle clock.
The call of _waitTime (timeValue := T#0ms) in a MotionTask temporarily inactivates these
and returns the program control to the scheduler. This is recommended, for example for
longer loops if the program control will knowingly be transferred to the next round robin task
(also possible as BackgroundTask).
Basic functions
NOTICE
The function should be used in MotionTasks only; using it in cyclic tasks may lead to time
monitoring errors!
With SynchronousTasks: As of SIMOTION Kernel V3.2 you may configure if time
monitoring is suspended. Time monitoring is active by default1.
With IPOsynchronousTask, additionally take the following into account:
UserInterruptTasks will no longer be started by their triggering event!
With other cyclic tasks (BackgroundTask, TimerInterruptTasks): Time monitoring is
always active.
In cyclic tasks, use the timer system function blocks (see Timers section) to implement
waiting times.
1Up to Version V3.1 of the SIMOTION Kernel, time monitoring is suspended for the
SynchronousTasks.
Use an expression of data type TIME as an input parameter, the return value of data type
DINT is always 0.
For more information on the function (syntax), refer to the description of the _waitTime
function.
The following sample program puts the MotionTask to which it is assigned in the wait state
for ten seconds:
Table 6-9 Example of _waitTime function
INTERFACE
PROGRAM waitTime;
END_INTERFACE
IMPLEMENTATION
PROGRAM waitTime
VAR
retVal :DINT;
END_VAR;
retVal := _waitTime(timeValue := T#10s);
END_PROGRAM
END_IMPLEMENTATION
Basic functions
6.1.9 Procedure for a download in RUN
6.1.9.1 Download in Run
Download in RUN
When you download in the RUN mode, you can load sources (units) of a project to the
selected target system during the operating mode RUN.
In contrast to a project download in the STOP mode, it is not possible to load changed TOs,
HW configurations, global device and I/O variables, or libraries with a download in the RUN
mode. If changes in these areas are made, a download in the RUN mode is rejected.
Just like a project download, a download in the RUN mode, always means that all changes
are loaded. Therefore, only slight changes should be made for a download in the RUN
mode.
As a standard, variables are not initialized, as otherwise they would overwrite the current
values of the system.
If there are several programs, FBs or FCs in one source (unit), always the entire unit is
loaded.
You can make a download in the RUN mode possible by selecting the option Permit
download/RAM2ROM in the RUN, which you can find in SCOUT under Extras > settings >
CPU-Download. To execute the download, please select Target device > Load to target
device in the context menu of the device or use the icon Load CPU to target device.
Finally, a question appears if the download shall be executed while the CPU is in RUN or
STOP mode.
Supplementary conditions for downloading in RUN

The programs of a unit may not be run through in the moment of exchange.
In case of cyclic tasks, the system tries to make the exchange in the cycle control
point for a certain period of time (the moment when all concerned cyclic tasks are
restarted or do not run). After that, the process is interrupted.
Running MotionTasks cannot be changed.
The number of cyclic tasks, the programs (POEs) of which can be changed, is limited to 4
(a moment of exchange within this certain period of time has to be found for all tasks to
be exchanged).
If the number of sources (units) and the concerned tasks are too high due to reasons of
time or quantity, the total of the changes cannot be executed (loaded). This state is
indicated and none of the changes is accepted in the process. The previous data are
maintained.
Changes in VAR and VAR_GLOBAL blocks are not possible if these ones are used by
cyclic tasks (the data of a cyclic task are maintained while the task is running and
afterwards, too). VAR_TEMP in programs and FBs as well as VAR with FCs can be
changed.
The program instance data of non-cyclic tasks (MotionTasks) can be changed as they are
re-initialized with every start.
Program instance data are VAR variables in programs.
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If instance data of a program are to be changed, no other program may be active in the
moment of exchange during the download in the RUN mode. In this case, programs in
non-cyclic tasks can be problematical.
Compiler switch for one-time program data instantiation

The download in the RUN can be improved by using a compiler switch and pragma:
Compiler switch "only create program instance data once" (see below)
Compiler pragma "BlockInit_OnChange" (see below).
Compiler switch "Only create program instance data once" is not activated
(predetermination)
Here, the behavior is just as usual, i.e. the initialization of the data is done when starting the
task. The instance data of all programs are stored in a central memory area (for a diagnostic
they can be found in the symbol browser for the sequence system). If a program is assigned
to different tasks, the according instance data are created for each task. If the instance data
of a program are changed, even the instance data of the other programs are concerned by
that (due to the central filing), which leads to some limitations for the download in the RUN
mode.
Example: The instance data of a program in a cyclic task have been changed. This change
cannot be loaded if, for example, a MotionTask is still active.
This means, when changing the instance data of any program, no other program may be
active.
Compiler switch "Only create program instance data once" is activated
Here, the initialization of the data is done with the download of the program or the source
(unit) where the program is located.
The instance data of programs being compiled like that are only created once, even if the
program is used in different tasks. The instance data are then stored in the source or in the
code of the program (therefore, they can be found in the symbol browser of the unit for a
diagnostic).
This is advantageous for a download in the RUN mode, as, in case of changed instance data
of a program, the instance data of other programs will not be concerned.
CAUTION
Changed behavior during the initialization of data.
With sequential tasks, the initialization of data is not done when starting the task or, in case
of non-cyclic tasks, with the transition from STOP to RUN, but generally only with a
download. If necessary, depending on the application, the initialization of the data must be
done in the StartUpTask or at the beginning of the programs in the sequential tasks.
If a program is assigned to different tasks, the data to be processed are the same.
Basic functions
Setting for compiler switch:

For the global setting, select Only put in program instance data once under Options >
Settings > Compiler.
For the local setting, please activate the setting Only create program instance data once
in the characteristics dialog of the program source in the register compiler, or when
inserting a program source.
Before a download in the RUN mode, the compiler switch has to be activated (i.e. the
source has to be loaded in the STOP mode with a download before).
"BlockInit_On_Change" pragma leads to a re-initialization of program instance data

Even if you have activated "Only create program instance data once", it is still not possible to
change the instance data (of programs in cyclic tasks) with a download in the RUN mode.
To make this possible, the pragma "{Blockinit_OnChange := TRUE;}" has to be applied in
addition. When changing the block, the pragma leads to a re-initialization of the data with the
values being specified in the source. The pragma can be applied in TYPE and
VAR_GLOBAL blocks in the interface and implementation part of the source (unit) but also in
VAR declarations of programs.
However, this is only possible if the compiler option "Only create program instance data
once" is activated. The pragma may only be located at the beginning of a block.
Until now, the pragma Block_Init_on_Change is only available in ST sources.
Example for the syntax of Block_Init_on_Change:
Var_Global
{BlockInit_OnChange := TRUE;}
Interface_Var_Global1 : INT;
Interface_Var_Global2 : REAL;
END_VAR
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The pragma can be activated at any time desired.

Example:
If a download in the RUN mode is not possible due to a changed VAR in the program, the
pragma can be set in the VAR block afterwards. After the compilation, a download in the
RUN mode is possible as this VAR block is re-initialized.
Before the following download, the pragma can be removed again. However, a re-
initialization is only realized in case of changes in the VAR block.
6.1.9.2 Options for download in RUN
Allowing a download in RUN

Use appropriate programming to enable a download operation in RUN mode:
Use the USES instructions in the implementation section, if possible. Fewer units will be
affected during the loading process then.
Create the units according to the task assignments of the programs. This reduces
dependences and supports the clearness.
Example: A unit contains two programs, one is assigned to the background task, the
other one is assigned to a MotionTask. In this case, a download of this unit in the RUN
mode is not possible as long as the MotionTask is active.
If the program of the changed unit is assigned to a MotionTask, please provide
possibilities where the MotionTask is not active:
Avoid endless loops in MotionTasks! Instead of a WHILE loop, please use the function
_restartTaskId()
Provide an operating function (e.g. operating mode single cycle) so that you can reset
single, several or all MotionTasks.
Especially with MotionTasks it is favorable to create own units to file continuously running
program parts (e.g. sequence control in MCC) and program parts that are called from
case to case. These program parts can be exchanged when they are not activated.
Configure the size of the local data stack in the task configuration, see chapter sequence
system, and chapter size of the local data stack in the manual of SIMOTION basic
functions):
Consider a reserve for the download in the operating mode RUN, as an additional
temporary memory on the local data stack may become necessary during the download
in the RUN mode (e.g. for new local variables and function parameters)
Set compiler switch "only create program instance data once", as this ensures that
changed instance data of a program will not concern any other program.
In this case, a program may not be assigned to different tasks (as the same data will be
processed then).
Changes of TYPE and global variables in the interface and implementation section of a
unit are possible via an additional variable block or with the compiler pragma
"BlockInit_OnChange := True;".
Instead of an additional variable block, it is also possible to create a new UNIT with the
new data and to connect them with USES (in the implementation section). This is also
possible in MCC and LAD/FBD.
Basic functions
Instance data of programs (VAR) can be changed and re-initialized via the compiler
pragma "BlockInit_OnChange := True;".
If new IO variables are required, they have to be in the process image of the background
task (0-63 byte).
VAR_GLOBAL
anio AT %I2.7 : BOOL;
END_VAR
Example program for download in RUN

The screen below illustrates the structure of a project's execution system intended to show
when and under what conditions a download in RUN is possible if you wish to insert or
change a variable. As you can see, the execution system contains tasks, each of which
contain different units.
Figure 6-2 Download in RUN - Example program
The screen shows which program units can be called in succession. For example,
Motion_Unit_01 calls FunctionBlock_01, which in turn calls the two functions Function_01
and Function_02.
Motion_Unit_01 and Cyclic_Unit_05 are bound only by the supplementary conditions
described in the Overview of the options for a download in RUN.
The area highlighted in red identifies the program blocks where a download in RUN could
cause problems.
Basic functions
Motion_Unit_02 contains a While TRUE loop, from which FunctionBlock_02 and then
Function_02 are called (see Example of a While loop (Page 238)). Since the loop prevents a
download in RUN (no download point possible), the block called in it and the function are
also blocked. The conditions under which, conversely, a download in RUN is possible, are
listed in the table below.
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Figure 6-3 Download in Run
Basic functions
Overview of the options for a download in RUN

The table below shows which data can be changed where.
Change location I/O variable

Change location Global device variables
Change location Interface

Type Var_Global Var_Global Var_Global USES USEPACKAGE
Retain Constant
Motion_Unit_01 4) 2) 4) 4) 6)
Motion_Unit_02 1) 1) 1) 6) 1) 1)
Motion_Unit_03 4) 2) 4) 4) 6)
Cyclic_Unit_04 4) 2) 4) 4) 6)
Cyclic_Unit_05 4) 2) 4) 4) 6)
Function_Block_01 4) 2) 4) 4) 6)
Function_Block_02 1) 1) 1) 6) 1) 1)
Function_01 4) 2) 4) 4) 6)
Function_02 1) 1) 1) 6) 1) 1)
Function_05 4) 2) 4) 4) 6)
Global 1) 1) 1) 6) 1) 1)
Global_FB 1) 6) 1) 1)
Change location Implementation

Type Var_Global Var_Global Var_Global USES USEPACKAGE
Retain Constant
Motion_Unit_01 4) 2) 4) 4) 6)
Motion_Unit_02 1) 1) 1) 6) 1) 1)
Motion_Unit_03 4) 2) 4) 4) 6)
Cyclic_Unit_04 4) 2) 4) 4) 6)
Cyclic_Unit_05 4) 2) 4) 4) 6)
Function_Block_02 1) 1) 1) 6) 1) 1)
Function_01 4) 2) 4) 4) 6)
Function_02 1) 1) 1) 6) 1) 1)
Function_05 4) 2) 4) 4) 6)
Basic functions
Change location Program

Type Var Var_Temp Var_Constant Code change
Motion_Unit_01 motion1_prg_01
Motion_Unit_02 motion2_prg_01 1) 1) 1) 1)
Motion_Unit_03 motion3_prg_01 2)7) 3)
Cyclic_Unit_04 cyclic4_prg_01 2)5) 5)
Cyclic_Unit_05 cyclic5_prg_01 2)7) 3)
Change location FunctionBlock

Type Var Var_ Var Code Var_Input Var_In_O Var_Outp
Temp Constant change ut ut
FunctionBlock_01 Fb1_single_
call_01
FunctionBlock_02 Fb2_multi_c 1) 1) 6) 1)7) 1)7) 1)7)
all_01 2) 7)
FunctionBlock_03 Fb5_single_ 2) 7) 6) 7) 7) 7)
call_01 7)
Change Function
location
Type Var Var Code Var_Input Var_In_Out Return
Constant change value
Function_01 Fc1_single_call_01
Function_02 Fc2_multi_call_01 1) 1) 1)
Function_03 Fc5_single_call_01
Key for tables
Footnote Description
1) MotionTask_2 must be stopped prior to commencing the download:
- Download is prevented by a continuous loop (WHILE TRUE) in the program.
- Download will also be prevented if the program waits too long in
"WAITFORCONDITION", remains set to "_waitTime" or waits for synchronous
commands to finish.
2) In terms of use, structural changes are the same as creating/modifying a variable.
3) Use the "BlockInit_OnChange" pragma.
4) Additional variable can be inserted by means of an additional variable block or using
the "BlockInit_OnChange" pragma.
5) Only possible if the "Only put in program instance data once" setting has been selected
and you are using the "BlockInit_OnChange" pragma.
Basic functions
Footnote Description
6) Ability to change depending on use:
- Code always goes.
- Field lengths; same as when creating/modifying a variable, possible with
"BlockInit_OnChange" pragma.
- Initial value, always goes, analogous to code.
7) Reinitialization necessary, you may need to use the "BlockInit_OnChange" pragma.
It must always be possible to download the entire content of a unit. If one of the programs in a unit
(e.g., interface, implementation) is not functioning, download of the entire unit will be prevented.
Can always be changed.
Restricted changes are possible; a description of the information to be taken into
account is provided (see footnote).
Cannot be changed; see footnote for reason.
6.1.9.3 Example of a While loop
Example structure of a While loop

The While loop will continue to run until the While ... Do expression takes on a value other
than TRUE.
//*********************************************************************
PRG2_Counter1 := PRG2_Counter1 + 1;
WHILE TRUE DO
PRG2_Counter2 := PRG2_Counter2 + 2;
my_fb2_multi_call_01(
fb2_multi_call_01_inp_real_1 := 1.0,
fb2_multi_call_01_inout_real_1 := Motion2_prg_01_Real_1
);
END_WHILE;
//*********************************************************************
6.1.9.4 Example of the syntax of Block_Init_on_Change
Example structure of Block_Init_on_Change
//*********************************************************************
Var_Global
{BlockInit_OnChange := TRUE;}
Interface_Var_Global1 : INT;
Interface_Var_Global2 : REAL;
END_VAR
//*********************************************************************
Basic functions
6.2 Task control commands
6.2.1 Overview of the task control commands

The commands listed in the table are available for task control.
These functions are available in SIMOTION Kernel Version V3.1 and higher.
Table 6-10 Task control commands in SIMOTION ST
Task control command Significance

_startTaskId(TaskId) _ Starts a MotionTask that is in the state
TASK_STATE_STOPPED; its startup code is executed.
Can only be applied to MotionTasks.
Command may not directly follow _resetTaskId. Use
_restartTaskId instead.
_resetTaskId(TaskId) _ Resets a MotionTask to TASK_STATE_STOPPED.
_restartTaskId(TaskId) Resets a MotionTask to TASK_STATE_STOPPED and
restarts it; the startup code for this MotionTask is executed.
_startTaskId must not directly follow this command. Use
_restartTaskId instead.
_suspendTaskId(TaskId) The task in question will be suspended (set to
TASK_STATE_SUSPENDED), for cyclic tasks time
monitoring will be suspended.
Cannot be used on SynchronousTasks, StartupTask, or
ShutdownTask.
_resumeTaskId(TaskId) The task in question that is in
TASK_STATE_SUSPENDED, will be resumed; time
monitoring will again be executed.
Cannot be used on SynchronousTasks, StartupTask, or
ShutdownTask.
_getStateOfTaskId(TaskId) Queries the state of the relevant task.
_retriggerTaskIdControlTime(TaskId) The monitoring time is reset once for the relevant task.
MCC blocks for task commands are described in the MCC Programming Manual.
Example of a task control command, see Task control commands (Page 241).
See also Task states (Page 221).
Basic functions
TaskId
The task is specified for these functions via a unique TaskId. You can obtain the TaskId for a
task as follows:
As _task.name variable (e.g. _task.motionTask_1). Explanation of terms:
_task identifies the predefined namespace for the TaskId (see Namespaces section).
The identifier for the namespace is separated by a period from the following identifier.
name is the identifier of the task as assigned in the execution system (e.g.
motionTask_1).
With the _getTaskId(name) function
The task is specified by its name (as in the execution system).
You can use the _checkEqualTask function to check whether a TaskId belongs to a
particular task (see _checkEqualTask function).
Note
Similar functions are available for SIMOTION Kernel versions up to V3.0. For these
functions, the task is specified via its name (as in the execution system). These functions
must not be used in libraries.
These functions should no longer be used as of Version V3.1 of the SIMOTION Kernel;
their availability is not guaranteed with future versions of the SIMOTION Kernel.
In addition, SIMOTION devices provide system functions for controlling the scheduler. These
are listed in the table (for a description, see the Parameter Manuals for SIMOTION devices):
Table 6-11 Commands for controlling the scheduler
Task control command Significance

_disableScheduler() Prevents all user program tasks (except
SynchronousTasks) from being loaded until
_enableScheduler is called. It does not, however, affect
system tasks.
Note: The time watchdog for cyclic tasks is not suspended.
Note: This command also prevents exchanging of
SystemInterruptTasks and UserInterruptTasks!
_enableScheduler() Cancels the effect of _disableScheduler.
NOTICE
The _checkEqualTask and _getTaskId functions and variables of the form _task.name must
not be used in libraries.
Basic functions
6.2.2 Example for using a task control command

The following example requires that the following assignments have been made in
SIMOTION SCOUT:
The myStart program is assigned to the StartupTask.
The myMotion program is assigned to MotionTask_1.
After controller startup (transition from STOP to RUN), the StartupTask runs automatically.
The myStart program is executed in this task.
The _startTaskId task control command is used in the myStart program to start
MotionTask_1. In MotionTask_1, the myMotion program is executed.
INTERFACE
PROGRAM myStart;
PROGRAM myMotion;
END_INTERFACE
IMPLEMENTATION
VAR
RetDWord : DWORD;
END_VAR
PROGRAM myStart
RetDWord := _startTaskid (_task.motionTask_1);
// Start MotionTask_1
END_PROGRAM
// Here, commands in the program, e.g. axis commands
PROGRAM myMotion
END_PROGRAM
END_IMPLEMENTATION
6.2.3 _getStateOfTaskId function

This function is available in SIMOTION Kernel V3.1 and higher.
It return the state of the relevant task. The task is specified by means of project-wide, unique
task ID (see General information about task control commands).
The function can be applied to all tasks except StartupTask and ShutdownTask.
See also task states. There is also an example given of how to decide if a MotionTask can
be started, based on the task status (see Example for the use of the task states).
A similar function for SIMOTION Kernel versions up to V3.0 is described at the end of the
section.
Basic functions
Declaration
_getStateOfTaskId (
{ id : StructTaskId // Task ID
}
) : DWORD
Input parameters
id (optional)
Data type: StructTaskId
Default: The TaskId of the current task in which the function is called.
Task ID of the task to be controlled (see General information about task control
commands).
Return value
Data type: DWORD

Status of the task is displayed as an OR operation on the following values (see also Task
states):
16#0000 Task does not exist or Task ID is invalid
TASK_STATE_INVALID
16#0001 Task in transition from running to stopped
TASK_STATE_STOP_PENDING
16#0002 Task stopped
TASK_STATE_STOPPED
16#0004 Task running
TASK_STATE_RUNNING
16#0010 Task waiting
TASK_STATE_WAITING
16#0020 Task suspended
TASK_STATE_SUSPENDED
16#0040 TimerInterruptTask waiting for its start trigger
TASK_STATE_WAIT_NEXT_CYCLE
16#0080 SystemInterruptTask or UserInterruptTask waiting for the
occurrence of an initiating event
TASK_STATE_WAIT_NEXT_INTERRUPT
16#0100 Task locked (by _disableScheduler)
TASK_STATE_LOCKED
Basic functions
Similar function for SIMOTION Kernel versions up to V3.0
getStateOfTask (// Only the short form is permitted

{ name : Task_Name // Name of the task
}
) : DWORD
This function corresponds to the _getStateOfTaskId function with the following exceptions:
The task is specified by means of its name (as it appears in the execution system).
This function may only be called in the short form, i.e. with a complete listing of all
parameter values, but without specification of the formal parameters.
This function must not be used in libraries.
This function should no longer be used as of Version V3.1 of the SIMOTION Kernel; it is no
longer supported in future versions.
See also
Querying and meaning of the task states (Page 221)
6.2.4 _resetTaskId function

This function is available in SIMOTION Kernel as of V3.1.
It resets a MotionTask to TASK_STATE_STOPPED. The task is specified by means of
project-wide, unique task ID (see General information about task control commands).
The function is only applicable to MotionTasks.
The _startTaskId function must not directly follow this function. Use the _restartTaskId
function instead.
Similar function for SIMOTION Kernel versions up to V3.0: _resetTask function.
section.
Declaration
_resetTaskId (
id : StructTaskId // MotionTasks only
) : DWORD
Basic functions
Input parameters
id
TaskId of the task to be controlled.
Return value
Data type: DWORD

0 No error
16#FFFF_FFFE TaskId does not refer to a MotionTask
16#FFFF_FFFF TaskId is invalid
_resetTask (// Only the short form is permitted

name : Task_Name // Name of the task
) : VOID // MotionTasks only
This function corresponds to the _resetTaskId function with the following exceptions:
The function has no return value.
See also
_restartTaskId function (Page 245)
_startTaskId function (Page 249)
Basic functions
6.2.5 _restartTaskId function

It resets a MotionTask to TASK_STATE_STOPPED and restarts it; its data is initialized. The
task is specified by means of project-wide, unique task ID (see General information about
task control commands).
To prevent this function from being used to stop a running MotionTask, its status can be
queried and evaluated (see _getStateOfTaskId function and the example for the use of the
task states in Task states).
section.
Declaration
_restartTaskId (
) : DWORD
Input parameters
id
commands).
Return value
Data type: DWORD

0 No error
_resetTask (// Only the short form is permitted

Basic functions
This function corresponds to the _restartTaskId function with the following exceptions:
This function should no longer be used as of Version V3.1 of the SIMOTION Kernel; it will no
longer be supported in future versions.
6.2.6 _resumeTaskId function

It resumes a task that is in the TASK_STATE_SUSPENDED state. This status has been
achieved with the _suspendTaskId function. The task is specified by means of project-wide,
unique task ID (General information about task control commands).
The function is applicable to MotionTasks, BackgroundTask, TimerInterruptTasks,
UserInterruptTasks, SystemInterruptTasks.
In the case of cyclic tasks (BackgroundTask, TimerInterruptTasks), the time watchdog for the
task is enabled again.
section.
Declaration
_resumeTaskId (
id : StructTaskId
) : DWORD
Input parameters
id
commands).
Basic functions
Return value
Data type: DWORD

0 No error
16#FFFF_FFFE TaskId refers to an illegal task
_resumeTask (// Only the short form is permitted

) : VOID
This function corresponds to the _resumeTaskId function with the following exceptions:
See also
_suspendTaskId function (Page 250)
6.2.7 _retriggerTaskIdControlTime function

It resets the monitoring time once for the relevant task. The task is specified by means of
project-wide, unique task ID (see General information about task control commands).
section.
Basic functions
Declaration
_retriggerTaskIdControlTime (
{ id : StructTaskId
}
) : DWORD
Input parameters
id (optional)
commands).
Return value
Data type: DWORD

0 Function executed normally.
Not equal to 0 Function not executed normally.
_retriggerTaskControlTime ( // Only short form permitted

}
) : DWORD
This function corresponds to the _retriggerTaskIdControlTime with the following exceptions:

Basic functions
6.2.8 _startTaskId function

It starts a MotionTask that is in the TASK_STATE_STOPPED state; its data is initialized. The
task is specified by means of project-wide, unique task ID (see General information about
task control commands).
It has no effect on MotionTasks in the following states:
TASK_STATE_RUNNING
TASK_STATE_WAITING
Prior to using the function, the status of the MotionTask can be polled and evaluated (see
_getStateOfTaskId function and the example for the use of the task states in Task states).
It must not directly follow the _resetTaskId function. Use the _restartTaskId function instead.
section.
Declaration
_startTaskId (
) : DWORD
Input parameters
id
commands only MotionTasks).
Return value
Data type: DWORD

0 No error
Basic functions
_startTask (// Only short form permitted

This function corresponds to the _startTaskId function with the following exceptions:
See also
_getStateOfTaskId function (Page 241)
_resetTaskId function (Page 243)
_restartTaskId function (Page 245)
6.2.9 _suspendTaskId function

It suspends the relevant task (sets it to TASK_STATE_SUSPENDED). The task is specified
by means of project-wide, unique task ID (see General information about task control
commands).
In the case of cyclic tasks (BackgroundTask, TimerInterruptTasks), the time watchdog for the
task is stopped.
The task and its time watchdog are resumed with the _resumeTaskId function.
Similar function for SIMOTION Kernel versions up to V3.0: _suspendTask function.
section.
Declaration
_suspendTaskId (
id : StructTaskId
) : DWORD
Basic functions
Input parameters
id
commands).
Return value
Data type: DWORD

0 No error
16#FFFF_FFFE TaskId refers to an illegal task
_suspendTask (// Only short form permitted

name : Task_Name //Name of the task
) : VOID
This function corresponds to the _suspendTaskId function with the following exceptions:
See also
_resumeTaskId function (Page 246)
Basic functions
6.2.10 _getTaskId function

It generates a project-wide unique TaskId from the task name (as in the execution system).
This TaskId can be assigned to a variable of data type StructTaskId and used as an input
parameter in the following functions:
Task control commands
Functions for runtime measurement of tasks
NOTICE
Declaration
_getTaskId ( // Only short form permitted

) : StructTaskId
Input parameters
name (only short form permitted)

Name of task as defined in the execution system.
Return value

Return value contains the TaskId of the task.
Basic functions
6.2.11 _checkEqualTask function

This function indicates whether a TaskId is associated with a task.
NOTICE
Declaration
_checkEqualTask (// Only short form permitted

id : StructTaskId,
Name : TaskName // Name of the task
) : BOOL
Input parameters
id
(only short form
permitted)
TaskId to be checked, e.g. TSI#taskId.
Name
(only short form permitted)
Data type: TaskName
Name of a task, as defined in the execution system.
Return value
Data type: BOOL

The return value indicates whether the TaskId is associated with the specified task:
TRUE: TaskId is associated with the specified task.
FALSE TaskId is not associated with the specified task.
Basic functions
6.3 Functions for runtime measurement of tasks
6.3.1 Functions for runtime measurement of tasks - overview

The functions for runtime measurement are permissible for all tasks. However, the
measurement is not supported by the IPOsynchronousTask and the ShutdownTask.
Measured value T#0ms is returned when called with these tasks.
The following runtimes can be measured:
The maximum runtime of task since the last STOP-RUN transition (see
_getMaximalTaskIdRunTime function)
The minimum runtime of task since the last STOP-RUN transition (see
_getMinimalTaskIdRunTime function)
The runtime from the previous passage of the task (see _getCurrentTaskIdRunTime
function)
The average task runtime from the last ten preceding passes (see
_getAverageTaskIdRunTime function)
These functions are available in SIMOTION Kernel V3.1 and higher and can be used in
libraries.
The task is specified for these functions via a unique TaskId.
Note
In many cases, there is a similar function available for SIMOTION Kernel versions up to
V3.0. For these functions, the task is specified via its name (as in the execution system).
These functions must not be used in libraries.
These functions should no longer be used as of Version V3.1 of the SIMOTION Kernel; their
availability is not guaranteed with future versions of the SIMOTION Kernel.
See also
_getMaximalTaskIdRunTime function (Page 255)
_getMinimalTaskIdRunTime function (Page 256)
_getCurrentTaskIdRunTime function (Page 258)
Function _getAverageTaskIdRunTime (Page 259)
Task runtimes (Page 169)
Basic functions
6.3.2 _getMaximalTaskIdRunTime function

It provides the maximum runtime of the task since the last STOP to RUN transition, including
all interruptions by higher-priority tasks. The task is specified by means of project-wide,
unique task ID (see _startTaskId function).
The following functions do not interrupt the measurement:
_suspendTaskId
_disableScheduler (see list manuals for SIMOTION devices)
The determined runtime is a multiple of the servo cycle clock; for runtimes less than the
position control cycle clock, T#MIN (= T#0ms) is returned as measured value.
The function is permitted for all tasks. However, the measurement is not supported by the
IPOsynchronousTask and the ShutdownTask. Measured value T#MIN (= T#0ms) is returned
when called with these tasks.
section.
Declaration
_getMaximalTaskIdRunTime (
{ id : StructTaskId
}
) : TIME
Input parameters
id (optional)
Task ID of the task for which the runtime is to be measured (see page 6-330).
Return value
Data type: TIME

T#MIN (= T#0ms = T#1ms * UDINT#0) Measurement is not supported or is
not yet finished.
Greater than T#MIN and less than T#MAX Greatest runtime that has occurred.
T#MAX (= T#49d_17h_2m_47s_295ms = T#1ms * TaskId is invalid
UDINT#16#FFFF_FFFF)
Basic functions
_getMaximalTaskRunTime (// Only short form permitted

{ name: Task_Name // Name of the task
}
) : TIME
This function corresponds to the _getMaximalTaskIdRunTime function with the following

exceptions:
See also
6.3.3 _getMinimalTaskIdRunTime function

It provides the minimum runtime of the task since the last STOP to RUN transition, including
all interruptions by higher-priority tasks. The task is specified by means of project-wide,
unique task ID (see _startTaskId function).
_suspendTaskId
section.
Basic functions
Declaration
_getMinimalTaskIdRunTime (
{ id : StructTaskId
}
) : TIME
Input parameters
id (optional)
TaskID of the task for which the runtime is to be measured (see _startTaskId function).
Return value
Data type: TIME

not yet finished.
UDINT#16#FFFF_FFFF)
_getMinimalTaskRunTime ( // Only short form is permitted

}
) : TIME
This function corresponds to the _getMinimalTaskIdRunTime function with the following

exceptions:
Basic functions
See also
6.3.4 _getCurrentTaskIdRunTime function

It provides the runtime from the preceding pass of the task, including all interruptions by
higher-priority tasks. The task is specified by means of project-wide, unique task ID (see
_startTaskId function).
_suspendTaskId
section.
Declaration
_getCurrentTaskIdRunTime (
{ id : StructTaskId
}
) : TIME
Input parameters
id (optional)
Basic functions
Return value
Data type: TIME

not yet finished.
UDINT#16#FFFF_FFFF)
_getCurrentTaskRunTime (// Only short form permitted

}
) : TIME
This function corresponds to the _getCurrentTaskIdRunTime function with the following

exceptions:
See also
6.3.5 Function _getAverageTaskIdRunTime

This function provides an average runtime of the task from the last 10 preceding cycles,
including all interruptions by higher-priority tasks. The task is specified by means of a
project-wide, unique taskID (see function _startTaskId).
_suspendTask
Basic functions
Declaration
_getAverageTaskRunTime ( // Short form only

{ id : : StructTaskId
}
) : TIME
Input parameters
id (optional)
Data type StructTaskId
Default: TaskID of the task for which runtime is to be measured, as
defined in the execution system.
Return value
Data type: TIME

not yet finished.
UDINT#16#FFFF_FFFF)
_getAverageTaskRunTime ( // Short form only

}
) : TIME
This function corresponds to the _getAverageTaskIdRunTime function with the following
exceptions:
Basic functions

See also
6.3.6 Functions for the precise runtime measurement of tasks
Description
With the following system functions you can measure the time since system start with s
precision. Thus for sections within the application you can measure the time precisely, in
order to optimize the application.
You can use the following functions:
Function _getInternalTimeStamp (Page 261)
Function _getTimeDifferenceOfInternalTimeStamp (Page 262)
6.3.7 Function _getInternalTimeStamp
Description
The _getInternalTimeStamp function supplies a specific internal time stamp as UDINT. You
can set a time stamp, for example at the beginning and end of a task, and then use this in
the Function _getTimeDifferenceOfInternalTimeStamp (Page 262) function as UDINT t1 and
UDINT t2.
_getInternalTimeStamp :UDINT;
Basic functions
6.4 Functions for message programming (AlarmS)
6.3.8 Function _getTimeDifferenceOfInternalTimeStamp
Description
The function _getTimeDifferenceOfInternalTimeStop supplies a time value from two internal
time stamps. You must generate the two time stamps via the Function
_getInternalTimeStamp (Page 261) return value UDINT).
_getTimeOfDifferenceOfInternalTimeStamps
(
UDINT t1,
UDINT t2
):UDINT;
The start time point of the time that will be measured is t1, the end time point t2. The function
returns the difference (t2 - t1) as UDINT (in s).
Application
With the function you can measure the runtimes of code sections, for example
communication times in an iposynchronous task
6.4.1 General information for the message programming

You can send freely configured messages (e.g. error messages) to logged-on display
devices and check their status.
In particular, you can:
Send a message that does not require acknowledgement (see _alarmSId function)
Send a message that requires acknowledgement (see _alarmSqId function)
Check the status of a message and its acknowledgement (see _alarmScId function)
These functions are available in SIMOTION Kernel V3.1 and higher and can be used in
libraries.
List all pending alarms (see function _getPendingAlarms) (as of V4.1)
Set alarm on "outgoing" (see _resetAlarmId and _resetAllAlarmId functions) (as of V4.1)
The message is specified for these functions using a unique AlarmId.
Basic functions
Note
In many cases, there is a similar function available for SIMOTION Kernel versions up to
V3.0. For these functions, the message is specified via its name (as configured in
SIMOTION SCOUT). These functions must not be used in libraries.
Examples of message programming are included in Programming messages. (Page 353)

See the MCC Programming Manual (section Incoming message and outgoing message) for
programming functions in MCC.
AlarmId
You can obtain the AlarmId for a configured message name in the following way:
As variable _alarm.name. Where
_alarm designates the predefined namespace for the AlarmId (see Namespaces in the
ST Programming Manual). The identifier for the name space is separated by a period
from the following identifier.
name is the identifier of the message as configured in SIMOTION SCOUT.
With the _getAlarmId(name) function (see _getAlarmId function). The message is
specified by means of the configured message name:
NOTICE
The _getAlarmId function and variables of the form _alarm.name must not be used in
libraries.
See also
_getAlarmId function (Page 271)
_alarmScId function (Page 270)
_alarmSqId function (Page 267)
_alarmSId function (Page 263)
6.4.2 _alarmSId function

This function is available in the SIMOTION Kernel as of V3.1.
When a level change occurs in the triggering signal (Sig), it generates a message that does
not require acknowledgement and that is sent to all display devices logged on to receive
such signals. The message to be generated is specified by means of a project-wide, unique
AlarmID (see AlarmID (Page 355)).
Basic functions
Optionally, an auxiliary value can be appended.

A maximum of 40 messages can be processed simultaneously.
section.
Declaration
_alarmSId (
Sig : BOOL
Ev_Id : StructAlarmId
{ sd : ANY_NUM, ANY_BIT
}
) : DWORD
Input parameters
Sig
Data type: BOOL
The signal triggering the message is interpreted as follows:
If the signal represents a rising edge relative to the last call with this AlarmId an
incoming message is generated. An incoming message is also generated if the signal
state is TRUE on the first call with this message name.
If the signal represents a trailing edge relative to the last call with this AlarmId an
outgoing message is generated.
Ev_Id
Data type: StructAlarmId
AlarmId of the message to be generated (see AlarmID (Page 355))
sd (optional)
Data type: ANY_NUM, ANY_BIT
Default: 0
Auxiliary value: All elementary data types are permissible auxiliary values. Values
cannot be entered; only variables or previously defined identifiers for constants
belonging to one of the allowed data types are permitted.
The auxiliary value must be specified if an auxiliary value has been defined during
message configuration in SIMOTION SCOUT.
During compilation, a check cannot be performed with the data type of the auxiliary
value configured in the message.
Basic functions
Return value
Data type: DWORD

The return value informs the user about the result of the call.
The specified values can be represented as an OR operation between the
ALARMS_ERROR constants and the DSC_SVS_DEVICE_ALARMS_xxx constants.
16#0000 No error
For incoming message entry is executed in the message list.
For an outgoing message entry was deleted from the message
list.
16#8001 Message name not permissible
ALARMS_ERROR
OR DSC_SVS_DEVICE_ALARMS_ILLEGAL_EVENT_ID
16#8002 Loss of messages due to overflows (no more space in the
message list).
All 40 entries of the message list are occupied.
Entry is not executed in the message list.
ALARMS_ERROR OR
DSC_SVS_DEVICE_ALARMS_LAST_ENTRY_USED
16#8003 Loss of messages due to overflow (signal not yet sent, signal
overflow).
Send buffer for notifying clients is still occupied by the last event.
Error may also occur if function calls come quickly one after the
other with rising and falling edge.
ALARMS_ERROR OR
DSC_SVS_DEVICE_ALARMS_LAST_SIGNAL_USED
16#8004 Double message, message rejected (call with message arrived or
outgoing for the second time in a sequence).
Entry is not executed in message list.
ALARMS_ERROR OR DSC_SVS_DEVICE_ALARMS_IV_CALL
16#8005 No display unit registered (message is entered into the list
anyway).
ALARMS_ERROR OR
DSC_SVS_DEVICE_ALARMS_EVENT_ID_NOT_USED
16#8006 Message name already being processed in a lower-priority level
Does not occur for SIMOTION.
ALARMS_ERROR OR
DSC_SVS_DEVICE_ALARMS_EVENT_ID_IN_USE
Basic functions
16#8007 No job has been started yet with this message name (first call with
Sig = FALSE).
Falling edge (outgoing message) arrived without prior rising edge
(incoming message)
ALARMS_ERROR OR
DSC_SVS_DEVICE_ALARMS_IV_FIRST_CALL
16#8008 Message name already assigned.
ALARMS_ERROR OR
DSC_SVS_DEVICE_ALARMS_IV_SFC_TYP
16#8009 Internal error
ALARMS_ERROR OR
DSC_SVS_DEVICE_ALARMS_INTERNAL_ERROR
16#8010 Entry was rejected; message acknowledgement memory full.
Only for _alarmSqId
ALARMS_ERROR OR
DSC_SVS_DEVICE_ALARMS_NO_ENTRY
Example
See Example of message generation (Page 357).
_alarmS ( // Short form only permitted

Sig : BOOL
Al_Name : Alarm_Name // Name of the message
}
) : DWORD
This function corresponds to the _alarmSId function with the following exceptions:
Basic functions
6.4.3 _alarmSqId function

When a level change occurs in the triggering signal (Sig), it generates a message that
requires acknowledgement and that is sent to all display devices logged on to receive such
signals. The message to be generated is specified by means of a project-wide, unique
AlarmID (see AlarmID (Page 355)).
Optionally, an auxiliary value can be appended.
A maximum of 40 messages can be processed simultaneously.
section.
Declaration
_alarmSqId (
Sig : BOOL
}
) : DWORD
Input parameters
Sig
Data type: BOOL
The signal triggering the message is interpreted as follows:
If the signal represents a rising edge relative to the last call with this message name
an incoming message is generated. An incoming message is also generated if the
signal state is TRUE on the first call with this message name.
If the signal represents a negative edge relative to the last call with this message
name an outgoing message is generated.
Ev_Id
sd (optional)
Data type: ANY_NUM, ANY_BIT
Default: 0
Auxiliary value: All elementary data types are permissible auxiliary values. Values
cannot be entered; only variables or previously defined identifiers for constants
belonging to one of the allowed data types are permitted.
The auxiliary value must be specified if an auxiliary value has been defined during
message configuration in SIMOTION SCOUT.
During compilation, a check cannot be performed with the data type of the auxiliary
value configured in the message.
Basic functions
Return value
Data type: DWORD

The return value informs the user about the result of the call.
The specified values can be represented as an OR operation between the
ALARMS_ERROR constants and the DSC_SVS_DEVICE_ALARMS_xxx constants.
16#0000 No error
For incoming message entry is executed in the message list.
For an outgoing message entry was deleted from the message
list.
16#8001 Message name not permissible
ALARMS_ERROR
OR DSC_SVS_DEVICE_ALARMS_ILLEGAL_EVENT_ID
16#8002 Loss of message due to overflow (no more space in the message
list).
All 40 entries of the message list are occupied.
ALARMS_ERROR OR
16#8003 Loss of message due to overflow (signal not yet sent, signal
overflow).
Send buffer for notifying clients is still occupied by the last event.
Error may also occur if function calls come quickly one after the
other with rising and falling edge.
ALARMS_ERROR OR
16#8004 Double message, message rejected (call with message arrived or
outgoing for the second time in sequence).
ALARMS_ERROR OR DSC_SVS_DEVICE_ALARMS_IV_CALL
16#8005 No display unit registered (message is entered into the list
anyway).
ALARMS_ERROR OR
16#8006 Message name already being processed in a lower-priority level
ALARMS_ERROR OR
Basic functions
16#8007 No job has been started yet with this message name (first call with
Sig = FALSE).
Falling edge (outgoing message) arrived without prior rising edge
(incoming message)
Entry not executed in message list.
ALARMS_ERROR OR
16#8008 Message name already assigned.
ALARMS_ERROR OR
16#8009 Internal error
ALARMS_ERROR OR
16#8010 Entry was rejected; message acknowledgement memory full.
ALARMS_ERROR OR
Example
See Example of message generation (Page 357)Programming messages.
_alarmSq ( // Short form only

Sig : BOOL
{ Data : ANY_NUM, ANY_BIT
}
) : DWORD
This function corresponds to the _alarmSqId function with the following exceptions:
Basic functions
6.4.4 _alarmScId function

It displays the status of a message and its acknowledgement status. The message is
specified by means of a project-wide, unique AlarmID (see AlarmID (Page 355)).
section.
Declaration
_alarmScId (
) : DWORD
Input parameters
Ev_Id
Return value
Data type: DWORD

The return value informs the user about the result of the call and the status of a message.
The constant values and symbolic constants below can be used with on an equal footing.
First check for error; see also Programming messages (Page 353):
16#8000 Filter for errors
ALARMS_ERROR
16#8001 Message name not permitted.
ALARMS_ERROR OR
DSC_SVS_DEVICE_ALARMS_ILLEGAL_EVENT_ID
Second check for error status; see also Programming messages (Page 353):
16#0000 Outgoing message, not acknowledged (a).
16#0001 Incoming message, not acknowledged (b).
ALARMS_STATE
Basic functions
16#0010 There is no message for this message name.

(3 options:
Message not yet been triggered (1),
message triggered via AlarmS, but also sent (2),
message triggered via _AlarmSq, sent and acknowledged at the
display device (3)).
16#0101 Incoming message, acknowledged (c).
ALARMS_STATE OR ALARMS_QSTATE
Messages a-c imply _alarmSqId or _alarmSq, message b implies _alarmScId or _alarmSc.
Example
See Checking the error number and status of a message (filtering return values) on page 5-
261 in Subsection 5.7.1.
_alarmSc ( // Short form only permitted

) : DWORD
This function corresponds to the _alarmScId function with the following exceptions:
6.4.5 _getAlarmId function

It generates the AlarmId of the message from a configured, application-specific message
name. This AlarmId can be assigned to a variable of data type StructAlarmId and used as an
input parameter in the following functions:
_alarmSId function
_alarmSqId function
_alarmScId function
Basic functions
NOTICE
Declaration
_getAlarmId ( // Short form only permitted

) : StructAlarmId
Input parameters
Al_Name
This is a message name configured specifically for the application that is created when
the message is configured in SIMOTION SCOUT.
Return value

The return value contains the AlarmId of the configured message.
See also
_alarmScId function (Page 270)
AlarmId (Page 355)
_alarmSqId function (Page 267)
Basic functions
6.4.6 Function _getPendingAlarms
Description
The function returns a max. of 40 pending alarms according to the maximum number of
entries in the alarm list. (pending alarms). The number of pending alarms is displayed in
numberOfPendingAlarms.
The type of each alarm is displayed in _type.
The type of each alarm is displayed in state.
Syntax
_getPendingAlarms :StructRetGetPendingAlarms
StructRetGetPendingAlarms :STRUCT
numberOfPendingAlarms :UINT;
alarm :Array[1..40] of StructPendingAlarmState;
END_STRUCT
StructPendingAlarmState :STRUCT
Id :StructAlarmId;
_type :EnumAlarmIdType [ALARM_S |ALARM_SQ]
State :EnumAlarmIdState [INCOMING|OUTGOING]
END_STRUCT
6.4.7 Functions _resetAlarmId and _reset_AllAlarmId
Description
Use the functions _resetAlarmId and _resetAllAlarmId to set one or all alarms to "outgoing".
As before SQ alarms must be acknowledged via an HMI or the SCOUT.
Note
Set "outgoing" and concurrent "Acknowledge" of the AlarmSQ in a 2nd step if necessary;
Resetting the alarms deletes the AlarmS,
You must acknowledge the AlarmSQ yourself.
Basic functions
Setting a single alarm to "outgoing"
_resetAlarmId //( see _alarmSId + extension, no error, alarm not

pending, ID not available, internal error)
(
Id :StructAlarmId;
) : DWORD
Setting all pending alarms to "going"
_resetAllAlarmId : DWORD //( see _alarmSId + extension, no error,

internal error)
(
Id :StructAlarmId;
) : DWORD
Basic functions
Programming of general standard functions 7
7.1 Programming of general standard functions - overview
SIMOTION provides a series of standard functions you can call in your sources to solve
common tasks.
Note
Some of the following standard functions can only be called in short form, i.e. with a
complete list of all parameter values, but without specifying the formal parameters:
Result := function name (1st parameter value, 2nd parameter value)
instead of
Result := function name (formal parameter1 := 1st parameter value, etc.)
This is noted in the description of each function.
For information about the general data types (e.g. ANY_INT, ANY_BIT), see Elementary
data types, General data types table in the ST Programming Manual.
Using the command library

The command library is a tab in the project navigator. It contains the available system
functions, system function blocks, and operators.
You can drag these elements from the command library to the ST editor window with
drag&drop.
Comparison of the system functions for SIMOTION and SIMATIC

You can find a comparison of the SIMATIC S7 and SIMOTION system functions in the
2_FAQ directory on the Utilities & Applications CD.
Basic functions
Programming of general standard functions
7.2 Numeric standard functions
7.2.1 Special features of a numeric function

Every numeric standard function has an input parameter. The result is always the return
value. The general numeric, the logarithmic and the trigonometric standard functions each
specify a group of numeric standard functions through the function name and the data type.
7.2.2 General numeric standard functions

General numeric standard functions are used for:
Calculation of the absolute value of a variable
Calculation of the square root of a variable
Truncating a variable to its integer part
Table 7-1 General numeric standard functions
Function Input parameters Return value Description

name Name Data type Data type
ABS in ANY_NUM ANY_NUM1 Absolute value
SQRT in ANY_REAL ANY_REAL1 Square root
TRUNC in ANY_REAL ANY_INT Truncation of value to integer part
(0 direction)
1 Data type of input parameter in.
The following table shows possible general numeric standard function calls and their results:
Table 7-2 General numeric standard function calls
Call Result
Result:=ABS (-5); 5
Result:=ABS (in := -5);
Result:=SQRT (81.0); 9.0
Result:=SQRT (in := 81.0);
Result:=TRUNC (-3.141_59); -3
Result:=TRUNC (in := -3.141_59);
Basic functions
7.2.3 Logarithmic standard functions

Logarithmic standard functions are the functions for the calculation of an exponential value
or a logarithm.
Table 7-3 Logarithmic standard functions

name
Name Data type Data type
EXP in ANY_REAL ANY_REAL1 ex (e function)
EXPD in ANY_REAL ANY_REAL1 10x
EXPT In 1 ANY_REAL ANY_REAL2 Exponentiation
in 2 ANY_NUM (see also Operator ** in Arithmetic
expressions in the ST Programming
Manual)
LN in ANY_REAL ANY_REAL1 Natural logarithm
LOG in ANY_REAL ANY_REAL1 Common logarithm
1 Data type of input parameter in.
2 Data type of input parameter in1.
The following table shows possible logarithmic standard function calls and their results:
Table 7-4 Logarithmic standard function calls
Call Result
Result := EXP (4.1); 60.3403 ...
Result := EXP (in := 4.1);
Result := EXPD (3.0); 1_000.0
Result := EXPD (in := 3.0);
Result := LN (2.718_281); 1.0
Result := LN (in := 2.718_281);
Result := LOG (245); 2.389_166
Result := LOG (in := 245);
7.2.4 Trigonometric standard functions

The trigonometric standard functions listed in the table expect and calculate variables of
angles in radian measure.
Table 7-5 Trigonometric standard functions

ACOS in ANY_REAL ANY_REAL1 2 Arc cosine (main value)
ASIN in ANY_REAL ANY_REAL1 2 Arc sine (main value)
ATAN in ANY_REAL ANY_REAL1 2 Arc tangent (main value)
Basic functions
Input parameters Return value

COS in ANY_REAL2 ANY_REAL1 Cosine (radian measure input)
SIN in ANY_REAL2 ANY_REAL1 Sine (radian measure input)
TAN in ANY_REAL2 ANY_REAL1 Tangent (radian measure input)
1 Data type of input parameter in
2 Angle in radian measure
The following table shows possible trigonometric standard function calls and their results:
Table 7-6 Trigonometric standard function calls
Call Result
PI:= 3.141592; //PI is a variable! 0.5
Result := SIN (PI / 6);
Result := SIN (in := PI / 6);
Result := ACOS (0.5); 1.047_197 //equals PI/3
Result := ACOS (in := 0.5);
7.2.5 Bit string standard functions

Each bit string standard function has two input parameters:
in (data type ANY_BIT):
Bit string to be manipulated by bit shift operations
n (data type USINT):
Number of places to be rotated for ROL and ROR
Number of places to be shifted for SHL and SHR
The result is always the return value. The following table shows the function names and the
data types of the two input parameters and of the return value.
Table 7-7 Bit string standard functions

name
ROL in ANY_BIT ANY_BIT1 The bit string in parameter in is left-
n USINT rotated through the number of
places specified by the content of
parameter n.
ROR in ANY_BIT ANY_BIT1 The bit string in parameter in is
n USINT right-rotated through the number of
places specified by the content of
parameter n.
SHL in ANY_BIT ANY_BIT1 The bit string contained in
n USINT parameter in is left-shifted and
replaced by 0, as specified by the
content of parameter n2.
Basic functions
7.3 Access to bits in bit strings

SHR in ANY_BIT ANY_BIT1 The bit string contained in
n USINT parameter in is right-shifted and
replaced by 0, as specified by the
content of parameter n2.
1Data type of input parameter in
2Only the five least-significant bits of the parameter in are evaluated, so that, for example:
SHL (16#FFFF_FFFF,32) = 16#FFFF_FFFF
SHR (16#FFFF_FFFF,32) = 16#FFFF_FFFF
Note
If numeric values are used as input parameter in, the smallest possible data type is assumed
(for example, BOOL if 1, BYTE if 2).
The following table shows possible bit string standard function calls and their results.
Table 7-8 Examples of bit string standard function calls
Call Result
Result := ROL (2#1101_0011, 5); 2#0111_1010
// 1st parameter corresponds to 211 decimal (= 122 decimal)
Result := ROR (2#1101_0011, 2); 2#1111_0100
Result := SHL (2#1101_0011, 3); 2#1001_1000
Result := SHR (2#1101_0011, 2); 2#0011_0100
Result := SHL (1, 3); 2#0000_0000
// 1st parameter data type BOOL (= 0 decimal)
Result := SHL (2, 3); 2#0001_0000
// 1st parameter data type BYTE (= 16 decimal)
7.3.1 _getBit function

This function provides the value of the specified bit of a bit string variable.
Declaration
FUNCTION _getBit (// Bitstring-Variable

in : ANY_BIT, // Number of the bit
n : USINT
) : BOOL
Basic functions
Input parameters
in
Data type ANY_BIT
Bit string variable
n
Data type USINT
Number of the bit for which the value is to be output
Permissible values: [0..7] for BYTE
[0..15] for WORD
[0..31] for DWORD
When specifying impermissible values the function supplies the return value FALSE.
Return value
Data type: BOOL

Bit value
Example
myBit := _getBit (in := myBitString,

n := 5);
The user variable myBit contains bit 5 of the user variable myBitString.
Bit addressing (as of 4.1)

You can specify the bit number of a bit string variable (except BOOL) via the syntax of a
structure addressing. In this process specification of the bit number as integer, or
specification via symbolic constant from type ANY_INT in the limits of the bit string length is
possible. The function is enabled via the compiler switch "Extended language elements"
FUNCTION f : VOID
VAR CONSTANT
BIT_7 : INT := 7;
END_VAR
VAR
dw : DWORD;
b: BOOL;
END_VAR
b := dw.BIT_7; // Access to bit number 7
b := dw.3; // Access to bit number 3
b := dw.33; // Translation error; insufficient bit width!
END_FUNCTION
Basic functions
Note
When using bit string addressing on I/O and system variables as a consequence of the
separate read, operation and re-write process that is interruptible by another task, there is no
way to ensure consistent access. The error will not be detected by the system; read access
however is possible.
7.3.2 _setBit function

This function provides the value of a bit string variable if the specified bit has been set to a
specific Boolean value (TRUE/FALSE).
Declaration
FUNCTION _setBit (
in : ANY_BIT, // Bit string variable
n : USINT, // Bit number
{ value : BOOL // Bit value
}
) : ANY_BIT
Input parameters
in
Data type: ANY_BIT
Bit string variable
n
Data type: USINT
Number of the bit for which the value is to be set.
[0..15] for WORD
[0..31] for DWORD
If illegal values are specified (without an additional message), the unchanged value of
the bit string variable is returned.
value
(optional)
Default: TRUE
Value assigned to the bit to be set
Basic functions
Return value
Data type: ANY_BIT

Data type of input parameter in.
Value of the bit string variable with modified bit.
Note: For direct modification of the bit string variable, the return value can be assigned to it.
Example
myBitString := _setBit (in := myBitString,

n := 5,
value := FALSE);
Bit 5 of the myBitString user variable is set to FALSE (logic 0).
Bit addressing (as of 4.1)

You can specify the bit number of a bit string variable (except BOOL) via the syntax of
structure addressing. In this process specification of the bit number as integer, or
specification via symbolic constant from type ANY_INT in the limits of the bit string length is
possible. The function is enabled via the compiler switch "Extended language elements"
FUNCTION f : VOID
VAR CONSTANT
BIT_7 : INT := 7;
END_VAR
VAR
dw : DWORD;
b: BOOL;
b = 1;
END_VAR
b := dw.BIT_7; // Access to bit number 7
b := dw.3; // Access to bit number 3
b := dw.33; // Translation error; insufficient bit width!
END_FUNCTION
Note
When using bit string addressing on I/O and system variables as a consequence of the
separate read, operation and re-write process that is interruptible by another task, there is no
way to ensure consistent access. The error will not be detected by the system; read access
however is possible.
Basic functions
7.3.3 _toggleBit function

This function supplies the value of a bit string variable in which the specified bit is inverted.
Declaration
FUNCTION _toggleBit (
in : ANY_BIT, // Bit string variable
n : USINT, // Bit number
) : ANY_BIT
Input parameters
in
Data type: ANY_BIT
Bit string variable
n
Data type: USINT
Number of the bit whose value is to be inverted (set from TRUE to FALSE or from
FALSE to TRUE).
[0..15] for WORD
[0..31] for DWORD
If illegal values are specified (without an additional message), the unchanged value of
the bit string variable is returned.
Return value
Data type: ANY_BIT

Data type of input parameter in.
Value of the bit string variable with inverted bit
Note: For direct modification of the bit string variable, the return value can be assigned to it.
Example
myBitString := _toggleBit (in := myBitString, n := 5);

Bit 5 of the myBitString user variable is inverted.
Basic functions
7.4 Bit operations on numeric data types
7.4 Bit operations on numeric data types

The following functions enable bit operations on numeric data types. Each bit of the return
value is generated from the corresponding bits of the input parameters.
Table 7-9 Bit operators on numeric data types

_NOT1 in ANY_INT ANY_INT2 Bit-by-bit negation
_AND in1 ANY_INT3 ANY_INT4 Bit-by-bit conjunction (AND operation): A
in2 ANY_INT3 bit of the return value is only 1 when all
the corresponding bits of the input
parameters are 1, otherwise 0.
_OR in1 ANY_INT3 ANY_INT4 Bit-by-bit disjunction (OR operation): A
in2 ANY_INT3 bit of the return value is only 1 when at
least one of the corresponding bits of the
input parameters is 1, otherwise 0.
_XOR n1 ANY_INT3 ANY_INT4 Bit-by-bit exclusive disjunction (exclusive
in2 ANY_INT3 OR operation): A bit of the return value is
only 1 when exactly one of the
corresponding bits of the input
parameters is 1, otherwise 0.
1The _NOT function may only be called in the short form, i.e. with a complete listing of all parameter
values, but without specification of the formal parameters.
2 Data type of the input parameter.
3It must be possible to convert the data types of in1 and in2 implicitly to a common general ANY_INT
data type.
4 Smallest common data type to which the input parameters can be converted implicitly.
7.5 String processing (from V4.0 and greater)
7.5.1 Functions for the string editing

The following functions enable the editing of variables of data type STRING.
Table 7-10 Functions for the string editing

CONCAT in1 STRING[254] STRING[254] Attaches string in2 to string in11.
in2 STRING[254] Error flags:
TSI#ERRNO := 1 if
length(IN1)+length(IN2) > 254
Basic functions

DELETE In STRING[254] STRING[254] Deletes l character(s) from string in,
l INT starting at position p2 4 6.
p INT Error flags:
TSI#ERRNO := 2 if L < 0, P < 1,
P > length(IN)
FIND in1 STRING[254] INT Returns position at which string in2
in2 STRING[254] begins in string in1. Result is 0 if string
in2 is not contained in string in1.
Error flags:
None
INSERT in1 STRING[254] STRING[254] Inserts string in1 in string in2, starting at
in2 STRING[254] position p1 2 5 7.
p INT Error flags:
TSI#ERRNO := 2 if P < 0, P >
length(IN1)
TSI#ERRNO := 1 if
length(IN1)+length(IN2) > 254
LEFT In STRING[254] STRING[254] Returns the first l characters in string
l INT in2 3.
Error flags:
TSI#ERRNO := 2 if L < 0
LEN in STRING[254] STRING[254] Returns the number of characters in
string in.
Error flags:
None
MID In STRING[254] STRING[254] Returns l character(s) from string in,
l INT starting at position p2 3.
p INT Error flags:
TSI#ERRNO := 2 if L < 0, P < 1, P >
length(IN)
REPLACE in1 STRING[254] STRING[254] Replaces l character(s) from string in1
in2 STRING[254] with string in2, starting at position p2 4 7.
l INT Error flags:
p INT
TSI#ERRNO := 2 if L < 0, P < 1, P >
length(IN1)
TSI#ERRNO := 1 if
length(IN1)+length(IN2)-L > 254
RIGHT In STRING[254] STRING[254] Returns the last l characters in string
l INT in2 3.
Error flags:
TSI#ERRNO := 2 if L < 0
Basic functions

1 If LEN (in1) + LEN (in2) > 254: String is truncated.
2 If l < 0 or p < 0: Empty string is returned.
3 If l = 0 or p = 0: Empty string is returned.
4 If l = 0 or p = 0: String in or in1 remains unchanged.
5 If p = 0: String in1 is attached to string in2.
6 If p > LEN(in) : String in remains unchanged.
7 If p > LEN(in1): String in2 is attached to string in1.
Table 7-11 Examples for calls of the functions for the string processing
Call Result
A := CONCAT (in1 := ASTRING, in2 := 123); ASTRING123.
A := DELETE (in1 := ASTRING, l := 2, p := 4); ASTNG.
A := DELETE (in1 := ASTRING, l := 2, p := 0); ASTRING.
A := DELETE (in1 := ASTRING, l := 10, p := 4); AST.
A := DELETE (in1 := ASTRING, l := -1, p := 4); .
A := DELETE (in1 := ASTRING, l := 2, p := -1); .
B := FIND (in1 := ASTRING, in2 := RI); 4.
B := FIND (in1 := ASTRING, in2 := RB); 0.
A := INSERT (in1 := ASTRING, in2 := 123, p := 1); A123STRING.
A := INSERT (in1 := ASTRING, in2 := 123, p := 0); 123ASTRING.
A := INSERT (in1 := ASTRING, in2 := 123, p := 10); ASTRING123.
A := INSERT (in1 := ASTRING, in2 := 123, p :=-1); .
A := LEFT (in := ASTRING, l := 3); AST.
A := LEFT (in := ASTRING, l := 10); ASTRING.
A := LEFT (in := ASTRING, l := -1); .
B := LEN (in := ASTRING); 7.
A := MID (in := ASTRING, l :=3, p :=2 ); STR.
A := MID (in := ASTRING, l :=3, p :=6 ); NG.
A := MID (in := ASTRING, l :=3, p :=8 ); .
A := MID (in := ASTRING, l :=3, p :=0 ); .
A := REPLACE (in1 := ASTRING, in2 := 123, l := 4, p := 2); A123NG.
A := REPLACE (in1 := ASTRING, in2 := 123, l := 4, p := 1); 123ING.
A := REPLACE (in1 := ASTRING, in2 := 123, l := 0, p := 2); ASTRING.
A := REPLACE (in1 := ASTRING, in2 := 123, l := 4, p := 0); ASTRING.
A := REPLACE (in1 := ASTRING, in2 := 123, l := 2, p := 10); ASTRING123.
A := REPLACE (in1 := ASTRING, in2 := 123, l := 4, p := 5); ASTRI123.
A := REPLACE (in1 := ASTRING, in2 := 123, l := 4, p := -1); .
A := REPLACE (in1 := ASTRING, in2 := 123, l := -1, p : =2); .
A := RIGHT (in := ASTRING, l := 3); ING.
A := RIGHT (in := ASTRING, l := 10); ASTRING.
A := RIGHT (in := ASTRING, l := -1); .
For information about conversion functions for STRINGs, see Functions for the conversion of
INT/FLOAT and STRING data types (Page 295)
Basic functions
7.5.2 Error analysis during the string editing
Description
Errors which occur during string functions are stored separately for each task in the
Taskstartinfo. It is therefore implemented in the task context and can then be subsequently
queried accordingly in the same task, e.g. BackgroundTask.
Variable:TSI#ERRNO : DINT
Value 0 indicates free of errors. For the string functions, the errors in P (position in the string)
and L (number of characters) are stored separately from the violation of the maximum string
length with different values
Value 0 for free of errors
Value1 for violation of the maximum string length
Value 2 for P or L outside of the value range
Note
TSI#ERRNO cannot be used to examine the string length (applies to DINT_TO_STRING,
UDINT_TO_STRING, REAL_TO_STRING, and LREAL_TO_STRING).
In this case, the 0 error code will be set in TSI#ERRNO (string length exceeded).
You must, therefore, ensure that the string you enter is long enough or should check the
length in the user program prior to conversion.
Resetting of the TSI#ERRNO value:

The error remains in the Taskstartinfo until you explicitly reset the content of
TSI#ERRNO.
The value of TSI#ERRNO is only rewritten in the case of an error when executing a new
string; a correctly executed string function does not overwrite any error ID present in
TSI#ERRNO.
The error ID is reset when the task is restarted.
Cyclic execution of a task, e.g., IPOSynchronousTask does not overwrite the error ID.
The error ID is retained, as is the content of local variables.
Table 7-12 Example
VAR
A: STRING[254];
END_VAR
A := DELETE (in := 'ASTRING',_ l:= -1, p := 4);

// Result is empty string
IF (TSI#ERRNO = 2)then // String processing error
// L < 0, P < 1, P > length(IN)
A := 'ERROR';
END_IF;
Basic functions
7.6 Standard functions for data type conversion
7.6.1 Functions for the conversion of numeric data types and bit data types
Explicit conversion is always required if information could be lost, for example, if the value
range is decreased or the accuracy is reduced, as is the case for conversion from LREAL to
REAL.
The compiler outputs warnings when it detects conversions associated with loss of precision.
NOTICE
The type conversion may cause errors when the program is running, which will trigger the
error reaction set in the task configuration (see Evaluating faults and events).
Special attention is required when converting DWORD to REAL. The bit string from
DWORD is taken unchecked as the REAL value. You must make sure that the bit string in
DWORD corresponds to the bit pattern of a normalized floating-point number in accordance
with IEEE. To do this, you can use the functions _finite (see _finite function) and _isNaN
(see _isNaN function). To do this, you can use the _finite function and the _isNaN function.
Otherwise, an error is triggered (see above) as soon as the REAL value is first used for an
arithmetic operation (for example, in the program or when monitoring in the symbol
browser).
Explicit data type conversion is performed using standard functions, which are listed in the
following table.
Input parameters
Each function for the conversion of a data type has exactly one input parameter; named
in.
Return value
The result is always the return value of the function. The respective conversion rule is
specified in the following table.
Names
As the data types of the input parameter and the return value come from the respective
function name, they are not listed separately in the following table: For example, with the
BOOL_TO_BYTE function, the data type of the input parameter is BOOL and the data
type of the return value is BYTE.
Basic functions
Table 7-13 Functions for converting numeric data types and bit data types
Function name Conversion rule Implicitly
possible
BOOL_TO_BYTE Accept as least significant bit and fill the rest with 0. yes
BOOL_TO_DWORD Accept as least significant bit and fill the rest with 0. yes
BOOL_TO_WORD Accept as least significant bit and fill the rest with 0. yes
BOOL_VALUE_TO_DINT Accept Boolean value as DINT value (0 or 1). No
BOOL_VALUE_TO_INT Accept Boolean value as INT value (0 or 1). No
BOOL_VALUE_TO_LREAL Accept Boolean value as LREAL value (0.0 or 1.0). No
BOOL_VALUE_TO_REAL Accept Boolean value as REAL value (0.0 or 1.0). No
BOOL_VALUE_TO_SINT Accept Boolean value as SINT value (0 or 1). No
BOOL_VALUE_TO_UDINT Accept Boolean value as UDINT value (0 or 1). no
BOOL_VALUE_TO_UINT Accept Boolean value as UINT value (0 or 1). no
BOOL_VALUE_TO_USINT Accept Boolean value as USINT value (0 or 1). no
BYTE_TO_BOOL Accept the least significant bit. no
BYTE_TO_DINT Accept bit string as least significant byte and fill the rest with 0. no
BYTE_TO_DWORD Accept bit string as least significant byte and fill the rest with 0. yes
BYTE_TO_INT Accept bit string as least significant byte and fill the rest with 0. no
BYTE_TO_SINT Accept bit string as SINT value. no
BYTE_TO_UDINT Accept bit string as least significant byte and fill the rest with 0. no
BYTE_TO_UINT Accept bit string as least significant byte and fill the rest with 0. no
BYTE_TO_USINT Accept bit string as USINT value. no
BYTE_TO_WORD Accept bit string as least significant byte and fill the rest with 0. yes
BYTE_VALUE_TO_LREAL Interpret bit string as USINT value and accept this value. no
BYTE_VALUE_TO_REAL Interpret bit string as USINT value and accept this value. no
DINT_TO_BYTE Accept the least significant byte as bit string. no
DINT_TO_DWORD Accept bit string. no
DINT_TO_INT Accept the 2 least significant bytes as INT value. no
DINT_TO_LREAL Accept value. yes
DINT_TO_REAL Accept value (accuracy may be lost). no
DINT_TO_SINT Accept the least significant byte as SINT value. no
DINT_TO_UDINT Accept value as bit string. no
DINT_TO_UINT Accept the 2 least significant bytes as UINT value. no
DINT_TO_USINT Accept the least significant byte as USINT value. no
DINT_TO_WORD Accept the 2 least significant bytes as bit string. no
DINT_VALUE_TO_BOOL FALSE (0), if DINT value = 0; else TRUE (1). no
DWORD_TO_BOOL Accept the least significant bit. no
DWORD_TO_BYTE Accept the least significant byte as bit string. no
DWORD_TO_DINT Accept bit string as DINT value. no
DWORD_TO_INT Accept the 2 least significant bytes as INT value. no
Basic functions

possible
DWORD_TO_REAL Accept bit string as REAL value no
(validity check of the REAL number is not carried out!).
Note the important information: Notice on Page 6-300.
DWORD_TO_SINT Accept the least significant byte as SINT value. no
DWORD_TO_UDINT Accept bit string as UDINT value. no
DWORD_TO_UINT Accept the 2 least significant bytes as UINT value. no
DWORD_TO_USINT Accept the least significant byte as USINT value. no
DWORD_TO_WORD Accept the 2 least significant bytes as bit string. no
DWORD_VALUE_TO_LREAL Interpret bit string as UDINT value and accept this value. no
DWORD_VALUE_TO_REAL Interpret bit string as UDINT value and accept this value (accuracy no
can be lost).
INT_TO_BYTE Accept the least significant byte as bit string. no
INT_TO_DWORD Accept bit string as least significant word (2 bytes) and fill the rest no
with 0.
INT_TO_DINT Accept value. yes
INT_TO_LREAL Accept value. yes
INT_TO_REAL Accept value. yes
INT_TO_SINT Accept the least significant byte as SINT value. no
INT_TO_USINT Accept the least significant byte as USINT value. no
INT_TO_UDINT Accept bit string as least significant word (2 bytes) and fill the rest no
with 0.
INT_TO_UINT Accept bit string as UINT value. no
INT_TO_WORD Accept bit string. no
INT_VALUE_TO_BOOL FALSE (0), if INT value = 0; else TRUE (1). no
LREAL_TO_DINT Round off to next integer1. no
LREAL_TO_INT Round off to next integer1. no
LREAL_TO_REAL Accept value (accuracy may be lost). no
LREAL_TO_SINT Round off to next integer1. no
LREAL_TO_UDINT Round off value to next integer1. no
LREAL_TO_UINT Round off value to next integer1. no
LREAL_TO_USINT Round off value to next integer1. no
LREAL_VALUE_TO_BOOL FALSE (0), if LREAL value = 0.0; else TRUE (1). no
LREAL_VALUE_TO_BYTE Round off value to next integer1 and accept value as bit string. no
LREAL_VALUE_TO_DWORD Round off value to next integer1 and accept value as bit string. no
LREAL_VALUE_TO_WORD Round off value to next integer1 and accept value as bit string. no
REAL_TO_DINT Round off to next integer1. no
REAL_TO_DWORD Accept bit string. no
REAL_TO_INT Round off to next integer1. no
REAL_TO_LREAL Accept value. yes
REAL_TO_SINT Round off to next integer1. no
REAL_TO_UDINT Round off value to next integer1. no
REAL_TO_UINT Round off value to next integer1. no
Basic functions

possible
REAL_TO_USINT Round off value to next integer1. no
REAL_VALUE_TO_BOOL FALSE (0), if REAL value = 0.0; else TRUE (1). no
REAL_VALUE_TO_BYTE Round off value to next integer1 and accept value as bit string. no
REAL_VALUE_TO_DWORD Round off value to next integer1 and accept value as bit string. no
REAL_VALUE_TO_WORD Round off value to next integer1 and accept value as bit string. no
SINT_TO_BYTE Accept bit string. no
SINT_TO_DINT Accept value. yes
SINT_TO_DWORD Accept bit string as least significant byte and fill the rest with 0. no
SINT_TO_INT Accept value. yes
SINT_TO_LREAL Accept value. no
SINT_TO_REAL Accept value. no
SINT_TO_UDINT Accept bit string as least significant byte and fill the rest with 0. no
SINT_TO_UINT Accept bit string as least significant byte and fill the rest with 0. no
SINT_TO_USINT Accept bit string. no
SINT_TO_WORD Accept bit string as least significant byte and fill the rest with 0. no
SINT_VALUE_TO_BOOL FALSE (0), if SINT value = 0; else TRUE (1). no
StructAlarmId_TO_DINT Accept bit string. no
UDINT_TO_BYTE Accept the least significant byte as bit string. no
UDINT_TO_DINT Accept bit string. no
UDINT_TO_DWORD Accept bit string. no
UDINT_TO_INT Accept the 2 least significant bytes as INT value. no
UDINT_TO_LREAL Accept value. yes
UDINT_TO_REAL Accept value (accuracy may be lost). no
UDINT_TO_SINT Accept the least significant byte as SINT value. no
UDINT_TO_UINT Accept the 2 least significant bytes as UINT value. no
UDINT_TO_USINT Accept the least significant byte as USINT value. no
UDINT_TO_WORD Accept the 2 least significant bytes as bit string. no
UDINT_VALUE_TO_BOOL FALSE (0), if UDINT value = 0; else TRUE (1). no
UINT_TO_BYTE Accept the least significant byte as bit string. no
UINT_TO_DINT Accept value. yes
UINT_TO_DWORD Accept bit string as least significant word (2 bytes) and fill the rest no
with 0.
UINT_TO_INT Accept bit string. no
UINT_TO_LREAL Accept value. no
UINT_TO_REAL Accept value. yes
UINT_TO_SINT Accept the least significant byte as SINT value. no
UINT_TO_UDINT Accept value. yes
UINT_TO_USINT Accept the least significant byte as USINT value. no
UINT_TO_WORD Accept bit string. no
UINT_VALUE_TO_BOOL FALSE (0), if UINT value = 0; else TRUE (1). no
USINT_TO_BYTE Accept bit string. no
USINT_TO_DINT Accept value. no
Basic functions

possible
USINT_TO_DWORD Accept bit string as least significant byte and fill the rest with 0. no
USINT_TO_INT Accept value. yes
USINT_TO_LREAL Accept value. no
USINT_TO_REAL Accept value. no
USINT_TO_SINT Accept bit string as SINT value. no
USINT_TO_UDINT Accept value. yes
USINT_TO_UINT Accept value. yes
USINT_TO_WORD Accept bit string as least significant byte and fill the rest with 0. no
USINT_VALUE_TO_BOOL FALSE (0), if USINT value = 0; else TRUE (1). no
WORD_TO_BOOL Accept the least significant bit. no
WORD_TO_BYTE Accept the least significant byte as bit string. no
WORD_TO_DINT Accept bit string as least significant word (2 bytes) and fill the rest no
with 0.
WORD_TO_DWORD Accept bit string as least significant word (2 bytes) and fill the rest yes
with 0.
WORD_TO_INT Accept bit string as INT value. no
WORD_TO_SINT Accept the least significant byte as SINT value. no
WORD_TO_UDINT Accept bit string as least significant word (2 bytes) and fill the rest no
with 0.
WORD_TO_UINT Accept bit string. no
WORD_TO_USINT Accept the least significant byte as USINT value. no
WORD_VALUE_TO_LREAL Interpret bit string as UINT value and accept this value. no
WORD_VALUE_TO_REAL Interpret bit string as UINT value and accept this value. no
1 If the distance to the two next integers is the same: Round off to next even integer
See also
Evaluating faults and events (Page 86)
_finite function (Page 305)
_isNaN function (Page 306)
Basic functions
7.6.2 Functions for converting date and time data types

The following standard functions are available for date and time data types.
For information about arithmetic expressions with data types date and time, see Arithmetic
expressions in the ST Programming Manual.
Table 7-14 Standard functions for date and time
Function name Input parameters Return value Description

CONCAT_DATE_TOD in1 DATE DATE_AND_TIME Combine DATE and TIME_OF_DAY to
in2 TIME_OF_DAY DATE_AND_TIME (DT).
DATE_AND_TIME_TO_T in DATE_AND_TIME TIME_OF_DAY Accept time of day.
IME_OF_DAY
or
DT_TO_TOD
DATE_AND_TIME_TO_ in DATE_AND_TIME DATE Accept date.
DATE
or
DT_TO_DATE
INT_TO_TIME in INT TIME Accept value as time (unit is ms).
REAL_TO_TIME in REAL TIME Round off to unsigned whole-number
component and accept the value as
indication of time (in ms).
TIME_TO_INT in TIME INT Accept time
(unit is ms) as value.
TIME_TO_REAL in TIME REAL Accept time
TIME_TO_UDINT in TIME UDINT Accept time
UDINT_TO_TIME in UDINT TIME Accept value as time (unit is ms).
Basic functions
7.6.3 Functions for the conversion of enumeration data types

You can obtain the numeric value of an enumeration data type element with the
ENUM_TO_DINT function. When calling the function, you specify the data type of the
enumeration element by placing the identifier of the data type and the character # in front of
the identifier of the enumeration element (enum_type#enum_value).
Table 7-15 Standard functions for date and time
Function name Input parameters Return value Description

ENUM_TO_DINT in Any enumeration DINT Supplies the numeric value of the
data type enumeration element
7.6.4 Conversions between BYTE and STRING
Description
The implicit conversion from BYTE to STRING and from STRING to BYTE enables a byte to
be written to a string or a byte to be read from a string (ASCII format, 1 byte per character).
Note
Strings are interpreted as ARRAY[1...stringsize].
Conversion from BYTE to STRING

The conversion is performed through direct assignment of the byte to string element n:
mySTring[n] := myByte;
Rules:
1. If n > len(myString) and n < maxlen(myString), the length of the string is adjusted.
All characters between myString[len(myString)] ... myString[n] are assigned the value "0".
2. If n > maxlen(myString), TSI#ERRNO is set to value 2 (value outside of the valid range)
and myByte assigned the value 0.
Conversion from STRING to BYTE

The conversion is performed through direct assignment of string element k to the byte:
myByte := myString[k];
Basic functions
Rule
1. If k > len(myString), TSI#ERRNO is set to value 2 (value outside of the valid range) and
myByte assigned the value 0.
Applications
Read out of internal variable and, if required, conversion from INT to STRING or DINT to
STRING.
Direct output of STRING on HMI, e.g. WIN CC Op.
Conversion of STRING to ARRAY of bytes and thus output on HMI.
7.6.5 Functions for the conversion of INT/FLOAT and STRING data types
Description
The following functions are used for the conversion of numbers to strings for the display of
numbers of the INT and FLOAT data types.
Explicit data type conversion is performed using standard functions, which are listed in the
following table.
Input parameter
Each function for the conversion of a data type has exactly one input parameter named IN.
Return value
The result is always the return value of the function.
Rules for the conversion from DINT/UDINT/REAL/LREAL to STRING

Values are written left-justified in the STRING as decimal number or real number.
If signs are present, they are written in front of the numerals.
If the string length is not sufficient, the numeric sequence is truncated on the right and
TSI#ERRNO set to value 1 (violation of the string length).
Rules for the conversion from STRING to DINT/UDINT/REAL/LREAL

1. Leading white spaces are not taken into account; blanks and tabs are recognized as
white spaces.
2. Conversion stops at the end of the string or at the first character that is not a numeral.
3. If the string does not contain a valid number or the value range is violated, TSI#ERRNO
is set to value 3 (invalid number representation) and 0.0 (REAL/LREAL) output.
Basic functions
7.7 Converting between any data types and byte arrays
Function Example Description

DINT_TO_STRING myString:=DINT_TO_STRING(myDint) Observe rules
UDINT_TO_STRING myString:=UDINT_TO_STRING(myUDint,myUsint Observe rules
)
STRING_TO_DINT myDint:=STRING_TO_DINT(myString) A valid number has the form
[white space [sign][digits]
STRING_TO_UDINT myDint:=STRING_TO_UDINT(myString) A valid number has the form
[white space [+][digits]
Leading zeros are omitted.
With the conversion to STRING, the
number representation is decimal.
With the conversion from STRING,
the number must be present as a
decimal. Octal and hexadecimal
notation is not supported.
REAL_TO_STRING myString:=REAL_TO_STRING(myReal) Observe rules
LREAL_TO_STRING myString:=LREAL_TO_STRING(myLReal)
STRING_TO_REAL myReal:=STRING_TO_REAL(myString) A valid number has the form
STRING_TO_LREAL myLReal:=STRING_TO_LREAL(myString) [white space [sign][digits][digits][ { e I E
}[sign]digits]
Application
An HMI fetches texts from the file system (recipe memory) and loads text for text via a
sequence into the run-time system of SIMOTION (unit variable).
The data is saved with _saveUnitDataSet or _exportUnitDataSet in the run-time system.
Extension of the STRINGs with current SIMOTION data (e.g. actual position)
The text is output via the serial interface (e.g. ET200)
7.7.1 General
Variables of any data type (elementary data types, standard data types of technology
packages and devices, and user-defined data types) can be converted to byte fields, and
vice versa, using the following functions:
For further information (e.g. on the arrangement of the byte arrays, application example) see
Converting between any data types and byte arrays (marshalling) (Page 366)).
These functions are commonly used to create defined transmission formats for data
exchange between various devices (see also Communication functions (Page 369)).
Basic functions
7.7.2 AnyType_to_BigByteArray function, AnyType_to_LittleByteArray function

The functions convert a variable of any data type (elementary data types, standard data
types of technology packages and devices, and user-defined data types) to a byte array.
For AnyType_to_BigByteArray:
Big Endian-type byte array (most significant byte at low memory address)
For AnyType_to_LittleByteArray:
Little Endian-type byte array (least significant bytes at low memory address)
The array index of the first element to be occupied in the array is an optional constant offset
(default = 0). It must fall within the array limits.
For information on big endian, little endian, application examples, notes, and non-portable
convertible data types.
When an ST source file is compiled, a check is made to determine whether the offset falls
within the array limits and whether the variable can be displayed completely in the byte array
(between the offset and the upper array limit).
Only those byte array elements that are covered by variables to be converted are occupied
with values. Other elements of the byte array remain unchanged.
Note
The functions either have to be called and processed in one task only or, if several tasks are
used, suitable methods have to be implemented to synchronize these tasks from the point of
view of calling and processing functions (e.g., _testAndSetSemaphore, _releaseSemaphore).
If different tasks are used for the purpose of calling and processing the result, then undefined
values may be produced.
NOTICE
Each variable of data type BOOL (including variables that are components within a
structured data type) occupies one byte in the byte array.
Declaration
FUNCTION AnyType_to_BigByteArray (
anydata : ANY, // Any data type
{ offset : DINT // Only constants permitted
}
) : ARRAY [..] OF BYTE // Big Endian
FUNCTION AnyType_to_LittleByteArray (
anydata : ANY, // Any data type
}
) : ARRAY [..] OF BYTE // Little Endian
Basic functions
Input parameters
anydata
Data type: ANY
Variable of any data type
The following data types are permitted:
Technology Objects
offset
(optional)
Data type: DINT
Default 0
Constant, specifies the first element to be assigned in the array.
Return value
Data type: ARRAY [..] OF BYTE

For AnyType_to_BigByteArray:
In Big Endian arrangement (most significant byte at low memory address)
For AnyType_to_LittleByteArray:
In Little Endian arrangement (least significant byte at low memory address)
See also
Converting between any data types and byte arrays (marshalling) (Page 366)
7.7.3 BigByteArray_to_AnyType function, LittleByteArray_to_AnyType function

The functions convert a byte array to a variable of any data type (elementary data types,
system data types, user-defined data types).
For BigByteArray_to_AnyType
Big Endian-type byte array (most significant byte at low memory address)
For LittleByteArray_to_AnyType
Little Endian-type byte array (least significant bytes at low memory address)
The array index of the first element to be evaluated in the array is an optional constant offset
(default = 0). It must fall within the array limits.
For information on big endian, little endian, application examples, notes, and non-portable
convertible data types.
Basic functions
When an ST source file is compiled, a check is made to determine whether the offset falls
within the array limits and whether the byte array (between the offset and the upper array
limit) completely covers the variable.
Note
The functions either have to be called and processed in one task only or, if several tasks are
used, suitable methods have to be implemented to synchronize these tasks from the point of
view of calling and processing functions (e.g., _testAndSetSemaphore, _releaseSemaphore).
If different tasks are used for the purpose of calling and processing the result, then undefined
values may be produced.
NOTICE
One byte from the byte array is assigned to each variable of data type BOOL (including
variables that are components within a structured data type).
Declaration
FUNCTION BigByteArray_to_AnyType (
byteArray : ARRAY [..] OF BYTE, // Big Endian
}
) : ANY
FUNCTION LittleByteArray_to_AnyType (
byteArray : ARRAY [..] OF BYTE, // Little Endian
}
) : ANY
Input parameters
byteArray
Data type: ARRAY [..] OF BYTE
For BigByteArray_to_AnyType
In Big Endian arrangement (most significant byte at low memory address)
For LittleByteArray_to_AnyType
In Little Endian arrangement (least significant byte at low memory address)
offset
(optional)
Data type: DINT
Default 0
Constant, specifies the first element to be assigned in the array.
Basic functions
7.8 Combining bit-string data types
Return value
Data type: ANY

Any data type. The following data types are not permitted:
Technology objects
NOTICE
The marshalling function result may cause errors when the program is running, the error
response set in the task configuration will then be triggered (see Execution errors in
programs).
Proceed with caution when converting byte arrays to the general ANY_REAL data type or
to structures that contain this data type. The bit string from the byte array is taken
unchecked as the ANY_REAL value. You must make sure that the bit string of the byte
array corresponds to the bit pattern of a normalized floating-point number according to
IEEE. To do this, you can use the _finite and _isNaN functions. To do this, you can use the
_finite function and the _isNaN function.
Otherwise, an error is triggered (see above) as soon as the ANY_REAL value is first used
for an arithmetic operation (for example, in the program or when monitoring in the symbol
browser).
See also
Execution errors in programs (Page 87)
Converting between any data types and byte arrays (marshalling) (Page 366)
7.8.1 General information for combining bit-string data types

The following functions enable several bit-string data-type variables to be combined into a
higher-level data-type variable.
The inverse functions are implemented as functions (see Separating bit-string data types
(Page 399))
Basic functions
7.8.2 _BYTE_FROM_8BOOL function

This function combines eight variables of data type BOOL into one variable of data type
BYTE.
Declaration
FUNCTION _BYTE_FROM_8BOOL (
{ bit0, // Lease significant bit
bit1, bit2, bit3, bit4, bit5, bit6,
bit7: BOOL // Most significant bit
}
) : BYTE
Input parameters
bit0 (optional)
...
bit7 (optional)
Data type: BOOL
Default FALSE
Up to eight variables of data type BOOL, which are to be combined into a variable of
data type BYTE
bit0: least significant bit
...
bit7: most significant bit
Return value
Data type: BYTE

Byte formed by combining input parameters.
7.8.3 _WORD_FROM_2BYTE function

This function combines two variables of data type BYTE into one variable of data type
WORD.
Basic functions
Declaration
FUNCTION _WORD_FROM_2BYTE (
{ byte0, // Less significant byte
byte1: BYTE // More significant byte
}
) : WORD
Input parameters
byte0 (optional)
byte1 (optional)
Data type: BYTE
Default BYTE#0
Up to two variables of data type BYTE, which are to be combined into a variable of data
type WORD
byte0: less significant byte
byte1: more significant byte
Return value
Data type: WORD

Word formed by combining input parameters.
7.8.4 _DWORD_FROM_2WORD function

This function combines two variables of data type WORD into one variable of data type
DWORD.
Declaration
FUNCTION _DWORD_FROM_2WORD (
{ word0, // Less significant word
word1: WORD // More significant word
}
) : DWORD
Basic functions
Input parameters
word0 (optional)
word1 (optional)
Data type: WORD
Default WORD#0
Up to two variables of data type WORD, which are to be combined into a variable of
data type DWORD
word0: less significant word
word1: more significant word
Return value
Data type: DWORD

Double word formed by combining input parameters.
7.8.5 _DWORD_FROM_4BYTE function

This function combines four variables of data type BYTE to one variable of data type
DWORD.
Declaration
FUNCTION _DWORD_FROM_4BYTE (
{ byte0 // Least significant byte
byte1, byte2,
byte3: BYTE // Most significant byte
}
) : DWORD
Input parameters
byte0 (optional)
byte1 (optional)
byte2 (optional)
byte3 (optional)
Data type: BYTE
Default BYTE#0
Basic functions
7.9 Conversion of technology object data types
Up to four variables of data type BYTE, which are to be combined into a variable of
data type DWORD
byte0: least significant byte
...
byte3: most significant byte
Return value
Data type: DWORD

Double word formed by combining input parameters.
7.9 Conversion of technology object data types
7.9.1 AnyObject_to_Object function

The function converts variables of a hierarchical TO data type (driveAxis, posAxis,
followingAxis) or of the general ANYOBJECT type to a compatible TO data type.
You will find examples and additional information in Conversion of TO data types.
Declaration
FUNCTION AnyObject_to_Object (
in : ANYOBJECT
) : ANYOBJECT
Input parameters
in
Data type: ANYOBJECT
Variable of a TO data type (or ANYOBJECT) or a TO instance
Basic functions
7.10 Functions for verification of floating-point numbers
Return value
Data type: ANYOBJECT

Value is TO#NIL, if type conversion is not possible
See also
Conversion of TO data types (Page 75)
7.10.1 _finite function

The function checks whether the input parameter complies with the bit pattern for infinite in
accordance with IEEE 754.
In combination with the _isNaN function, it is used in particular to check if bit strings
converted to floating-point numbers correspond to the bit pattern of a normalized floating-
point number in accordance with IEEE.
This prevents that the error response specified during task configuration is triggered (see
Execution errors in programs) as soon as an invalid floating-point number is first used for an
arithmetic operation (for example in the program or when monitoring in the symbol browser).
Declaration
_finite (
in : ANY_REAL
) : BOOL
Input parameters
in
Data type: ANY_REAL
Variable to be checked
Basic functions
Return value
Data type: BOOL

FALSE Bit pattern for infinite in accordance with IEEE 754
TRUE No bit pattern for infinite in accordance with IEEE 754, i.e. valid
floating-point number within the value range or invalid bit pattern
(NaN Not a Number)
Example
var_real := DWORD_TO_REAL (var_dword);

IF NOT _finite (var_real) OR _isNaN (var_real) THEN
; // Error handling
ELSE
var_real := SQRT (var_real);
END_IF;
See also
7.10.2 _isNaN function

The function verifies whether the input parameter corresponds to an invalid bit pattern of a
floating-point number according to IEEE 754 (is Not a Number NaN).
In combination with the _finite function, it is used in particular to check if bit strings converted
to floating-point numbers correspond to the bit pattern of a normalized floating-point number
in accordance with IEEE.
This prevents the error response specified during task configuration from being triggered
(see Execution errors in programs) as soon as an invalid floating-point number is used for an
arithmetic operation for the first time (for example in the program or when monitoring in the
symbol browser).
Declaration
_isNaN (
in : ANY_REAL
) : BOOL
Basic functions
7.11 Functions for selection
Input parameters
in
Data type: ANY_REAL
Variable to be checked
Return value
Data type: BOOL

FALSE Valid bit pattern or bit pattern for infinite in accordance with IEEE
754
TRUE Invalid bit pattern in accordance with IEEE 754 (NaN Not a
Number)
Example
var_real := DWORD_TO_REAL (var_dword);

IF NOT _finite (var_real) OR _isNaN (var_real) THEN
; // Error handling
ELSE
var_real := SQRT (var_real);
END_IF;
See also
7.11.1 SEL function

Binary selection
The return value is one of the input parameters in0 or in1, depending on the value of input
parameter g.
Basic functions
Declaration
FUNCTION SEL (
g: BOOL,
in0 : ANY,
in1 : ANY
) : ANY
Input parameters
g
Data type: BOOL
Selection of the input parameter in0 or in1
in0, in1
Data type: ANY
The input parameters in0 and in1 must either be of the same data type or must be
convertible to a common data type by implicit conversion (see Elementary data type
conversion in the ST Programming Manual).
Return value
Data type: ANY

Selected input parameter
in0 if g = 0 (FALSE)
in1 if g = 1 (TRUE)
The data type corresponds to the common data type of the input parameters in0 and in1.
7.11.2 MUX function

Expandable multiplex function
The return value is one of the n input parameters in0 to inn-1, depending on the value of the
input parameter k.
Basic functions
Declaration
FUNCTION MUX (
k : ANY_INT,
in0 : ANY,
...
inn-1 : ANY
) : ANY
Input parameters
k
Data type: ANY_INT
Selection of the input parameter in0 to inn1.
The value range depends on the number n of the input parameters
in0...inn1: 0 k n-1.
If illegal values are specified, input parameter in0 will be selected.
in0
...
inn1
Data type: ANY
The number n of the input parameters in0 and inn1 may vary.
All input parameters in0 and inn1 must either be of the same data type or must be
convertible to a common data type by implicit conversion (see Elementary data type
conversion in the ST Programming Manual).
If n formal parameters in0 to inn1 are specified when calling the function, this must be
done in ascending uninterrupted order; for four input parameters, for example, the
identifiers of the formal parameters are: in0, in1, in2, in3.
Return value
Data type: ANY

Input parameter inm if input parameter k has the value m.
The data type corresponds to the common data type of the input parameters in0 to inn1.
Basic functions
7.11.3 MAX function

Expandable maximum function
The return value is the maximum value of n input parameters in0 to inn1.
Declaration
FUNCTION MAX (
in0 : ANY_ELEMENTARY,
...
inn-1 : ANY_ELEMENTARY
) : ANY_ELEMENTARY
Input parameters
in0
...
inn1
Data type: ANY_ELEMENTARY
convertible to the most powerful data type by implicit conversion (see Elementary data
type conversion in the ST Programming Manual).
done in ascending, uninterrupted order; for four input parameters, for example, the
Return value

Maximum of the input parameters
The data type corresponds to the most powerful data type of the input parameters in0 to
inn1.
Basic functions
7.11.4 MIN function

Expandable minimum function
The return value is the minimum value of n input parameters in0 to inn1.
Declaration
FUNCTION MIN (
in0 : ANY_ELEMENTARY,
...
inn-1 : ANY_ELEMENTARY
) : ANY_ELEMENTARY
Input parameters
in0
...
inn1
convertible to the most powerful data type by implicit conversion (see Elementary data
type conversion in the ST Programming Manual).
done in ascending, uninterrupted order; for four input parameters, for example, the
Return value

Minimum of the input parameters
The data type corresponds to the most powerful data type of the input parameters in0 to
inn1.
Basic functions
7.11.5 LIMIT function

Limiting function
Input parameter in is limited to values between the lower limiting value mn and the upper
limiting value mx.
Declaration
FUNCTION LIMIT (
mn : ANY_ELEMENTARY,
in : ANY_ELEMENTARY,
mx : ANY_ELEMENTARY
) : ANY_ELEMENTARY
Input parameters
mn
Lower limiting value
All input parameters must either be of the same data type or must be convertible to the
most powerful data type by implicit conversion (see Elementary data type conversion in
the ST Programming Manual).
in
Value to be limited
mx
Upper limiting value
Return value

MIN (MAX (in, mn), mx)
The data type corresponds to the most powerful data type of the input parameters.
Basic functions
7.12 Working with variables
7.12.1 General
When accessing global variables of derived data types (see User-defined data types (UDT)
in the ST Programming Manual), the user is responsible for ensuring data consistency when
multiple tasks access the same user variables (I/O variables, system variables, system
variables of technology objects, global device variables, and global unit variables, see
Variable model in the programming manuals).
Note
Consistent data access is always ensured within a task.
Work with semaphores to ensure that global variables are written and read consistently.
A global variable of data type DINT serves as a semaphore. Use the following functions to
change and test the status of the semaphore:
_testAndSetSemaphore
_releaseSemaphore
Consistent data access to global variables is ensured under the following conditions:
1. All tasks signal access to global variables by setting a semaphore.
2. All tasks access global variables only when the semaphore is enabled.
For more information on consistent data access and semaphores, refer to Consistent
reading and writing of variables (semaphores).
See also
Consistent data access (Page 359)
7.12.2 _testAndSetSemaphore function

Use this function to check whether the semaphore is set.
When the function is ended, the semaphore is always set. Additional calls of this function
(even from other programs) return a value of FALSE, until the _releaseSemaphore (semaA)
function is called.
Declaration
_testAndSetSemaphore (
sema : DINT
) : BOOL
Basic functions
Input parameters
sema
Data type DINT
Sema is a global variable of data type DINT; it is used as a semaphore. It should not
be indexed. If the variable is an element of an array, the index must be specified when
compiling (e.g. a[2]).
Return value
Data type: BOOL

This return value can be used to find out whether the semaphore is set:
TRUE Semaphore enabled.
FALSE Semaphore set.
Example
See Consistent reading and writing of variables (semaphores).
See also
Example: Consistent data access with semaphores (Page 360)
7.12.3 _releaseSemaphore function

Use this function to enable the semaphore. The next call of the _testAndSetSemaphore
function (even from different programs) results in a return value of TRUE.
Declaration
_releaseSemaphore (
sema : DINT
) : VOID
Input parameters
sema
Data type: DINT
Sema is a global variable of data type DINT; it is used as a semaphore. It should not be
indexed. If the variable is an element of an array, the index must be specified when
compiling (e.g. a[2]).
Basic functions
7.13 Access to system variables and inputs/outputs
Return value
None
Example
See Consistent reading and writing of variables (semaphores).
See also
Example: Consistent data access with semaphores (Page 360)
7.13.1 General information on accessing system variables and inputs/outputs

The _getSafeValue and _setSafeValue functions allow a special error response for access to
system variables, configuration data, or I/O variables. The response in the event of a fault
can be specified differently from the configured response (see Access errors to system
variables and configuration data).
The system functions _getSafeValue and _setSafeValue require a lot of execution time.
Therefore, only use them when necessary, e.g. in an IF statement, to wait for the restart of a
TO.
As of V4.1 you can also set substitute value or last value for access to system variables in
the event of a fault (e.g. TO is in restart). The configuration data
restartInfo.behaviorInvalidSysvarAccess is relevant for this.
The _getInOutByte function enables direct read access to individual I/O bytes by specifying
the address.
See also
Access errors to system variables and configuration data, as well as I/O variables for direct
access (Page 88)
Basic functions
7.13.2 _getSafeValue function

This function reads the specified system variable (or configuration data element) or I/O
variable and returns the value in another variable.
If a transition to STOP mode occurs, the ExecutionFaultTask is not started.
When using this function (instead of variable assignment), the transition to the STOP mode
can be prevented in the case of an error occurring during access to system variables,
configuration data or I/O variables (e.g. while restarting a technology object or in the case of
an I/O failure).
Specifying error reaction

You can control the error reaction using the accessmode parameter:
CONFIGURED (default): The specified error reaction, see Errors when accessing system
variables and configuration data as well as I/O variables for direct access
NO_CHANGE:
System variables and configuration data:
Value remains unchanged or last available value.
I/O variables:
With read access (to inputs or outputs): The last valid value is applied.
be active at the output until the output becomes available again.
DEFAULT_VALUE: Substitute value or limit value is taken.
STOP_DEVICE: SIMOTION device switches to STOP mode.
You can use the return value to determine whether the access was successful.
Declaration
_getSafeValue (
variable : ANY, //System variable,
// Configuration data or
// I/O variable
accessMode : EnumAccessMode,
getValue : ANY
) : EnumSetAndGetSafeValue
Basic functions
Input parameters
variable
Data type: ANY
System variable, configuration data item or I/O variable to be read.
accesssMode
Data type: EnumAccessMode
Response when an error occurs during read access.
TYPE EnumAccessMode : (/
/ Response as configured:
CONFIGURED // For system variables and
// Configuration data: Transition into
// the operating state STOP
// For I/O variables:
//Strategy specified during creation of the I/O variable
// Different response than configured:
NO_CHANGE // For system variables and
// configuration data: Variable
// Do not read.
// For I/O variables: Accept
// last available (valid)
// value.
DEFAULT_VALUE // Only I/O values permitted.
// Apply substitute value.
STOP_DEVICE // Device goes into STOP
status.
END_TYPE
getvalue
Data type: ANY
Name of the variable to which the current value of the system variable (or configuration
data item) or I/O variable is written.
The following applies for the data type:
It must be the same as the data type of the variable to be read, or
The data type of the variable to be read must be convertible to this data type by
means of implicit type conversion (see Evaluating faults and events).
Basic functions
Return value
Data type: EnumSetAndGetSafeValue

The return value indicates whether the access was successful.
TYPE EnumSetAndGetSafeValue : (
// Access successful:
OK // Access was successful.
// Access error:
, NO_CHANGE // For system variables: Variable was
// not read, value uncertain
// For I/O variables: Last
// available (valid) value was
// accepted.
, DEFAULT_VALUE // Only I/O variables permitted:
// Substitute value was accepted.
, INVALID_VALUE // Only for configuration data:
// Configuration data were
// Impermissible parameter
// (accessMode = DEFAULT_VALUE).
, NO_ACCESS ) // Only for configuration data:
// Configuration data were
END_TYPE
See also
access (Page 88)
7.13.3 _setSafeValue function

This function writes the specified value to the system variable, the configuration data
element, or I/O variable and optionally returns the currently written value in another variable.
The response in the event of a fault can be specified differently from the configured response
(see Access errors to system variables and configuration data).
If a transition to the STOP mode occurs, the ExecutionFaultTask is not started.
When using this function (instead of a variable assignment), the transition to the STOP mode
can be prevented if an error occurs during access to system variables, configuration data or
I/O variables (e.g. while restarting a technology object, or in the event of an I/O failure).
Basic functions
Specifying error reaction

You can control the error reaction using the accessmode parameter:
CONFIGURED (default): The specified error reaction, see Errors when accessing system
variables and configuration data as well as I/O variables for direct access
NO_CHANGE:
System variables and configuration data:
Value remains unchanged or last available value.
I/O variables:
With read access (to inputs or outputs): The last valid value is applied.
be active at the output until the output becomes available again.
DEFAULT_VALUE: Substitute value or limit value is taken.
STOP_DEVICE: SIMOTION device switches to STOP mode.
You can use the return value to determine whether the access was successful.
Declaration
_setSafeValue (
variable : ANY, //System variable,
// Configuration data or
// I/O variable
value : ANY,
accessMode : EnumAccessMode,
{ setValue : ANY
}
) : EnumSetAndGetSafeValue
Input parameters
variable
Data type: ANY
System variable, configuration data item or I/O variable to be written.
value
Data type: ANY
Value to be written to the system variable (or configuration data item) or I/O variable.
The value data type must be the same as the data type of the variable to be written to,
or it must be convertible to this data type by means of implicit type conversion (see
Evaluating faults and events).
accessMode
Data type: EnumAccessMode
Response when an error occurs during write access:
Basic functions
TYPE EnumAccessMode : (
// Response as configured:
CONFIGURED // For system variables and
//Configuration data: Transition into
//the operating mode STOP
//For I/O variables:
//Strategy specified during creation
//of the I/O variables
// Different response than configured:
, NO_CHANGE // For system variables and
//Configuration data: the value
//of variables remains unchanged
//For I/O variables
//The value passed in the
//parameter is written to the
//variable. It is not active at the output
//until the output is
// again available.
, DEFAULT_VALUE// Only permitted for system variables
// and I/O variables.
// For system variables:
// Variable is described with the
// limit value.
// For I/O variables:
// Variable is described with the
// substitute value specified
// when creating the variable.
, STOP_DEVICE )// Device goes into STOP
// mode
END_TYPE
setvalue
Data type: ANY
Name of a variable to which the current value of the system variable, configuration data
item, or I/O variable is written.
The following applies for the data type:
It must be of the same data type as the variable to be written, or
The data type of the variable to be written must be convertible to this data type by
means of implicit type conversion (see Evaluating faults and events).
If, for example, 100 is to be written, but only 90 was entered, setValue is given a value
of 90.
Basic functions
Return value
Data type: EnumSetAndGetSafeValue

The return value indicates whether the access was successful.
TYPE EnumSetAndGetSafeValue : (
// Access successful:
OK // Access was successful.
// Access error:
, NO_CHANGE // For system variables: the value
// Variables were not changed
// (invalid value or variable
// not available).
// For configuration data: Value of the
// configuration data was not
// changed (invalid value).
// For I/O variables: The value transferred
// in the parameter
// was written. It is not active at the output
// until the output is
// again available.
, DEFAULT_VALUE // For system variables: Limitation
// active, limit value was
// written.
// For I/O variables: Substitute value was
// written. It is not active at the output
// until the output is
// again available.
, INVALID_VALUE// Only for configuration data: Value
// of the configuration data item was
// not changed, illegal
// parameter
// (accessMode = DEFAULT_VALUE).
, NO_ACCESS )// Only for configuration data: Value
// of the configuration data item was
// not changed,
// Configuration data item
// not available).
END_TYPE
See also
access (Page 88)
Basic functions
7.13.4 _getInOutByte function

This function enables direct read access to individual I/O bytes through specification of the
input/output address.
In the event of an access error, the PeripheralFaultTask is not called; rather a corresponding
value is returned in the functionResult component of the return value.
If an I/O variable (for direct access or the process image of the cyclic task (see Direct access
and process image of the cyclical tasks in the ST Programming Manual) is defined for the
specified I/O address and a substitute value is specified, this substitute value is returned in
the event of an access error.
Evaluation of the return value can determine, for example, whether an input or an output is
assigned to the address in the hardware.
NOTICE
The runtime of this function can be very long. Therefore, this function is not suitable for use
in fast cyclic tasks.
Declaration
_getInOutByte (
mode : EnumInOutDirection,
logAddress : DINT
): StructRetGetInOutByte
Input parameters
mode
Data type: EnumInOutDirection
Specifies whether logAddress is used to access the input or output.
TYPE EnumInOutDirection : (
IN // Access to input
, OUT ) // Access to output
END_TYPE
logAddress
Data type: DINT
Logic address of input or output
Basic functions
7.14 Backing up data from the user program
Return value
Data type: StructRetGetInOutByte

Function call result and read byte value
TYPE StructRetGetInOutByte : STRUCT

functionResult : DINT; // Result of the
// function call
value : BYTE; // Value of byte read
END_STRUCT;
END_TYPE
Possible values of functionResult (result of function call):

0 No error, access okay.
16#FFFF_FFFA Not enough memory available
16#FFFF_FFFE Access error
16#FFFF_FFFF Input/output not available
7.14.1 General information on data backup from the user program

The functions below are for:
Saving, loading, or initializing the following values:
Non-retentive or retentive unit variables of the interface or implementation section of a
unit (e.g. ST source file, MCC unit)
Non-retentive or retentive global device variables.
Data backup is performed by selecting the relevant function
Binary: The backed-up data set can no longer be read after the version ID of the data
segment has been changed.
Please also note the information on page 5-268.
ASCII format: The backed-up data set can be read after the version ID of the data
segment has been changed.
Managing the data set in which the values are backed up
The values are backed up in a data set that is identified uniquely by specifying the storage
location, the name of the unit, and a data set number.
Basic functions
The application of these functions - in particular, the step enabling condition - is described in
detail in Data backup and initialization from user program.
See also
Data backup and data initialization from user program - functions and instructions
(Page 361)
7.14.2 _saveUnitDataSet function

The values of the following variables are saved as a binary data record:
As of Version V3.2 of the SIMOTION Kernel:
Up to Version V3.1 of the SIMOTION Kernel:
Non-retentive unit variables of the interface section of a unit (e.g. ST source file, MCC
unit)
You can select the location at which the data set will be stored:
Temporary data storage (RAM disk), erased in the event of a power failure
Permanent data storage (memory card), retained throughout a power failure
Please also note the information under Communication via Ethernet with UDP protocol.
Pay attention to consistency of the data to be backed up (see Consistent reading and writing
of variables (semaphores)).
When calling this function in short form, all parameters (including all optional parameters)
must be specified.
Declaration
_saveUnitDataSet (
unitName : STRING,
id : UDINT,
storageType : EnumDeviceStorageType,
{ path : STRING,
overwrite : BOOL,
nextCommand : EnumNextCommandMode,
dataScope : EnumDeviceDataScope,
kindOfData : EnumDeviceKindOfData,
}
): StructRetUnitDataSetCommand
Basic functions
Input parameters
unitName
Data type: STRING
Name of the unit (e.g. ST source file, MCC unit), whose unit variables will be backed
up.
The name must be indicated in lower case and inside single quotation marks (e.g.
'st_unit1').
If _device is specified, the global device variables are saved (possible as of Version
V3.2 of the SIMOTION Kernel).
id
Data type: UDINT
Number of the data set under which the variable values are saved (maximum of
1_000_000 data sets per unit).
storageType
Data type: EnumDeviceStorageType
Location at which the data is saved.
TYPE EnumDeviceStorageType : (
TEMPORARY_STORAGE // temporary storage
// (RAM Disk),
// is deleted if there is a power failure
, PERMANENT_STORAGE // permanent storage
// (MemoryCard), retained
// with power failure
, USER_DEFINED ) // with path definition
// (in preparation)
END_TYPE
path (optional)
Data type: STRING
Default: ' ' (empty string)
Destination path, if storageType = USER_DEFINED
In preparation; default value may be specified.
overwrite (optional)
Data type: BOOL
Default: FALSE
If TRUE, existing data set is overwritten.
nextCommand (optional)
Data type: EnumNextCommandMode
Default: IMMEDIATELY
Advance to next command
Basic functions
TYPE EnumNextCommandMode : (
IMMEDIATELY // immediately
, WHEN_COMMAND_DONE ) // After completion or abort
// of the command
END_TYPE
dataScope (optional)
Data type: EnumDeviceDataScope
Default _INTERFACE
The parameter is available as of Version V3.2 of the SIMOTION Kernel.
Specification of the section whose unit variables are to be saved.
Type EnumDeviceDataScope : (
_INTERFACE // Interface section
, _IMPLEMENTATION // Implementation section
, _INTERFACE_AND_IMPLEMENTATION ) // interface and
// Implementation section
END_TYPE
If unitName = _device is specified, only the values _INTERFACE or

_INTERFACE_AND_IMPLEMENTATION are permissible for dataScope.
Up to and including Version V3.1 of the SIMOTION Kernel, only non-retentive variables of
the interface section of a unit can be backed up.
KindOfData (optional)
Default NO_RETAIN_GLOBAL
Specification of whether non-retentive or retentive global variables will be saved.
TYPE EnumDeviceKindOfData : (
NO_RETAIN_GLOBAL // non-retentive variables
, _RETAIN // retentive variables
, ALL_GLOBAL ) // retentive and non-retentive
// variables
END_TYPE
the interface section of a unit can be saved.
Basic functions
Return value
Data type: StructRetUnitDataSetCommand

The return value is a structure of data type StructRetUnitDataSetCommand. It comprises
the following:
A functionResult component: EnumDeviceUnitDataSetCommand
This supplies information on errors and the current status.
A handle component: UDINT
This provides the possibility, by means of the _getStateOfUnitDataSetCommand
function (see _getStateOfUnitDataSetCommand function), of checking the current state
of a data backup function (especially useful with step enabling condition
IMMEDIATELY).
TYPE
EnumDeviceUnitDataSetCommand: (
DONE // Execution of start
// Successful
, ACTIVE // Being executed
, INTERNEL_ERROR // internal error
// (Please call the
// Hotline)
,COMMAND_FAILED// Command cannot be executed
, NO_COMMAND_BUFFER_AVAILABLE// Command buffer full
, COMMAND_NOT_FOUND // Command (handle) not
// found
, DATASET_ID_NOT_VALID// Data set number invalid
, READ_ERROR // Data read error
// (Defective storage medium)
, NO_STORAGE_AVAILABLE// No storage available
,ACCESS_DENIED// Access denied
// (Missing
// (write/read rights)
,DATASET_ALREADY_EXISTS// Data set already exists
,DATASET_NOT_FOUND// Data set not found
,VERSION_MISSMATCH// Wrong version ID
// of the data range that will
// be imported (e.g.
// Section of the unit
,UNIT_NOT_FOUND// Unit (e.g. ST source,
// MCC source) not found
,DATA_INCOMPLETE// Data were imported
// incomplete
,DATA_MISMATCH// Data range to be imported
// is not contained in the
// data set
,SYMBOL_INFORMATION_NOT_AVAILABLE ) //Symbol information
// not available
// (Activate the OPC-XML
// on the program source
StructRetUnitDataSetCommand
: STRUCT
Basic functions
functionResult : EnumDeviceUnitDataSetCommand;
handle : UDINT;
END_STRUCT;
END_TYPE
For information about data backup see Using data backup and data initialization from user
program (Page 361)
See also
General information on data backup from the user program (Page 323)
7.14.3 _loadUnitDataSet function

The values of the following variables are loaded as a binary data set with _saveUnitDataSet:
As of Version V3.2 of the SIMOTION Kernel:
non-retentive or retentive unit variables of the interface or implementation section of a
non-retentive or retentive global device variables.
up to Version V3.1 of the SIMOTION Kernel:
unit)
Loading the data set is only possible if since the data set was saved the version IDs of all
data segments to be loaded (e.g. non-retentive and retentive variables of the interface
section of the unit) have remained unchanged. For data segments and their version ID see
Time of variable initialization in the ST Programming Manual.
Please also note the information under Communication via Ethernet with UDP protocol.
A subset of the data segments backed up in the data set can be loaded (e.g. if the version
IDs of some data segments have changed).
must be specified.
Declaration
_loadUnitDataSet (
unitName : STRING,
id : UDINT,
{ path : STRING,
}
Basic functions
Input parameters
unitName
Data type: STRING
Name of the unit (e.g. ST source file, MCC unit), whose unit variables will be loaded.
'st_unit1').
If _device is specified, the global device variables are saved (possible as of Version
V3.2 of the SIMOTION Kernel).
id
Data type: UDINT
storageType
// (RAM Disk),
// (in preparation)
END_TYPE
path (optional)
Data type: STRING
, WHEN_COMMAND_DONE ) // after completion or abort
// of the command
END_TYPE
Basic functions
Default _INTERFACE
Specification of the section whose unit variables are to be saved.
END_TYPE

the interface section of a unit can be saved and loaded.
Specification of whether non-retentive or retentive global variables will be saved.
, ALL_GLOBAL ) // retentive and non retentive
// variables
END_TYPE
the interface section of a unit can be saved and loaded.
Basic functions
Return value

the following:
IMMEDIATELY).
For further information on data types StructRetUnitDataSetCommand and
EnumDeviceUnitDataSetCommand, see the Return value section of the _saveUnitDataSet
function (see _saveUnitDataSet function).
program (Page 361)
See also
_getStateOfUnitDataSetCommand function (Page 340)
_saveUnitDataSet function (Page 324)
7.14.4 _exportUnitDataSet function (as of Kernel V3.2)

The values of the following variables are exported in ASCII format as a data set:
unit)
Retentive unit variables of the interface section of a unit
You can select the location at which the data set will be stored:
Temporary data storage (RAM disk), erased in the event of a power failure
Permanent data storage (memory card), retained throughout a power failure
Make sure the symbol information of the unit variables of the interface section in the
SIMOTION device is available for the relevant unit. Consequently on the program source for
the local settings of the compiler activate the Enable OPC-XML checkbox (see sections
Compiler operations or Settings of the ST compiler in the programming manuals).
Pay attention to consistency of the data to be exported (see Consistent reading and writing
of variables (semaphores)).
Basic functions
The exported data set can also be imported with the _importUnitDataSet function (see
Subsection 6.17.4) if the version ID of the data area (e.g. retentive variables of the interface
section of the unit) has changed (e.g. by a change to the data structure).
must be specified.
Declaration
_exportUnitDataSet (
unitName : STRING,
id : UDINT,
{ path : STRING,
overwrite : BOOL
}
Input parameters
unitName
Data type: STRING
Name of the unit (e.g. ST source file, MCC unit), whose unit variables will be exported.
'st_unit1').
Specifying _device (for exporting global device variables) is not permissible here.
id
Data type: UDINT
storageType
// (RAM Disk),
// (in preparation)
END_TYPE
Basic functions
path (optional)
Data type: STRING
Data type: BOOL
Default: FALSE
// of the command
END_TYPE
Default _INTERFACE
Available soon; specifying the values _INTERFACE or
_INTERFACE_AND_IMPLEMENTATION is permissible.
Specification of the section whose unit variables will be exported.
END_TYPE
Only variables of the interface section of one unit (non-retentive or retentive) can be
exported and imported.
Basic functions
Specification of whether non-retentive or retentive global variables will be exported.
// variables
END_TYPE
Return value

the following:
IMMEDIATELY).
program (Page 361)
See also
Consistent data access (Page 359)
Basic functions
7.14.5 _importUnitDataSet function (as of Kernel V3.2)

The values of the following variables are imported from a data set that was exported with
_exportUnitDataSet.
unit)
Retentive unit variables of the interface section of a unit
Make sure the symbol information of the unit variables of the interface section in the
SIMOTION device is available for the relevant unit. Consequently on the program source for
the local settings of the compiler activate the Enable OPC-XML checkbox (see sections
Compiler operations or Settings of the ST compiler in the programming manuals).
Importing the data set is also possible if, since the data set was saved, the version ID of a
data segment to be loaded has changed (e.g. non-retentive variables of the interface section
of the unit):
Variables that no longer exist are ignored.
The value of added variables remains unchanged.
In the case of variable with a changed data type, the value is transferred if it can be
converted to the new data type; otherwise the value of the variable is retained.
The returned value of the function is DATA_INCOMPLETE.
To avoid unwanted values in variables, you can initialize the relevant data segments before
importing the data set with the _resetUnitData function (see Parameter Manual for the
system functions of the SIMOTION devices).
For data segments and their version ID see Time of variable initialization in the ST
Programming Manual.
A subset of the data segments exported in the data set can be imported.
must be specified.
Declaration
_exportUnitDataSet (
unitName : STRING,
id : UDINT,
{ path : STRING,
}
Basic functions
Input parameters
unitName
Data type: STRING
Name of the unit (e.g. ST source file, MCC unit), whose unit variables will be imported.
'st_unit1').
If _device is specified, the global device variables will be imported.
id
Data type: UDINT
storageType
// (RAM Disk),
// (in preparation)
END_TYPE
path (optional)
Data type: STRING
Data type: BOOL
Default: FALSE
Basic functions
// of the command
END_TYPE
Default _INTERFACE
Available soon; specifying the values _INTERFACE or
_INTERFACE_AND_IMPLEMENTATION is permissible.
Specification of the section whose unit variables will be imported.
END_TYPE
Only variables of the interface section of a unit (non-retentive or retentive) can be exported
and imported.
Specification of whether non-retentive or retentive global variables will be imported.
// variables
END_TYPE
If retentive and non-retentive variables are stored in the exported data set, it is possible
to import retentive or non-retentive variables selectively.
Basic functions
Return value

the following:
IMMEDIATELY).
program (Page 361)
See also
_loadUnitDataSet function (Page 328)
7.14.6 _deleteUnitDataSet function

A single data record containing the stored values of the following variables is deleted:
Backed-up non-retentive or retentive unit variables of the interface or implementation
section of a unit (e.g. ST source file, MCC unit).
Backed-up non-retentive or retentive global device variables.
Exported non-retentive or retentive unit variables of the interface section of a unit (e.g. ST
source file, MCC unit).
must be specified.
Declaration
_deleteUnitDataSet (
unitName : STRING,
id : UDINT,
{ path : STRING,
}
Basic functions
Input parameters
unitName
Data type: STRING
Name of the unit (e.g. ST source file, MCC unit); the name must be written in lower
case and placed inside single quotation marks (e.g. 'st_unit1').
If _device is specified, a data set for global device variables will be deleted (possible
as of Version 3.2 of the SIMOTION Kernel).
id
Data type: UDINT
Number of the data set to be deleted (maximum of 1_000_000 data sets per unit).
storageType
Location from which the data set is to be deleted.
// (RAM Disk),
// (in preparation)
END_TYPE
path (optional)
Data type: STRING
// of the command
END_TYPE
Basic functions
Return value

the following:
IMMEDIATELY).
program (Page 361)
See also
_deleteAllUnitDataSets function (Page 343)
_exportUnitDataSet function (as of Kernel V3.2) (Page 331)
7.14.7 _getStateOfUnitDataSetCommand function

It returns the status of the functions for data backup.
Declaration
_getStateOfUnitDataSetCommand (
handle : UDINT
): EnumDeviceUnitDataSetCommand
Input parameters
handle
Data type: DINT
Handle of the data backup function for which the status is to be checked. You received
this handle as a component of the return value of the data backup function.
Basic functions
Return value
Data type: EnumDeviceUnitDataSetCommand

This supplies information on errors and the current state.
For further information on data type EnumDeviceUnitDataSetCommand, see the Return
value section of the _saveUnitDataSet function (see _saveUnitDataSet function).
program (Page 361).
See also
7.14.8 _checkExistingUnitDataSet function

A check is performed to determine whether the specified data record containing the stored
values of the following variables is available on the storage medium:
must be specified.
Declaration
_checkExistingUnitDataSet (
unitName : STRING,
id : UDINT,
{ path : STRING,
}
Basic functions
Input parameters
unitName
Data type: STRING
If _device is specified, a data set for global device variables will be checked (possible
id
Data type: UDINT
Number of the data set (max. 1_000_000 data sets per unit).
storageType
Location at which the data are stored.
// (RAM Disk),
// (in preparation)
END_TYPE
path (optional)
Data type: STRING
// of the command
END_TYPE
Basic functions
Return value

the following:
IMMEDIATELY).
program (Page 361).
See also
7.14.9 _deleteAllUnitDataSets function

All data records containing stored values for the following variables are deleted.
must be specified.
Declaration
_deleteAllUnitDataSet (
unitName : STRING,
id : UDINT,
{ path : STRING,
}
Basic functions
Input parameters
unitName
Data type: STRING
If _device is specified, all data sets for global device variables will be deleted (possible
storageType
Location from which the data set is to be deleted.
// (RAM Disk),
// (in preparation)
END_TYPE
path (optional)
Data type: STRING
// of the command
END_TYPE
Basic functions
7.15 Functions for commandId
Return value

the following:
IMMEDIATELY).
program (Page 361).
See also
7.15.1 _getCommandId function

This function supplies a project-wide unique commandId, which can be used for explicit
identification of commands.
A commandId is always produced, there is no error feedback.
Declaration
_getCommandId ( ) : CommandIdType
Input parameters
None
Basic functions
Return value
Data type: CommandIdType

Project-wide unique CommandId for tracking the command status
TYPE
CommandIdType : STRUCT
SystemId_low : UDINT; // Lower-order part
SystemId_high : UDINT; // Higher-order part
END_STRUCT
END_TYPE
See also
Using the commandId parameter correctly (Page 409)
7.15.2 _getSyncCommandId function

This function supplies the user with a project-wide unique syncCommandId. This ID can be
transferred to system functions BEGIN_SYNC and _startSyncCommands (see Parameter
Manuals for SIMOTION devices) to start motion sequences synchronously.
A syncCommandId is always produced, there is no error feedback.
Declaration
_getSyncCommandId ( ) : CommandIdType
Input parameters
None
Return value
Data type: CommandIdType

Project-wide unique syncCommandId for tracking the command status.
Basic functions
7.16 Defining the waiting time
TYPE
CommandIdType : STRUCT
SystemId_low : UDINT; // Lower-order part
SystemId_high : UDINT; // Higher-order part
END_STRUCT
END_TYPE
See also
Using the commandId parameter correctly (Page 409)
7.16 Defining the waiting time
7.16.1 _waitTime function

This function interrupts the task triggering this function until the time specified in the call has
expired.
NOTICE
The function should be used in MotionTasks only; using it in cyclic tasks may lead to time
monitoring errors!
With SynchronousTasks: As of SIMOTION Kernel V3.2 you may configure if time
monitoring is suspended. Time monitoring is active by default.
With IPOsynchronousTask, additionally take the following into account:
UserInterruptTasks will no longer be started by their triggering event!
With other cyclic tasks (BackgroundTask, TimerInterruptTasks): Time monitoring is
always active.
In cyclic tasks, use the timer system function blocks (see Timers) to implement waiting
times.
1Up to Version V3.1 of the SIMOTION Kernel, time monitoring is suspended for the
SynchronousTasks.
The _waitTime function is always executable, its return value = 0.
Declaration
_waitTime (
timeValue : TIME // Wait time
) : DINT // always = 0
Basic functions
7.17 Device-specific functions
Input parameters
timeValue
Data type: TIME
Indicates the time interval during which task processing is interrupted.
Return value
Data type: DINT

Is always 0.
See also
Timers (Page 395)
Time allocation in the round robin execution level (Page 175)
Making tasks wait a defined period (Page 228)
Wait times in cyclic tasks (Page 408)
7.17.1 _getDeviceId function

The function reads the hardware ID of the SIMOTION device from its hardware information
block. You specify the type of ID to be read as input parameter when calling the function.
Declaration
_getDeviceId (
idType : EnumDeviceIdType
) : StructRetGetDeviceId0
Basic functions
Input parameters
idType
Data type: EnumDeviceIdType
Specification of the ID to be read
TYPE EnumDeviceIdType : (
SERIAL_NUMBER ) //Serial number
, HW_TYPE // Hardware type
, SPECIFIC_NUMBER ) //
END_TYPE
Return value
Data type: StructRetGetDeviceId

The return value is a structure of data type StructRetGetDeviceId. It comprises the
following:
A functionResult component: DINT.
This provides information on errors.
An id component: STRING[254]
This contains the read hardware ID of the memory card.
TYPE StructRetGetDeviceId : STRUCT

functionResult : DINT; //Error status
// 0: No error
// <> 0: Error
id : STRING[254]; // Read hardware ID
END_STRUCT;
END_TYPE
7.17.2 _getMemoryCardId function

The function reads the hardware ID of a memory card from its hardware information block.
You specify the type of ID to be read as input parameter when calling the function (at present
only serial number possible).
Basic functions
Declaration
_getMemoryCardId (
idType : EnumMemoryCardIdType
) : StructRetGetMemoryCardId0
Input parameters
idType
Data type: EnumMemoryCardIdType
Specification of the ID to be read
TYPE EnumMemoryCardIdType : (
SERIAL_NUMBER ) //Serial number
END_TYPE
Return value
Data type: StructRetGetMemoryCardId

The return value is a structure of data type StructRetGetMemoryCardId. It comprises the
following:
A functionResult component: DINT.
This provides information on errors.
An id component: STRING[254]
This contains the read hardware ID of the memory card.
TYPE StructRetGetMemoryCardId : STRUCT

functionResult : DINT; //Error status
// 0: No error
// <> 0: Error
id : STRING[254]; // Read hardware ID
END_STRUCT;
END_TYPE
Basic functions
7.18 Determine the memory size of a variable or of a data type
7.17.3 _setDeviceErrorLED function

The function sets the Underlicensing of technology/option objects error on the SIMOTION
device. The corresponding LED flashes in red on the SIMOTION device (see Manual of the
SIMOTION device).
Declaration
_setDeviceErrorLED ( ) : DINT
Input parameters
None
Return value
Data type: DINT

0 No error
<> 0 Fault
7.18.1 _sizeOf function

The function returns the memory size required for a variable or data type in bytes as a
constant value. It can therefore also be used in data type and variable declarations (e.g. as
dimension of an array).
Declaration
_sizeOf (
in : ANY // Identifier of the data type or
// of the variables
) : DINT
Basic functions
Input parameters
in
Data type: ANY
Identifier of the variable or data type, whose size is to be determined.
Return value
Data type: DINT

Required memory size in bytes.
The memory size is specified taking account of the natural layout, i.e. in accordance with
the assignment possibilities of the data types in the memory. Therefore, the effective size is
determined, which is required for the use of the data type in an ARRAY.
The actual required size may be less.
Example:
TYPE
a_type : STRUCT
a : LREAL; // 8 bytes
b : BOOL; // 1 byte
END_STRUCT;
END_TYPE
//..
x := _sizeOf (a_type); // supplies value 16
Basic functions
7.19 Additional available system functions
7.19 Additional available system functions

In SIMOTION additional system functions are available that are introduced, for example, by
the SIMOTION devices and technology objects. The following table lists provides an
overview of where these functions are described.
Table 7-16 Overview of additional system functions and system function blocks in SIMOTION ST
System function Description

System functions of technology objects SIMOTION Cam Technology Package, System
Functions Parameter Manual (reference list)
SIMOTION TControl Technology Package
Parameter Manual (reference list)
Additionally see the function manuals on the
technology objects
System functions of SIMOTION devices Parameter Manual of the SIMOTION devices
(reference list)
System functions for controlling axes in SIMOTION Cam Technology Package, System
accordance with the PLCopen standard Functions Parameter Manual (reference list)
Standard functions for controlling I/O modules Parameter Manual for the corresponding I/O
and drive components module and drive component (reference list)
7.20 Application of certain system functions
7.20.1 Programming messages
7.20.1.1 General
You can use the following functions to program messages, e.g. error messages, or check
their status:
_alarmSId (generation of a message without acknowledgment)
_alarmSqId (generation of a message with acknowledgment)
_alarmScId (query about message status)
However the prerequisite is an application-specific configured message name
Note
You can use the _writeAndSendMessage function to make user-defined entries in the
diagnostic buffer. For a description of this function, refer to the Parameter Manuals for
SIMOTION devices.
Basic functions
7.20.1.2 Overview of the functions

The described functions are available as of Version V3.2 of the SIMOTION Kernel. They can
be used in libraries.
During each call, _alarmSId generates a message that does not require acknowledgment.
The message is triggered according to a signal and an auxiliary value can be appended to it.
The message is transmitted to all display devices registered for this purpose.
During each call, _alarmSqId generates a message that requires acknowledgment. The
message is triggered according to a signal and an auxiliary value can be appended to it. The
message is transmitted to all display devices registered for this purpose and can be
acknowledged at these devices. .
You use the following as input signals for the functions:
1. The signal that triggered the message:
This is interpreted as follows:
If the signal represents a rising edge relative to the last call with this message name
an incoming message is generated. An incoming message is also generated if the
signal state is TRUE on the first call with this message name.
If the signal represents a negative edge relative to the last call with this message
name an outgoing message is generated.
2. The message to be compiled:
It is specified via a unique, project-wide AlarmId.
For more on the AlarmId, see the relevant section below.
3. Optionally an auxiliary value, if an auxiliary value was specified in the message
configuration.
The _alarmScId function queries the status of a message and its acknowledgment status.
There are two different scenarios here: The message is specified by means of a unique
AlarmId:
For information on the formal structure of the functions, see _alarmSId and _alarmSId.
Similar functions, in which the message is specified via the configured message names, are
available for SIMOTION Kernel versions up to V3.0. These functions must not be used in
libraries.
For application-specifically configured message names, see online help.
Note
You should only generate an outgoing message after an incoming one, otherwise an error
message is output.
Commands in which the configured message name is transferred can only be called in the
short form, i.e. with a complete listing of all parameter values, but without specifying the
formal parameters.
The auxiliary value (optional) must be a variable of an elementary data type. Avoid the use of
constant values in the function call!
Basic functions
7.20.1.3 AlarmId
The message to be generated is specified by means of the AlarmId for the _alarmSId,
_alarmSqId, and _alarmScId functions. You can obtain the AlarmId for a configured message
name in the following way:
As variable _alarm.name, whereby name is the message identifier, as configured in
SIMOTION SCOUT.
With the _getAlarmId(name) function.
See also
_getAlarmId function (Page 271)
7.20.1.4 Buffer management of AlarmS
Description
A message list with 40 buffer areas is available for the AlarmS messages. The AlarmS
messages are entered in this message list with their ID. For each outgoing AlarmS an
incoming AlarmS with the same ID must exist in the message list. For each of the in total 40
list entries there is also a send buffer. This send buffer is used to organize the notification of
the registered client (HMI or SIMOTION SCOUT).
Message list and send buffer

Message list and send buffer are used as follows:
Return value Significance

Return value for incoming AlarmS (function call with rising edge)
16#8002 There are already messages in
the message list, the AlarmS
was not entered in the message
list.
16#8003 There is still an outgoing alarmS
for this ID in the message list
and the send buffer is still
occupied, the AlarmS was not
entered in the message list
16#8004 In the message list there is
already an incoming AlarmS for
this ID, the AlarmS was not
entered in the message list.
Basic functions
Return value Significance

16#0000 IDof the AlarmS is entered in
the message list.
The associated send buffer is
assigned.
The system function returns with
the return value 0000.
The registered clients are
notified.
After the clients are successfully
notified the send buffer is
released again.
The ID of the AlarmS remains in
the message list incoming
AlarmS.
Return value for outgoing AlarmS (function call with falling edge)
16#8003 There is still an outgoing alarmS
for this ID in the message list
and the send buffer is still
assigned, the AlarmS was not
entered in the message list
16#8004 In the message list there is
already a outgoing AlarmS for
this ID, the AlarmS was not
entered in the message list.
16#8007 An incoming entry for this ID
was not found, the AlarmS was
not entered in the message list.
16#0000 If an incoming AlarmS for the ID
is found in the message list and
its send buffer is no longer
assigned then this entry will be
overwritten with the outgoing
AlarmS.
The associated send buffer is
assigned.
The system returns with the
return value 0000.
The registered clients are
notified.
After successful notification of
the clients the send buffer is
again released.
The entry in the message list is
deleted.
Basic functions
7.20.1.5 Example of message generation

The example in the table checks the temperature and generates an incoming message
which does not have to be acknowledged (e.g. Temperature too high, incoming), if the
temperature is too high. If the temperature drops below the maximum value specified, an
outgoing message is generated (the incoming message disappears).
The message named SCOUT_alarm_name has been configured in SIMOTION SCOUT, as
for example: Temperature too high: @1I%2d@ degrees. A status variable prevents the
same message from being repeated. The handleAlarm program is assigned to the
BackgroundTask.
Table 7-17 Example of message generation
INTERFACE
PROGRAM handleAlarm;
END_INTERFACE
IMPLEMENTATION
PROGRAM handleAlarm
VAR
retVal : DWORD; // Return value
temperature : INT; // Status to be checked
maxTemperature: INT := 60; // Comparison value for status
mySignal : BOOL := FALSE; // Signal status yes/no
END_VAR
//...
IF temperature > maxTemperature THEN
IF mySignal = FALSE THEN
// Incoming message, does not require acknowledgement
retVal := _alarmSId (
Sig := TRUE,
Ev_id := _alarm.SCOUT_alarm_name,
Sd := temperature);
mySignal := TRUE;
END_IF;
ELSE
IF mySignal = TRUE THEN
// Outgoing message, does not require acknowledgement
retVal := _alarmSId (
Sig := FALSE,
Ev_id := _alarm.SCOUT_alarm_name,
Sd := temperature);
mySignal := FALSE;
END_IF;
END_IF;
//...
END_PROGRAM
Basic functions
7.20.1.6 Checking the error number and status of a message (filtering return values)
The return value of the _alarmSId and _alarmSqId functions contains the error number and
thus indicates whether an error occurred during execution. As with most system functions,
return value = 0 indicates error-free execution.
However, the return value of the _alarmScId function indicates both the error number and the
status of a message. For this reason, you must first filter the return value with the
ALARMS_ERROR constant (= 16#8000) when checking the status with these functions. This
enables you to determine whether an error occurred while the function was being executed.
The filter and the error numbers are selected such that they are true when combined in an
AND operation. If no error has occurred, you can evaluate the status of the message.
You can find a complete listing of error numbers and message states under Functions for the
message programming.
Consequently, you can check for errors when the _alarmScId command is dispatched (the
retVal variable of data type DWORD contains the return value of the function) as follows:
Table 7-18 Examples of error checking
retVal := _alarmScId (Ev_id := _alarm.SCOUT_alarm_name);

// Here, check for error
IF (retVal AND ALARMS_ERROR) <> 0 THEN
// Condition satisfied, thus an error has occurred.
IF retVal = (ALARMS_ERROR OR
DSC_SVS_DEVICE_ALARMS_ILLEGAL_EVENT_ID) THEN
; // Message number illegal.
END_IF;
ELSE
// Condition not satisfied, thus no error has occurred.
// Check for message and acknowledgment status
IF retVal = 16#0000 THEN
; // Message gone, not acknowledged
ELSIF retVal = ALARMS_STATE THEN
; // Message arrived, not acknowledged.
ELSIF retVal = 16#0010 THEN
; // Message not present
ELSIF retVal = (ALARMS_QSTATE OR ALARMS_STATE) THEN
; // Message arrived, acknowledged.
END_IF;
//...
END_IF;
Note
You can use constant values and symbolic constants on an equal footing to check for errors;
see Functions for the message programming.
Basic functions
7.20.2 Consistent reading and writing of variables (semaphores)
7.20.2.1 Consistent data access

All accesses to variables of elementary data types (see Section Elementary data types) are
managed consistently by the system. The system ensures that these variables do not
change while you are processing them.
When accessing global variables of derived data types (see Section User-defined data types
(UDT)), the user is responsible for ensuring data consistency when multiple tasks access the
same variables (symbolic I/O variables, system variables of SIMOTION devices, system
variables of technology objects, global device variables and unit variables, see Section
Variable model).
Access to local variables of derived data types are always consistent, since they can only be
used inside the program (or function or function block) in which they are defined.
Note
Consistent data access is always ensured within a task.
7.20.2.2 Semaphores
To ensure consistent reading and writing of global variables, you work with semaphores.
A global variable (e.g. semaA) of data type DINT is used as a semaphore. If the variable is
an element of an array, the index must be specified when compiling (e.g. a[2]).
Use the following functions to change and test the status of the semaphore:
_testAndSetSemaphore (sema : DINT) : BOOL
This function is used to check whether the semaphore is set:
Return value TRUE: The semaphore is enabled.
Return value FALSE: The semaphore is set.
When the function is ended, the semaphore is always set. Additional calls of this function
(even from other programs) return a value of FALSE, until the _releaseSemaphore
(semaA) function is called.
_releaseSemaphore (sema: DINT) : VOID
For information on the formal structure of functions, see Section Working with variables.
The semaphore is released.
Consistent data access to global variables is ensured under the following conditions:
1. All tasks signal access to global variables by setting a semaphore.
2. All tasks access global variables only when the semaphore is enabled.
Basic functions
7.20.2.3 Example: Consistent data access with semaphores

The example in the table illustrates the use of semaphores in a program that reads data and
a program that writes data.
Table 7-19 Example for ensuring consistent access to global variables using semaphores
IMPLEMENTATION
VAR_GLOBAL
myArray : ARRAY [0..1] OF DINT;
semaA : DINT;
END_VAR
PROGRAM Writer
// Consistent writing of variables
IF _testAndSetSemaphore(sema := semaA) THEN
myArray[0] := 18;
myArray[1] := 19;
_releaseSemaphore(sema := semaA);
// The semaphore must be released in the TRUE
// branch of the query; this ensures that
// it is only released when it has been
// reset.
ELSE
; // Error handling
END_IF;
// _releaseSemaphore(sema := semaA);
// The release would be incorrect at this point;
// the semaphore would always be released.
END_PROGRAM
PROGRAM Reader
VAR
var0 : DINT;
var1 : DINT;
END_VAR
// Consistent reading of variables

IF _testAndSetSemaphore(sema := semaA) THEN
var0 := myArray[0];
var1 := myArray[1];
_releaseSemaphore(sema := semaA);
// The semaphore must be released in the TRUE
// branch of the query; this ensures that
// it is only released when it has been
// reset.
ELSE
; // Error handling
END_IF;
// _releaseSemaphore(sema := semaA);
// The release would be incorrect at this point;
// the semaphore would always be released.
END_PROGRAM
END_IMPLEMENTATION
Basic functions
7.20.3 Data backup and initialization from user program
7.20.3.1 Data backup and data initialization from user program - functions and instructions
From a user program, it is possible to save, load, or initialize the values of the following
variables in data sets:
The following functions are available for this: .....
_saveUnitDataSet: The values are stored as a binary data set.
_loadUnitDataSet: The values are loaded from a binary data set saved with
_saveUnitDataSet.
Loading the data set is only possible if since saving the data set the version IDs of all
data segments to be loaded have remained unchanged.
Please also pay attention to the note below.
_exportUnitDataSet (as of Version V3.2 of the SIMOTION Kernel): The values are
exported in XML format as ZIP archive (file name *.dat).
_importUnitDataSet (as of Version V3.2 of the SIMOTION Kernel): The values are
imported from a data set that was exported in XML format as ZIP archive (file name *.dat)
with _exportUnitDataSet.
Importing the data set is also possible if, since the data set was saved, the version ID of a
data segment to be loaded has changed:
Variables that no longer exist are ignored.
The value of added variables remains unchanged.
In the case of variable with a changed data type, the value is transferred if it can be
converted to the new data type; otherwise the value of the variable is retained.
_deleteUnitDataSet: A single data record is deleted.
_checkExistingUnitDataSet: A check determines whether the specified data set exists on
the storage medium.
_deleteAllUnitDataSets: All data sets are deleted.
_resetUnitData (as of Version V3.2 of the SIMOTION Kernel): The values of variables are
initialized.
You can, for example, initialize the relevant data segments with _importUnitDataSet
before importing a data set to avoid unwanted values in variables.
For data segments and their version ID, see Section Time of variable initialization, Table
Version ID of global variables and their initialization during download.
The description for _resetUnitData can be found in the Parameter Manual (reference list) for
the system functions of the SIMOTION devices.
Here is a more detailed explanation of the parameters.
Basic functions
NOTICE
If the data structure of a data segment is changed in a unit or in the global device variables,
the following applies to loading the project into the SIMOTION device:
All temporarily backed-up data sets are deleted.
All permanently stored (with _saveUnitDataSet) binary data sets can no longer be read
for this data segment.
Up to 16 data backups can run simultaneously on a device.

The number of data sets that can be saved - up to 1_000_000 - depends on the available
memory space.
Pay attention to consistency of the data to be backed up or exported (see Section Consistent
reading and writing of variables (semaphores)).
Note
You can upload data sets saved with _saveUnitDataSet or _exportUnitDataSet from the
SIMOTION device. Use the Save variables function in SIMOTION SCOUT. The data sets
saved with _saveUnitDataSet are automatically converted to XML format.
You can use the Restore variables function to download these data records and variables
back to the SIMOTION device. For this purpose select the relevant SIMOTION device in the
project navigator and select the function from the context menu. For more information, refer
to the SIMOTION SCOUT Configuring Manual.
This makes it possible, for example, to obtain these data, even if they are initialized by a
project download or if they become unusable (e.g. due to a version change of SIMOTION
SCOUT).
7.20.3.2 Input parameters

The most important parameters are briefly outlined below. For a more detailed description of
the individual functions and their parameters, please refer to the Function Manual
SIMOTION Basic Functions.
unitName: Name of the unit (e.g. ST source file, MCC unit)
If _device is specified, the data back-up function is applied to global device variables
(possible as from Version V3.2 of the SIMOTION Kernel).
id : Data record number
Specifying a data set number as an index enables several versions of the unit variables
to be saved and then downloaded selectively.
id < 1_000_000
storageType: Specifying the memory location allows you to select the following:
TEMPORARY_STORAGE : Data are saved to the RAM disk (deleted after a power
failure)
Basic functions
PERMANENT_STORAGE: Data are saved to a memory card (and retained after a

power failure)
nextCommand: Step enabling condition
Specifying the step enabling conditions enables you to select from the following options:
Execute next command in the ST source file immediately (IMMEDIATELY)
Wait until command is done (WHEN_COMMAND_DONE)
For information on step enabling conditions, refer to the relevant description in this
chapter.
dataScope
It permits selection of section of the unit to which the data backup function is applied.
_INTERFACE: Function is applied to the interface section of a unit
_IMPLEMENTATION: Function is applied to the implementation section of a unit
_INTERFACE_AND_IMPLEMENTATION: Function is applied to the interface and
implementation section of a unit.
Up to and including Version V3.1 of the SIMOTION Kernel, it is only possible to apply
the data backup function to non-retentive variables in the interface section of a unit.
KindOfData:
It permits selection of whether the data backup function will be applied to retentive or
retentive global variables.
NO_RETAIN_GLOBAL: Function is applied to non-retentive global variables
_RETAIN: Function is applied to retentive global variables
ALL_GLOBAL: Function is applied to retentive and non-retentive global variables
If retentive and non-retentive variables are stored in a data set, it is possible to load or
import retentive or non-retentive variables selectively.
Up to and including Version 3.1 of the SIMOTION Kernel, it is only possible to apply the
data backup function to non-retentive variables in the interface section of a unit.
7.20.3.3 Return value

The return value is a structure of data type StructRetUnitDataSetCommand. It comprises the
following:
This allows you to check the current status of a data backup function by means of the
_getStateOfUnitDataSetCommand function (this is required for step enabling condition
IMMEDIATELY).
Basic functions
7.20.3.4 Storage location and memory requirement

You define the storage location with input parameter storageType:
TEMPORARY_STORAGE: Data sets are saved to the RAM disk.
PERMANENT_STORAGE: Data sets are saved to the Memory Card.
The number of data sets that can be saved depends on the available memory space at the
respective memory location. Information on the available memory space can be obtained by
means of the Device diagnostics, System utilization tab (see online help).
NOTICE
Do not fill the entire available memory space with data sets! Otherwise, it will no longer be
possible to download a project to the target system or copy RAM to ROM if project data are
increased!
You can estimate the required memory space for binary data sets (saved with
_saveUnitDataSet) with the following information:
Elementary data types occupy their natural data width on the memory (see Table Bit
widths and value ranges of the elementary data types in Section Elementary data types;
data type BOOL occupies 1 byte).
Additional memory space is required due to:
Adaptation of the memory addresses to word or double-word boundaries
Consistency information (approx. 100 bytes per data set)
Usual supplementary data of a file system (e.g. sector headers, directory, occupy
whole sectors only)
For data sets exported in XML format (with _exportUnitDataSet), the memory requirement is
much higher and cannot be ascertained in this way.
7.20.3.5 Step enabling condition

The step enabling condition is indicated in input parameter nextCommand. If this is set to
WHEN_COMMAND_DONE, the next command of the ST source file will only be executed
when the function has ended (synchronous execution).
The return value contains the result of the executed function in its functionResult component
(see example).
Table 7-20 Call of a data backup function with step enabling condition WHEN_COMMAND_DONE
VAR_GLOBAL
ds_ret : StructRetUnitDataSetCommand;
error : BOOL := FALSE;
END_VAR
PROGRAM save_data_seq
// Program is assigned to a sequential task.
// Function is executed synchronously:
ds_ret := _loadUnitDataSet (
Basic functions
unitName := 'ds3',
id := 1,
storageType:= TEMPORARY_STORAGE,
nextCommand := WHEN_COMMAND_DONE);
// Function completed, evaluate result
IF (ds_ret.functionResult <> DONE) THEN
error := TRUE; // error
END_IF;
END_PROGRAM
This procedure is primarily used in sequential tasks.
The execution of this function may take quite a long time. Therefore, the time watchdog
might respond in connection with cyclic tasks (e.g. BackgroundTask). For this reason, the
function can also be executed asynchronously by setting the nextCommand parameter to
IMMEDIATELY. In this case, the function is started, and then the next command in the
source is immediately processed.
From the return value you can see:
If the start was successful (component functionResult = DONE)
A handle for further status query (handle component)
If the command start was successful, you must check the current status of the data backup
function using the _getStateOfUnitDataSetCommand function and the handle until the result
is something other than ACTIVE (see example).
Table 7-21 Function call of a data backup function with step enabling condition IMMEDIATELY
VAR_GLOBAL
error : BOOL := FALSE;
ds_rslt : EnumDeviceUnitDataSetCommand;
ds_ret : StructRetUnitDataSetCommand;
cmd_busy : BOOL := FALSE;
cmd_done : BOOL := FALSE;
END_VAR
PROGRAM save_data_cycl
// Program is assigned to a cyclic task.
IF NOT cmd_busy THEN
cmd_busy := TRUE;
// Function is executed asynchronously:
ds_ret := _saveUnitDataSet (
unitName := 'ds1',
id := 1,
storageType:= TEMPORARY_STORAGE,
overwrite := TRUE,
nextCommand:= IMMEDIATELY);
IF (ds_ret.functionResult <> DONE) THEN
cmd_busy := FALSE;
error := TRUE; // Start of the function has failed
// (e.g. too many services)
END_IF;
ELSE
// Function is running, wait for result:
ds_rslt := _getStateOfUnitDataSetCommand (
ds_ret.handle);
IF (ds_rslt <> ACTIVE) THEN
cmd_busy := FALSE;
Basic functions
IF (ds_rslt = DONE) THEN

cmd_done := TRUE;// Function successfully
// completed
ELSE
error := TRUE;// Function failed
END_IF;
END_IF;
END_IF;
END_PROGRAM
7.20.4 Converting between any data types and byte arrays (marshalling)
Conversion of variables of any data type to byte arrays, and vice versa, is frequently used in
order to create defined transmission formats for data exchange between different devices
(see also Section Communication functions).
Variables of any data type (elementary data types, standard data types of technology
packages and devices, and user-defined data types) can be converted to byte arrays, and
vice versa, using the following functions:
AnyType_to_BigByteArray
AnyType_to_LittleByteArray
BigByteArray_to_AnyType
LittleByteArray_to_AnyType
(see Section BigByteArray_to_AnyType function, LittleByteArray_to_AnyType function and
Section BigByteArray_to_AnyType function, LittleByteArray_to_AnyType function)
For all functions, an offset can be specified optionally for the first element to be assigned or
evaluated in the byte array.
A distinction is made as to:
Conversion direction (to or from byte arrays)
Byte order in the array (see table):
Big Endian: Most significant byte at low memory address
(Motorola, SUN Sparc, SIMATIC S7)
Little Endian: Least significant byte at low memory address
(Intel, DEC Alpha)
Table 7-22 Examples of byte order (big endian and little endian)
Address Number 34677374 = 16#2_11_22_7E Character string "Byte"

(data type UDINT) (data type DWORD)
Big Endian Little Endian Big Endian Little Endian
2#...11 16#7E = 126 16#02 = 2 16#65 = "e" 16#42 = "B"
2#...10 16#22 = 34 16#11 = 17 16#74 = "t" 16#79 = "y"
2#...01 16#11 = 17 16#22 = 34 16#79 = "y" 16#74 = "t"
2#...00 16#02 = 2 16#7E = 126 16#42 = "B" 16#65 = "e"
Basic functions
NOTICE
TO data types cannot be converted (for information about TO data type conversion, see
Section Conversion of technology object data types).
If structures and arrays are to be converted, consistency is guaranteed only at the
elementary variable level. Any higher level of consistency must be ensured by the user (see
Sections Consistent reading and writing of variables (semaphores) and Working with
variables).
Note
The following data types are not portable convertible, i.e their transmission formats are not
defined across systems. Conversions between SIMOTION devices are possible without any
restrictions:
Time types: For conversion format, see Table
Enumerators (enumeration data types)
When converting these data types, the compiler outputs a warning (16013).
Table 7-23 Conversion formats of time data types for marshalling functions
Data type Conversion format

TIME Time specification, in ms (UDINT)
TIME_OF_DAY (TOD) Time of day starting with TOD#0:0:0 in ms (UDINT)
DATE Number of days since DATE#1992_01_01 (UDINT).
DATE#1992_01_01 corresponds to 1
DATE_AND_TIME (DT) Summary of TOD and DATE in the order specified.
NOTICE
The result of the marshalling functions can lead to errors when the program is running, the
error reaction specified in the task configuration will then be triggered.
Proceed with caution when converting byte arrays to the general ANY_REAL data type or
to structures that contain this data type. The bit string from the byte array is taken
unchecked as the ANY_REAL value. You must make sure that the bit string of the byte
array corresponds to the bit pattern of a normalized floating-point number according to
IEEE. To do this, you can use the functions _finite (see Section _finite function) and _isNaN
(see Section _isNaN function).
Otherwise, an error is triggered (see above) as soon as the ANY_REAL value is first used
for an arithmetic operation (for example, in the program or when monitoring in the symbol
browser).
Basic functions
Table 7-24 Example of marshalling function use
TYPE
Struct_1 : STRUCT
m_word : WORD;
m_byte : BYTE;
END_STRUCT;
Struct_2 : STRUCT
m_struct : ARRAY [0..2] OF Struct_1;
m_lreal : LREAL;
END_STRUCT;
END_TYPE
VAR
gsbVar : Struct_2;
big_b_Array : ARRAY [0..16] OF BYTE;
lit_b_Array : ARRAY [0..16] OF BYTE;
END_VAR
// Assignment of the values to the structure

gsbVar.m_struct[0].m_word := WORD#16#7FF1;
gsbVar.m_struct[0].m_byte := BYTE#16#F9;
gsbVar.m_struct[1].m_word := WORD#16#9FF7;
gsbVar.m_struct[1].m_byte := BYTE#16#80;
gsbVar.m_struct[2].m_word := WORD#16#A881;
gsbVar.m_struct[2].m_byte := BYTE#16#BC;
gsbVar.m_lreal := LREAL#-12345.6789e123;
// Conversion to Big Endian
big_b_Array := AnyType_to_BigByteArray (
anyData := gsbVar,
offset := 0);
// Content of the elements of big_b_array (Big Endian):
// See 2nd column in following table
// Conversion to Little Endian

lit_b_Array := AnyType_to_LittleByteArray (
anyData := gsbVar,
offset := 0);
// Content of the elements of lit_b_array (Little Endian):
// See 3rd column in following table
// Conversion from Big Endian

gsbVar := BigByteArray_to_AnyType (
bytearray := big_b_Array,
offset := 0);
// Conversion from Little Endian

gsbVar := BigByteArray_to_AnyType (
bytearray := lit_b_Array,
offset := 0);
Basic functions
Table 7-25 Content of the array elements of big_b_array and lit_b_array from example
Byte array big_b_array or lit_b_array Components of the variable gsbVar
Array big_b_array lit_b_array Name Value

index (Big Endian) (Little Endian)
16 BYTE#16#07 BYTE#16#DA m_lreal LREAL#-
15 BYTE#16#F0 BYTE#16#52 12345.6789e123
14 BYTE#16#43 BYTE#16#3C
13 BYTE#16#68 BYTE#16#EC
12 BYTE#16#EC BYTE#16#68
11 BYTE#16#3C BYTE#16#43
10 BYTE#16#52 BYTE#16#F0
9 BYTE#16#DA BYTE#16#07
8 BYTE#16#BC BYTE#16#BC m_struct[2].m_byte BYTE#16#BC
7 BYTE#16#81 BYTE#16#A8 m_struct[2].m_word WORD#16#A88
6 BYTE#16#A8 BYTE#16#81
5 BYTE#16#80 BYTE#16#80 m_struct[1].m_byte BYTE#16#80
4 BYTE#16#F7 BYTE#16#9F m_struct[1].m_word WORD#16#9FF7
3 BYTE#16#9F BYTE#16#F7
2 BYTE#16#F9 BYTE#16#F9 m_struct[0].m_byte BYTE#16#F9
1 BYTE#16#F1 BYTE#16#7F m_struct[0].m_word WORD#16#7FF1
0 BYTE#16#7F BYTE#16#F1
7.20.5 Communication functions
7.20.5.1 Available functions

ST provides the following functions for communication over non-configured links:
_Xsend
_GetStateOfXCommand
_Xreceive
These communication functions are used to send and receive data:
Between SIMOTION devices
Between SIMOTION and SIMATIC S7 devices
(S7-300, S7-400, M7-300, M7-400, etc.).
The dual functions _Xsend and _Xreceive enable transparent transmission of data packets
that are sent coordinately by the user program of the client and received coordinately by the
user program of the server.
Basic functions
Additional information
Additional information is also available in the System/ Configuration Manual -
Communication.
The program on the receiving device recognizes whether the data packet it is to received on
the basis of a user-definable integer appended to the data packet. The data exchange is only
successful if the user program accepts and does not reject the data packet.
The sent data is in the form of byte sequences in an array, i.e. the data has no logical
structure. SIMOTION devices can send or receive up to 200 bytes at once; the actual user
data length depends on the communication peer.
You can check the status of an XSend or XReceive request with the _GetStateOfXCommand
command.
Note
Additional communication functions include:
udpSend
udpReceive
These enable communication via Ethernet with the UDP protocol (see Parameter Manual for
SIMOTION devices).
7.20.5.2 Parameter description for _Xsend

The _Xsend function sends a data packet with transparent data to a communication peer.
For the detailed syntax of the parameters, refer to the Parameter Manual for the SIMOTION
devices.
An overview is provided below:
You can choose between two communication modes (communicationMode parameter):
The connection is or is not retained after the data transmission.
The address parameter specifies the destination address of the communications peer.
The parameter is of data type StructXSendDestAddr. The following table lists the
meaning of the individual components.
Table 7-26 Structure of destination address
Parameter / data type Meaning/values Values

deviceId Point of the connection C230-2, C240: 1 for X8
(USINT 2 for X9
P350: 1 for X101
2 for X102
D4x5: 1 for X126
2 for X136
remoteSubnetIdLength Length of the subnet dialog box 0 for MPI, PROFIBUS
(USINT)
Basic functions
Parameter / data type Meaning/values Values

remoteStaddrLength Length of station address 1 for MPI, PROFIBUS
(USINT) (station number) of destination
system.
nextStaddrLength Length of the router address 0 for MPI, PROFIBUS
(USINT)
remoteSubnetId Subnet mask (Irrelevant for MPI, PROFIBUS)
(ARRAY [0..5] OF USINT)
remoteStaddr Station address of target system Station number for MPI, PROFIBUS:
(ARRAY [0..5] OF USINT) (actual destination address) e.g.: remoteStaddr[0] = 25
nextStaddr Router address (Irrelevant for MPI, PROFIBUS)
(ARRAY [0..5] OF USINT)
Additional parameters of the _Xsend function are:

The receiver identifies the data packet from the job identifier (messageId parameter) that
you append to the data packet.
You can select between two modes of data transmission (nextCommand parameter):
synchronous or asynchronous.
During synchronous data transmission, the program waits until the receiver
acknowledges receipt of the data packet before resuming execution. This happens
automatically on receipt of the data packet.
During asynchronous data transmission, the program is resumed immediately after the
command is issued. You can check the status of the command with
_GetStateOfXCommand.
The mandatory commandId parameter is used for internal command detection in ST. The
parameter value should be saved to a local variable (CommandIdType data type) with the
_getCommandId function. This variable can be used as a parameter value.
The data packet (data parameter) involves a list containing 200 entries of 1 byte each.
The list does not have to be this long if the amount of data you are sending is less than
the maximum.
The data length (dataLength parameter) is used to specify the actual length of the data
packet to be transmitted.
You can determine whether the command was successfully executed (return value = 0)
on the basis of the return value.
If a return value other than 0 is returned, an error has occurred (see the command syntax
in the Parameter Manual for the SIMOTION devices).
7.20.5.3 Parameter description for _Xreceive

The _Xreceive function is used to receive transparent data sent by a communication peer
with _Xsend.
Below is a brief overview of the function parameters (see also the section on system
functions in the Parameter Manual for the SIMOTION devices):
You identify the anticipated data packet from the job identifier (messageId parameter)
appended by the sender.
Basic functions
As when sending data, you can choose between two modes of data reception
(nextCommand parameter): synchronous or asynchronous.
During synchronous data receipt, the program waits until the data packet has arrived
before it resumes execution. Receipt of the data packet is then acknowledged
automatically to the sender.
During asynchronous data transmission, the program is resumed immediately after the
command is issued. You can check the status of the command with
_GetStateOfXCommand.
The mandatory commandId parameter is used for internal command detection in ST. The
parameter value should be saved to a local variable (CommandIdType data type) with the
_getCommandId function (see section in SIMOTION Basic Functions Function Manual).
This variable can be used as a parameter value.
The return value is a structure:
You can determine whether the command was successfully executed (functionResult
= 0) on the basis of the functionResult element.
If a value other than 0 is returned, an error has occurred (see the command syntax in
the Parameter Manual for the SIMTOTION devices).
The dataLength element represents the data length of the data packet received.
The data element represents the data packet received (array of up to 200 entries of 1
byte each).
7.20.5.4 Parameter description for _GetStateOfXCommand

You can check the status of an _Xsend or _Xreceive command with the
_GetStateOfXCommand function.
Below is a brief overview of function parameters (see also documentation for the technology
functions):
The status query can tell which command is involved by the mandatory commandId
parameter uniquely assigned to each send and receive function (see information about
this parameter for _Xsend and _Xreceive above).
The return value consists of an error number (zero when command execution is okay,
otherwise greater than zero) and the status of the command being checked (see
command syntax in the system functions for the SIMOTION devices).
7.20.5.5 Communication between SIMOTION and SIMATIC S7 devices

You must consider the following for communication between SIMOTION and SIMATIC S7
devices:
Communication is only possible with _Xsend and _Xreceive.
The maximum volume of data that can be transmitted in one packet is limited to 76 bytes.
If you transmit larger data packets, an error message is output.
The SIMOTION interface must be connected to the MPI interface of the SIMATIC S7
devices. The baud rate on the SIMOTION interface must be set to correspond to the
baud rate of the SIMATIC S7device. For example, the baud rate for an SIMATIC S7-300
must be configured to 187.5 Kbits/s (see documentation for the relevant SIMATIC S7
devices).
Basic functions
NOTICE
The parameters for the _Xsend and _Xreceive commands have different names in the
SIMOTION system are in some cases have a different meaning than those you used in
your previous SIMATIC S7 system. You will find a comparison in the following tables.
The _GetStateOfXCommand command does not exist in an SIMATIC S7 system, thus
eliminating the need for comparison.
Table 7-27 Comparison of the parameters for _Xsend in SIMATIC S7 and SIMOTION devices
SIMATIC S7 device SIMOTION device

(parameters for SFC 65 X_SEND) (parameters for _Xsend)
REQ
(Request to activate, data type BOOL) (Not available)
DEST_ID address
(MPI station number of the communications peer) (Destination address of the communication peer
as a structure of data type StructXSendDestAddr)
CONT communicationMode
(Keep connected, Boolean value TRUE or (Keep connected, enum. value M_TRUE or
FALSE) M_FALSE)
nextCommand
(Not available) (Data transmission mode, enum values for
synchronous and asynchronous)
REQ_ID messageId
(Job identifier, value of data type DWORD) (Job identifier, value of data type UDINT)
SD data
(Variable address for sent data, value of data (Data packet to be sent, one-dim. array with max.
type ANY pointer, max. 76 bytes long) 200 values of data type USINT)
dataLength
(Not available) (Data length of data packet to be sent in bytes,
value of data type UDINT)
commandId
(Not available) (Internal command identifier, see description in
parameter description above)
BUSY
(Activation status, values of data type BOOL) (Not available)
<Return value> <Return value,
(= 0, if no error occurred; <> 0, if error occurred; (= 0, if no error occurred; <> 0, if error occurred;
see SIMATIC S7 documentation) see Parameter Manual for the SIMOTION
devices)
Basic functions
Table 7-28 Comparison of the parameters for _Xreceive in SIMATIC S7 and SIMOTION devices
SIMATIC S7 device SIMOTION device

(parameters for SFC 66 X_RCV) (parameters for _Xreceive)
EN_DT
(Enable Data Transfer, data type BOOL) (Not available)
REQ_ID messageId
(Job identifier, value of data type DWORD) (Job identifier, value of data type UDINT)
nextCommand
(Not available) (Data transmission mode, enum values for
synchronous and asynchronous)
commandId
(Not available) (Internal command identifier, see description in
parameter description above)
RD <Return value, data structure element>
(variable address for received data, value of data (Received data packet; an array of up to 200
type ANY pointer, entries of 1 byte each)
max. 76 bytes long)
<Return value,
(Not available) dataLength structure element>
(Data length of received data package)
<Return value> <Return value,
(= 0, if no error occurred; <> 0, if error occurred; functionResult structure element>
see SIMATIC S7 documentation) (= 0, if no error occurred; <> 0, if error occurred;
see Parameter Manual for the SIMOTION
devices)
7.20.5.6 Example of send and receive program

The following figures show the source text for the send and receive program.
Table 7-29 Example of send program
INTERFACE
PROGRAM xsend_control;
END_INTERFACE
IMPLEMENTATION
// The following program must be assigned
// to a MotionTask.
// after Startup Task" option must be selected.
PROGRAM xsend_control
VAR
retVal : DINT;
myAddress : StructXSendDestAddr;
myStaddr : ARRAY[0..4] OF BYTE;
myData : ARRAY[0..199] OF BYTE;
END_VAR
// Specify destination address and PROFIBUS interface ////////
Basic functions
myAddress.deviceID := 1;
// PROFIBUS interface X8
myAddress.remoteStaddrLength := 1;
// must always be assigned a value of 1
myAddress.remoteStaddr[0] := 4;
// PROFIBUS address of the receiving station
// Send data
myData[0] := 170;
// Call of send function

retVal := _Xsend( communicationMode := ABORT_CONNECTION
, address := myAddress
, messageId := 1
, nextCommand := WHEN_COMMAND_DONE
, commandId := _getCommandId()
, data := myData
, dataLength := 1
);
END_PROGRAM
END_IMPLEMENTATION
Table 7-30 Example of receive program
INTERFACE
PROGRAM xreceive_control;
END_INTERFACE
IMPLEMENTATION
VAR_GLOBAL
retVal : StructRetXReceive;
END_VAR
// The following program must be assigned
// to a MotionTask.
// after Startup Task" option must be selected.
PROGRAM xreceive_control
// Call of receive function

retVal := _Xreceive( messageId := 1
, nextCommand := WHEN_COMMAND_DONE
, commandId := _getCommandId()
);
END_PROGRAM
END_IMPLEMENTATION
Basic functions
7.20.5.7 Communication via Ethernet with TCP/IP protocol

For SIMOTION devices with Ethernet interface, communication via the TCP/IP protocol is
also possible.
The following table lists the individual steps to establish communication between a sender
(client) and a receiver (server):
Table 7-31 Communication steps of a TCP/IP connection and the corresponding system functions
Communication steps System function

Establish the connection
1 Receiver (server) waits for communication request _tcpOpenServer
2 Sender (client) requests connection establishment to the _tcpOpenClient
receiver.
3 Receiver (server) has established communication
request.
Communicating
4 Sender sends data to the receiver. _tcpSend
5 Receiver receives data from the sender. _tcpReceive
Close the connection.
6 Sender does not send any data anymore and closes the _tcpCloseConnection
connection.
7 There is no further connection required. _tcpCloseServer
The system functions are described in detail in the Parameter Manual for the SIMOTION
devices, in the chapter on system functions.
Note
A sender or receiver can be a client as well as a server when establishing a connection.
There must be at least one client and one server for TCP/IP connection establishment.
The client-server relationship is only valid until the connection is established. After
connection establishment, both communication peers are equivalent, i.e. each of the two can
send or receive or close the connection at any point of time.
For detailed information, please refer to the Frequently Asked Questions (FAQ) on the
SIMOTION Utilities & Applications CD-ROM.
Basic functions
7.20.5.8 Communication via Ethernet with UDP protocol

For SIMOTION devices with Ethernet interface, communication via the UDP protocol is also
possible.
The _udpSend function sends a data packet to a communication peer which is specified
with IP address and port number.
The data to be sent is transferred to the function as ARRAY [0..1399] OF BYTE.
The _udpReceive function is used to receive a data packet which a communication peer
has sent with _udpSend.
The received data is stored in a variable of data type ARRAY [0..1399] OF BYTE, whose
identifier is transferred to the function as parameter.
The system functions are described in detail in the Parameter Manual for the SIMOTION
devices, in the chapter on system functions.
For detailed information, please refer to the Frequently Asked Questions (FAQ) on the
SIMOTION Utilities & Applications CD-ROM.
7.20.6 Synchronous start

On synchronous start, several commands are started within an IPO cycle clock or IPO_2
cycle clock.
Follow these steps:
1. First, obtain a unique SyncCommandId from the system. You will need this
SyncCommandId as a unique designation for the synchronized commands.
For this purpose, use the _getSyncCommandId() system function.
2. Enclose the commands to be executed synchronously between the
BEGIN_SYNC(SyncCommandId) and END_SYNC() functions. This defines them for
synchronized start.
All motion commands are permissible within the structure BEGIN_SYNC/END_SYNC.
The value IMMEDIATELY must be transferred as the nextCommand parameter.
3. The synchronous start itself occurs with the _startSyncCommand (SyncCommandId)
function. The commands defined for the synchronized start are processed in parallel.
See sample program.
NOTICE
Synchronous start for motion commands is only ensured if the following conditions are
satisfied:
1. Commands included in a synchronous start must act on various technology objects.
2. The technology objects involved must be in the same execution level (IPO or IPO_2).
Basic functions
The BEGIN_SYNC, END_SYNC, and _startSyncCommand functions are system functions of

SIMOTION devices; for more information, refer to the Parameter Manual for the relevant
SIMOTION device.
Note
Synchronous start is often used in conjunction with the WAITFORCONDITION construct. In
this case, the system waits for a condition to be fulfilled before the synchronized start. The
_startSyncCommand function must not occur within the WAITFORCONDITION construct.
Table 7-32 Sample program for synchronized start with WAITFORCONDITION
INTERFACE
USEPACKAGE cam;
PROGRAM sync_motion;
END_INTERFACE
IMPLEMENTATION
EXPRESSION wait_sync_expression
wait_sync_expression := TRUE;
END_EXPRESSION
PROGRAM sync_motion
VAR
ret_val : DINT;
sync_id : CommandIdType;
END_VAR
sync_id := _getSyncCommandId();
BEGIN_SYNC(sync_id);
ret_val := _pos (axis := Axis_1,
positioningMode := ABSOLUTE,
position := 100,
mergeMode := IMMEDIATELY,
ret_val := _pos (axis := Axis_2,
positioningMode := ABSOLUTE
position := 50
mergeMode := IMMEDIATELY
END_SYNC();
WAITFORCONDITION wait_sync_expression DO
;
END_WAITFORCONDITION;
ret_val := _startSyncCommands(sync_id);
END_PROGRAM
END_IMPLEMENTATION
Basic functions
7.21 HMI (Human Machine Interface) connection
7.21.1 Interface between HMI and SCOUT or SIMOTION

SIMOTION allows communication with HMI devices (operator devices for the end user), e.g.
with operator panels.
If one or more SIMOTION devices are connected on the PROFIBUS or PROFINET, the HMI
device can display variables, messages and alarms of the SIMOTION devices. Because you
can create sources for each SIMOTION device, the variables of the sources can be
displayed on the HMI device. Likewise, you can initiate functions programmed using the HMI
device and a program in the SIMOTION device.
The WinCC flexible and ProTool software packages are available for implementing such
tasks on the HMI device. You can use WinCC flexible or ProTool to read and write to system
variables and unit variables declared in the interface section. See also HMI variables in one
unit (Page 416).
SIMOTION also provides an OPC server. You can use this server to access process data
with non-proprietary HMI software.
Note
Variables that are meant to be available in HMI must always be created as unit variables in
the interface section of a source file.
7.21.2 Example of a ProTool application

A detailed example of a ProTool application is presented in the ProTool/Pro - SIMOTION
HMI Example Operator Interface for System Startup operator's guide.
7.21.3 Consistent data access with HMI devices (example)

HMI devices can also access user data of the SIMOTION device consistently. The following
example includes an ST program on the SIMOTION device (see example) and an
application (Visual Basic program) on the HMI device (see example).
The user requests consistent read access to user variables (including arrays) from within the
HMI application (in this case, Visual Basic; but it could also be Visual C++ ...). An uneven
value is written to the consistencyFlag variable. The SIMOTION user program then copies
the data. The HMI application waits until the SIMOTION user program confirms that it has
completed copying the data by writing an even value to the consistencyFlag variable. Then,
Basic functions
the HMI reads out this variable consistently, since no changes have been made in the
meantime.
The ST program can be assigned to a cyclic task; it may be necessary to take the
IPOsynchronousTask if, for example, axis positions and velocities are to be read at the same
time (as a snapshot).
Examples:
Table 7-33 ST program for consistent data access from HMI devices
INTERFACE
VAR_GLOBAL
consistencyFlag : DINT;
myDint : DINT;
myArray : ARRAY[0..10] OF LREAL;
END_VAR
PROGRAM OPC_Prog;
END_INTERFACE
IMPLEMENTATION
PROGRAM OPC_Prog
IF (consistencyFlag MOD 2) = 1 THEN
myDint := 99;
myArray[0] := 0.0;
myArray[1] := 1.0;
myArray[10] := 10.0;
consistencyFlag := consistencyFlag + 1;
END_IF;
END_PROGRAM
END_IMPLEMENTATION
Table 7-34 HMI application for consistent data access (Visual Basic)
Option Explicit
Option Base 1
Dim g_Server As OPCServer

Dim g_GroupObj As OPCGroup
Dim g_myItem1 As OPCItem


Const OPC_DS_DEVICE = 2
Dim consistencyFlag As Long
Private Sub Form_Load()

Set g_Server = New OPCServer
g_Server.Connect ("OPC.SimaticNet")
Set g_GroupObj = g_Server.OPCGroups.Add("Test1")
g_GroupObj.IsActive = False
Set g_myItem1 = g_GroupObj.OPCItems.AddItem("C240.consistencyFlag", 2)
Set g_myItem2 = g_GroupObj.OPCItems.AddItem("C240.myDint", 2)
Set g_myItem3 = g_GroupObj.OPCItems.AddItem("C250.myArray", 3)
Basic functions
consistencyFlag = 1
End Sub
Private Sub Form_Unload(Cancel As Integer)
Set g_myItem1 = Nothing
Set g_GroupObj = Nothing
Set g_Server = Nothing
End
End Sub
Private Sub cmdRead_Click()

Static reentrancyFlag As Boolean
Dim var1 As Variant
Dim var2 As Variant
Dim var3 As Variant
If reentrancyFlag = False Then

reentrancyFlag = True
consistencyFlag = consistencyFlag + 2
g_myItem1.Write consistencyFlag
Do
g_myItem1.Read OPC_DS_DEVICE, var1
Loop Until var1 = consistencyFlag + 1
reentrancyFlag = False
End if
End Sub
Basic functions
Programming of general system function blocks 8
8.1 Overview of the function blocks
ST contains a series of system function blocks that you can use in your ST source files
without having to declare them beforehand. You only have to create an instance and assign
the necessary parameters.
Overview of system function blocks

Below is an overview of all system function blocks implemented in the system. You will find
definitions and a further specification starting at Section 7.1.
Table 8-1 System function blocks
Collective term Name Input parameters Output parameters

Definition Name : Type Name : Type
Bistable function blocks SR1 S1 : BOOL; Q1 : BOOL;
Priority set R : BOOL;
RS1 SR1 : BOOL; Q1 : BOOL;
Priority reset : BOOL;
Edge detection R_TRIG1 CLK : BOOL; Q : BOOL;
Rising edge
F_TRIG1 CLK : BOOL; Q : BOOL;
Falling edge
Counters CTU1 CU : BOOL; Q : BOOL;
Up counter R : BOOL; CV : INT;
Data type: INT PV : INT;
CTU_DINT1 CU : BOOL; Q : BOOL;
Up counter R : BOOL; CV : DINT;
Data type: DINT PV : DINT;
CTU_UDINT1 CU : BOOL; Q : BOOL;
Up counter R : BOOL; CV : UDINT;
Data type: UDINT PV : UDINT;
CTD1 CD : BOOL; Q : BOOL;
Down counter LD : BOOL; CV : INT;
Data type: INT PV : INT;
Basic functions
Programming of general system function blocks
8.1 Overview of the function blocks

CTD_DINT1 CD : BOOL; Q : BOOL;
Down counter LD : BOOL; CV : DINT;
Data type: DINT PV : DINT;
CTD_UDINT1 CD : BOOL; Q : BOOL;
Down counter LD : BOOL; CV : UDINT;
Data type: UDINT PV : UDINT;
CTUD1 CU : BOOL; QU : BOOL;
Up/down counter CD : BOOL; QD : BOOL;
Data type: INT R : BOOL; CV : INT;
LD : BOOL;
PV : INT;
CTUD_DINT1 CU : BOOL; QU : BOOL;
Data type: DINT R : BOOL; CV : UINT;
LD : BOOL;
PV : DINT;
CTUD_UDINT1 CU : BOOL; QU : BOOL;
Data type: UDINT R : BOOL; CV : UDINT;
LD : BOOL;
PV : UDINT;
Timers TP1 IN : BOOL; Q : BOOL;
Puls PT : TIME; ET : TIME;
TON1 IN : BOOL; Q : BOOL;
ON delay PT : TIME; ET : TIME;
TOF1 IN : BOOL; Q : BOOL;
ON delay PT : TIME; ET : TIME;
RTC1 SET : BOOL; CDT : DT;
Real-time clock READ : BOOL;
PDT : DT;
Splitting bit-string data _BYTE_TO_8BOOL n : BYTE bit0, bit1, : BOOL;
types bit2, bit3,
bit4, bit5,
bit6, bit7
_WORD_TO_2BYTE in : WORD byte0, : BYTE;
byte1
_DWORD_TO_2WORD in : DWORD word0, : WORD;
word1
_DWORD_TO_4BYTE in : DWORD byte0, : DWORD;
byte1,
byte2,
byte3
Basic functions
8.2 Bistable elements (set flip-flop)

Emulation of SIMATIC S7 _S7_COUNTER1 CU : BOOL; Q : BOOL;
commands CD : BOOL; CV : INT;
PV : INT;
S : BOOL;
R : BOOL;
_S7_TIMER1 T_Type : WORD; Q : BOOL;
PR : BOOL; BI : TIME;
S : BOOL;
R : BOOL;
TV : TIME;
TV_BCD : WORD;
1 These function blocks require a repeated call (e.g. in a cyclic task)
Comparison of the system function blocks for SIMOTION and SIMATIC

You can find a comparison of the SIMATIC S7 and SIMOTION system function blocks in the
2_FAQ directory on the Utilities & Applications CD.

In ST you can use system function block SR to set/reset the flipflop (priority set) and system
function block RS to reset/set the flipflop (priority reset).
Bistable function block SR (priority set)

The stored value can be obtained at output Q1. Output Q1 is 1 when S1 is 1. If S1 and R are
equal to 0, output Q1 does not change. )
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Figure 8-1 Mode of operation of the SR bistable function block
Basic functions
Table 8-2 Program code of the SR bistable function block
FUNCTION_BLOCK SR
VAR_INPUT
S1,R : BOOL;
END_VAR
VAR_OUTPUT
Q1 : BOOL;
END_VAR
Q1 := S1 OR (NOT R AND Q1);
END_FUNCTION_BLOCK
END_IMPLEMENTATION
Table 8-3 Call parameters for SR
Identifier Parameter Data type Description

S1 Input BOOL Set
R Input BOOL Reset
Q1 Output BOOL Signal state
Bistable function block RS (priority reset)

The stored value can be obtained at output Q1. Output Q1 is 0 when R1 is 1. If R1 and S are
equal to 0, output Q1 does not change.
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Figure 8-2 Mode of operation of the RS bistable function block
Basic functions
8.3 Edge detection
Table 8-4 Program code of RS bistable function block
FUNCTION_BLOCK RS
VAR_INPUT
R1,S : BOOL;
END_VAR
VAR_OUTPUT
Q1 : BOOL;
END_VAR
Q1 := NOT R1 AND (S OR Q1);
END_FUNCTION_BLOCK
Table 8-5 Call parameters for RS

S Input BOOL Set
R1 Input BOOL Reset
Q1 Output BOOL Signal state
8.3 Edge detection

System function block R_TRIG can be used to detect a rising edge; F_TRIG can detect a
falling edge. You can use this function, for example, to set up a sequence of your own
function blocks.
Detection of rising edge R_TRIG

If a rising edge (R_TRIG, Rising Trigger), i.e. a status change from 0 to 1 is present at the
input, 1 is applied at the output for the duration of one cycle time.
Basic functions
8.3 Edge detection
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Figure 8-3 Mode of operation of R_TRIG (rising edge) function block
Table 8-6 Program code for function block R_TRIG (rising edge)
FUNCTION_BLOCK R_TRIG
VAR_INPUT
CLK : BOOL;
END_VAR
VAR_OUTPUT
Q : BOOL;
END_VAR
VAR
M : BOOL := 0;
END_VAR
Q := CLK AND NOT M;

M := CLK;
END_FUNCTION_BLOCK
Table 8-7 Call parameters for R_TRIG

CLK Input BOOL Input for edge detection
Q Output BOOL Status of edge
Basic functions
8.3 Edge detection
Detection of falling edge F_TRIG

When a falling edge (F_TRIG, falling trigger), i.e. a status change from 1 to 0, occurs at the
input, the output is set to 1 for the duration of one cycle time.
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Figure 8-4 Mode of operation of F_TRIG (falling edge) function block
Table 8-8 Program code for function block F_TRIG (falling edge)
FUNCTION_BLOCK F_TRIG
VAR_INPUT
CLK : BOOL;
END_VAR
VAR_OUTPUT
Q : BOOL;
END_VAR
VAR
M : BOOL := 1;
END_VAR
Q := NOT CLK AND NOT M;

M := NOT CLK;
END_FUNCTION_BLOCK
Table 8-9 Call parameters for F_TRIG

CLK Input BOOL Input for edge detection
Q Output BOOL Status of edge
Basic functions
8.4 Counters
8.4 Counters
8.4.1 General information on counters

ST provides a series of system function blocks for counters that you can use in your ST
program.
8.4.2 CTU up counter

The CTU counter allows you to perform upward counting operations:
If the input is R = TRUE when the FB is called up, then the CV output is reset to 0.
If the CU input changes from FALSE to TRUE (0 to 1) when the FB is called (positive
edge), then the CV output is incremented by 1.
Output Q specifies whether CV is greater than or equal to comparison value PV.
The CV and PV parameters are both INT data types, which means that the maximum
counter value possible is 32_767 ( = 16#7FFF).
User interface prototype
Sample code
FUNCTION_BLOCK CTU
VAR_INPUT
CU: BOOL; // Count
R : BOOL; // Reset
PV : INT; // Comparison value
END_VAR
VAR_OUTPUT
Q : BOOL; // Status
CV : INT; // Counter reading
END_VAR
// ... (Code)
END_FUNCTION_BLOCK
Input parameters
CU
Data type: BOOL
Count up if value changes from FALSE to TRUE (positive edge)
R
Data type: BOOL
TRUE: Reset the counter to 0
PV
Data type: INT
Comparison value
Basic functions
8.4 Counters
Output parameter
Q
Data type: BOOL
Status of counter (CV >= PV)
CV
Data type: INT
Counter value
8.4.3 CTU_DINT up counter

The method of operation is the same as for the CTU up-counter (see Subsection 7.3.1), with
the following exception:
The CV and PV parameters are both DINT data types, which means that the maximum
counter value possible is 2_147_483_647 ( = 16#7FFF_FFFF).
Table 8-10 Parameters for CTU_DINT

CU Input BOOL Count up if value changes from FALSE to TRUE
(rising edge)
R Input BOOL Reset the counter to 0
PV Input DINT Comparison value
Q Output BOOL Status of counter (CV >= PV)
CV Output DINT Counter value
8.4.4 CTU_UDINT up counter

The method of operation is the same as for the CTU incrementer except for the following:
The CV and PV parameters are both UDINT data types, which means that the maximum
counter value possible is 4_294_967_295 ( =16#FFFF_FFFF).
Table 8-11 Parameters for CTU_UDINT

CU Input BOOL Count up if value changes from FALSE to
TRUE (rising edge)
R Input BOOL Reset the counter to 0
PV Input UDINT Comparison value
Basic functions
8.4 Counters

Q Output BOOL Status of counter (CV >= PV)
CV Output UDINT Counter value
See also
CTU up counter (Page 390)
8.4.5 CTD down counter

The CTD counter allows you to perform downward counting operations.
If the LD input = TRUE when the FB is called, then the CV output is reset to start value
PV.
If the CD input changes from FALSE to TRUE (0 to 1) when the FB is called up (rising
edge), then the CV output is decremented by 1.
Output Q specifies whether CV is greater than or equal to 0.
The CV and PV parameters are both INT data types, which means that the minimum counter
value possible is
32_768 ( = 16#8000).
Table 8-12 Call parameters for CTD

CD Input BOOL Count down if value changes from FALSE to
TRUE (rising edge)
LD Input BOOL Reset the counter to start value
PV Input INT Start value of counter
Q Output BOOL Status of counter (CV <= 0)
CV Output INT Counter value
8.4.6 CTD_DINT down counter

The method of operation is the same as for the CTD up counter except for the following:
The CV and PV parameters are both DINT data types, which means that the minimum
counter value possible is
2_147_483_648 ( = 16#8000_0000).
Table 8-13 Call parameters for CTD_DINT

CD Input BOOL Count down if value changes from FALSE to TRUE
(rising edge)
Basic functions
8.4 Counters

PV Input DINT Start value of counter
Q Output BOOL Status of counter (CV <= 0)
8.4.7 CTD_UDINT down counter

The method of operation is the same as for the CTD up counter except for the following:
The CV and PV parameters are both UDINT data types, which means that the minimum
counter value possible is 0.
Table 8-14 Call parameters for CTD_UDINT

TRUE (rising edge)
PV Input UDINT Start value of counter
Q Output BOOL Status of counter (CV = 0)
8.4.8 CTUD up/down counter

The CTUD counter allows you to perform both upward and downward counting operations.
Reset the CV count variable:
If the input is R = TRUE when the FB is called up, then the CV output is reset to 0.
If the LD input = TRUE when the FB is called, then the CV output is reset to start value
PV.
Count:
If the CU input changes from FALSE to TRUE (0 to 1) when the FB is called (rising
edge), then the CV output is incremented by 1.
If the CD input changes from FALSE to TRUE (0 to 1) when the FB is called up (rising
edge), then the CV output is decremented by 1.
Counter status QU or QD:
Output Q specifies whether CV is greater than or equal to comparison value PV.
Output QD specifies whether CV is less than or equal to 0.
Basic functions
8.4 Counters
Table 8-15 Parameters for CTUD

(rising edge)
TRUE (rising edge)
R Input BOOL Reset the counter to 0 (up counter)
LD Input BOOL Reset the counter to PV start value (down counter)
PV Input INT Comparison value (for up counter)
Start value (for down counter)
QU Output BOOL Status as up counter (CV >= PV)
QD Output BOOL Status as down counter (CV <= 0)
CV Output INT Counter value
8.4.9 CTUD_DINT up/down counter

The method of operation is the same as for the CTUD up counter except for the following:
The CV and PV parameters are both DINT data types.
Table 8-16 Parameters for CTU_DINT

(rising edge)
TRUE (rising edge)
R Input BOOL Reset the counter to 0 (down counter)
LD Input BOOL Reset the counter to PV start value (down
counter)
PV Input DINT Comparison value (for up counter)
QD Output BOOL Status as down counter (CV <= 0)
Basic functions
8.5 Timers
8.4.10 CTUD_UDINT up/down counter

The method of operation is the same as for the CTUD up counter except for the following:
The CV and PV parameters are both UDINT data types.
Table 8-17 Parameters for CTU_UDINT

(rising edge)
TRUE (rising edge)
R Input BOOL Reset the counter to 0 (up counter)
LD Input BOOL Reset the counter to PV start value (down
counter)
PV Input UDINT Comparison value (for up counter)
QD Output BOOL Status as down counter (CV = 0)
8.5 Timers
Timers are elements in your program used to execute and monitor time-driven processes.
ST provides a series of system function blocks that you can access with ST. You can use
timers in your program to do the following:
Set waiting times
Enable monitoring times
Generate pulses
Measure times
Basic functions
8.5 Timers
TP pulse
With a signal state change from 0 to 1 at the IN input, time ET is started. Output Q remains
at 1 until elapsed time ET is equal to programmed time value PT. As long as time ET is
running, the IN input has no effect.
The following figure illustrates the mode of operation of the TP pulse timer.
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Figure 8-5 Mode of operation of the TP pulse
The following table shows the call parameters.
Table 8-18 Call parameters for TP

IN Input BOOL Start input
PT Input TIME Duration of pulse
Q Output BOOL Status of time
ET Output TIME Elapsed time
Basic functions
8.5 Timers
TON ON delay
With the signal state change from 0 to 1 at the IN input, time ET is started. The output signal
Q only changes from 0 to 1 if the time ET = PT has elapsed and the input signal IN still has a
value of 1, i.e. the output Q is switched on with a delay. Input signals of shorter durations
than that of programmed time PT do not appear at the output.
The following figure illustrates the mode of operation of the TON ON delay timer.
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Figure 8-6 Mode of operation of the TON ON delay
Table 8-19 Call parameters for TON

PT Input TIME Duration for which the rising edge at input IN
is delayed
VAR_TEMP
Mytimeout : TON;
End_VAR
Mytimeout(pt := T#2s, IN : TRUE);
IF (mytimeout.q) THEN
//Time expired
ENDIF
Basic functions
8.5 Timers
TOF OFF delay

With a signal state change from 0 to 1 at start input IN, state 1 appears at output Q. If the
state at the start input changes from 1 to 0, then time ET is started. If a change occurs at
input IN from 0 to 1 before time ET has elapsed, then the timer operation is reset. A start is
initiated again when the state at input IN changes from 1 to 0. Only after the duration ET =
PT has elapsed does output Q adopt a signal state of 0. This means that the output is
switched off with a delay.
The following figure illustrates the mode of operation of the TOF OFF delay timer.
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Figure 8-7 Mode of operation of the TOF OFF delay timer
Table 8-20 Call parameters for TOF

PT Input TIME Period for which the falling edge at input IN is
delayed.
Real-time clock RTC

The rising edge on SET sets the real-time clock to the value of PDT; PDT is copied to CDT.
If READ is set to TRUE, then the current system time is read and is available at output CDT.
Table 8-21 Call parameters for the RTC

SET Input BOOL Set time, default FALSE
READ Input BOOL Read time, default FALSE
Basic functions
8.6 Splitting bit-string data types

PDT Input DT Value to which the real-time clock is to be set,
default DT#0001-01-01-0:0:0.
If the value is less than the default value of the
SIMOTION device real-time clock, the real-time
clock will be set to its default value (e.g. in C230-
2: DT#1994-01-01-00:00:00).
CDT Output DT Current system time
The granularity for setting the real-time clock is 1 ms; the accuracy depends on the position
control cycle clock.
8.6.1 General information for splitting bit-string data types

The following functions enable a variable of a bit string data type to be split into multiple
variables of a lower-level data type.
The inverse functions are implemented as functions (see Combining bit-string data types)
See also
General information for combining bit-string data types (Page 300)
8.6.2 _BYTE_TO_8BOOL function block

This function splits a variable of data type BYTE into 8 variables of data type BOOL.
FUNCTION_BLOCK _BYTE_TO_8BOOL
VAR_INPUT
bytein : BYTE;
END_VAR
VAR_OUTPUT
bit0, // Least significant bit
bit1, bit2, bit3, bit4, bit5, bit6,
bit7: BOOL; // Most significant bit
END_VAR
// ... (Code)
END_FUNCTION_BLOCK
Basic functions
Input parameters
bytein
Data type: BYTE
Variable of data type BYTE to be split into 8 variables of data type BOOL.
Output parameter
bit0
...
bit7
Data type: BOOL
8 variables with the individual bits of the input parameter
bit0: least significant bit
...
bit7: most significant bit
8.6.3 _WORD_TO_2BYTE function block

This function splits a variable of data type WORD into 2 variables of data type BYTE.
FUNCTION_BLOCK _WORD_TO_2BYTE
VAR_INPUT
wordin : WORD;
END_VAR
VAR_OUTPUT
byte0, // Less significant byte
byte1: BYTE; // More significant byte
END_VAR
// ... (Code)
END_FUNCTION_BLOCK
Input parameters
wordin
Data type: WORD
Variable of data type WORD to be split into 2 variables of data type BYTE.
Basic functions
Output parameter
byte0 (optional)
byte1 (optional)
Data type: BYTE
2 variables with the individual bytes of the input parameter
byte0: less significant byte
byte1: more significant byte
8.6.4 _DWORD_TO_2WORD function block

This function splits a variable of data type DWORD into 2 variables of data type WORD.
FUNCTION_BLOCK _DWORD_TO_2WORD
VAR_INPUT
dwordin : DWORD;
END_VAR
VAR_OUTPUT
word0, // Less significant word
word1: WORD; // More significant word
END_VAR
// ... (Code)
END_FUNCTION_BLOCK
Input parameters
dwordin
Data type: DWORD
Variable of data type DWORD to be split into 2 variables of data type WORD.
Output parameter
word0
word1
Data type: WORD
word0: less significant word
word1: more significant word
Basic functions
8.6.5 _DWORD_TO_4BYTE function block

This function splits a variable of data type DWORD into 4 variables of data type BYTE.
FUNCTION_BLOCK _DWORD_TO_4BYTE
VAR_INPUT
dwordin : DWORD;
END_VAR
VAR_OUTPUT
byte0, // Least significant byte
byte1, byte2,
byte3: BYTE; // Most significant byte
END_VAR
// ... (Code)
END_FUNCTION_BLOCK
Input parameters
in
Data type: DWORD
Variable of data type DWORD to be split into 4 variables of data type BYTE.
Output parameter
byte0
byte1
byte2
byte3
Data type: BYTE
Factory setting BYTE#0
(default)
byte0: least significant byte
...
byte3: most significant byte
Basic functions
8.7 Emulation of SIMATIC S7 commands
8.7.1 General
The following function blocks are interface-compatible with the commands for the SIMATIC
S7 counters and timers; see the reference manual SIMATIC Statement List (STL) for S7-
300/400.
Note
You should generally use the function blocks in accordance with IEC 61131-3 (counters and
timers).
See also
General information on counters (Page 390)
Timers (Page 395)
8.7.2 _S7_COUNTER function block
FUNCTION_BLOCK _S7_COUNTER
VAR_INPUT
CU: BOOL;
CD: BOOL;
PV : INT;
S: BOOL;
R : BOOL;
END_VAR
VAR_OUTPUT
Q : BOOL;
CV : INT;
END_VAR;
// ... (Code)
END_FUNCTION_BLOCK
Basic functions
Input parameters
CU
Data type: BOOL
Count up (with edge)
CD
Data type: BOOL
Count down (with edge)
PV
Data type: INT
Preset value
S
Data type: BOOL
Set preset value (with edge)
R
Data type: BOOL
Reset counter (static)
Output parameter
Q
Data type: BOOL
Counter status
CV
Data type: INT
Counter value
Basic functions
8.7.3 _S7_TIMER function block

This function block is used to emulate SIMATIC S7 time functions.
FUNCTION_BLOCK _S7_TIMER
VAR_INPUT
T_Type : WORD;
PR : BOOL;
S: BOOL;
R : BOOL;
TV : TIME;
TV_BCD : WORD;
END_VAR
VAR_OUTPUT
Q : BOOL;
BI: TIME;
END_VAR
// ... (Code)
END_FUNCTION_BLOCK
Input parameters
T_TYPE
Data type: WORD
S7 timer function to be executed
TYPE_S7T_SI_ = 16#0001 SI SP
TYPE_S7T_SV_ = 16#0002 SV SEE
TYPE_S7T_SE_ = 16#0004 SE SD
TYPE_S7T_SS_ = 16#0008 SS SS
TYPE_S7T_SA_ = 16#0010 SA SF
TYPE_S7T_BCD_IN = 16#0020 SA SF
TYPE_S7T_SI_ = 16#0040 R FR
TYPE_S7T_SI_ = 16#0080 L LC (U; UN; X ...)
FR
Data type: BOOL
Release
S
Data type: BOOL
Set preset value
R
Data type: BOOL
Reset timer
TV
Basic functions
Data type: TIME

Preset value (as data type TIME)
TV_BCD
Data type: WORD
Preset value in S7 coding
Output parameter
Q1
Data type: BOOL
Timer status
BI
Data type: TIME
Current time
Basic functions
Error sources and efficient programming 9
9.1 Error sources during programming
9.1.1 Error sources during programming

Explanations of the most important error sources associated with programming are provided
below. The section also provides you with solution possibilities for eliminating these error
sources.
9.1.2 Checking data types when assigning arithmetic expressions

In arithmetic expressions, the result is always calculated in the largest number format
contained in the expression.
An expression value can only be assigned to a variable in the following cases:
The calculated expression and the variable to be assigned are of the same data type.
The data type of the calculated expression can be implicitly converted to the data type of
the variable to be assigned.
Therefore, if you wish to assign an expression to a variable, make sure that the variable is of
a large enough data type or perform an explicit data type conversion for that part of the
expression that is too large (see SIMOTION Basic Functions Function Manual).
Example, see .
If applicable, specify the data type explicitly for numbers (e.g. UINT#127, if the number 127
is to be of data type UINT instead of USINT).
See also
Functions for the conversion of numeric data types and bit data types (Page 288)
Basic functions
Error sources and efficient programming
9.1.3 Checking start of functions in cyclic tasks every time

TO functions, such as functions for positioning axes, should only be started in cyclic tasks if
they are not already running. Otherwise, the commands in your program are executed every
time the cycle is repeated.
You can program a condition for the TO function start in cyclic tasks, e.g. depending on the
contents of an auxiliary variable, which is set when the command is executed.
Table 9-1 Example for correct TO function start in a cyclic task
//...
IF myStart = 0 THEN // If auxiliary variable has not yet been set
myStart := 1; // Set auxiliary variable (function started)
myCommandID := _getCommandId ();
myFC := _pos (axis := myAxis, // Execute function
commandID := myCommandID);
END_IF;
//...
IF myAxis.positioningState.actualPosition = position_1 THEN
myStart := 0; // Reset auxiliary variable, if
// function execution required.
END_IF;
//...
9.1.4 Wait times in cyclic tasks

If you link command transitions to conditions when using system functions in cyclic tasks,
e.g. for the _pos command, a timeout can occur, causing a CPU stop.
This can occur in any system function where the nextCommand parameter assumes a value
other than IMMEDIATELY, e.g. the value WHEN_MOTION_DONE.
The timeout occurs if the cycle time configured in SIMOTION SCOUT is exceeded as a
result of a step enabling condition or programmed wait times, e.g. using _waitTime.
Note
Do not use commands with wait times in cyclic tasks, e.g. _waitTime.
Use only input parameter nextCommand := IMMEDIATELY for system functions in cyclic
tasks.
Basic functions
9.1.5 Using the commandId parameter correctly

All TO commands must contain a parameter for command identification, see Input
parameters of technology functions.
Prior to calling the appropriate command you can obtain a project-wide unique command ID
with the command _getCommandId. Save the command ID in a local variable and use it as
parameter in the TO command, or alternatively use the function call directly in
commandId:=_getCommandId() as parameter.
You must use this unique command ID to check the status of the motion command, e.g. to
check the status of a positioning motion with _getStateOfAxisCommand. The system can
only uniquely identify a motion command from its command ID!
Table 9-2 Example of using a TO function with command identification
//...
VAR
myCommandID : commandIdType;
myState : StructRetCommandState;
END_VAR
//...
myCommandID := _getCommandId ();
// Save unique ID
myFC := _pos (axis := myAxis,
// Execute function with ID
myState := _getStateOfAxisCommand (axis:=myAxis,
// Status check
IF myState.commandIdState = WAITING_FOR_SYNC_START THEN
;
//...
END_IF;
//...
See also
Input parameters of technology functions (Page 64)
_getCommandId function (Page 345)
_getSyncCommandId function (Page 346)
9.1.6 Locating errors (ST programs)

The following error message can occur during compilation:
Error 7000, 7010, 7011, or 7014 in Line ...
A syntax error has occurred. Possible causes:
Incorrectly terminated control structures (e.g. END_IF missing)
Basic functions
Statements not terminated with ;

Missing parentheses
First, check the specified line to see whether the error actually occurred there, i.e. perhaps
you have not terminated a control structure, or have omitted a semicolon at the end of a line,
or a parenthesis is missing.
If you cannot find any of the specified errors, you must locate the error:
1. Comment out the program block-by-block before the line containing the error message,
i.e. enclose the selected section between the character pair (* and *). The line with the
error message must not be commented out.
2. Recompile the program.
3. If an error message still appears after steps 1 and 2, the commented-out section is too
small. Expand it until the error message disappears.
4. When the error message no longer appears, the error is contained in the commented-out
section. Now reduce the size of the commented-out section line by line and recompile the
program each time until the error message appears again. The last enabled line is the
line with the error message.
Note
You can consult a list of all compiler error messages in the appendix of the ST
programming manual.
9.1.7 Errors on download

If an error message occurs when downloading a program, the log displayed in the
SIMOTION SCOUT detail view is halted. Look for the error cause in the log. Check your
hardware configuration or the program, e.g. for addresses that do not exist.
For more information about hardware configuration and addressing, refer to the SIMOTION
SCOUT Configuring Manual.
9.1.8 CPU does not switch to RUN

If the CPU switches back to STOP mode immediately after you have started your programs,
check the device diagnostics and alarm window in SCOUT. The causes for the STOP are
entered in the diagnostics buffer. The alarms of the technology objects which can also cause
a CPU STOP are displayed in the Alarms window.
Basic functions
9.1.9 CPU goes to STOP
Description
If the CPU changes to the STOP operating status then check the device diagnostics and the
alarm window in the SCOUT. Causes for the STOP are entered in the diagnostics buffer.
The alarms of the technology objects that can also cause a CPU STOP are displayed in the
Alarms window.
Possible reasons, why a CPU can go after STOP are:
Incorrect direct I/O access
Config data access or system variable access to TO if in the RESTART (as of V4.1
however substitute values for system variables are possible)
Missing PeripheralFaultTask (if there is incorrect access to the process image)
Missing TechnologicalFaultTask (if there are errors on the technology object)
Processing error in the programs (or missing ExecutionFaultTask)
Monitoring time overflow of the IPO/servo tasks
Monitoring time overflow of the BackgroundTask
Monitoring overflow of a TimerInterruptTask
Sign-of-life monitoring Simotion - drive
TO alarms with STOP response (e.g 20001).
Set mode via system variable
Use the device system variable modeOfOperation to display or change the current operating
mode.
Syntax
modeOfOperation :EnumDeviceModeOfOperation //readable, writable,

immediately effective
EnumDeviceModeOfOperation:
[
_STOP
_RUN
]
For example with this you can switch a SIMOTION CPU that has gone into STOP into RUN
again from a local HMI by writing the device system variables.
See also
access (Page 88)
Possible errors in technology objects (Page 103)
Basic functions
9.1.10 Checking and setting system clocks

Often, incorrectly set system cycle clocks (position control cycle clock, interpolator cycle
clock, PWM cycle clock) cause the SIMOTION device to go to STOP mode.
Check the runtimes of the SynchronousTasks (IPOsynchronousTask,
IPOsynchronousTask_2, tasks for the TControl technology package). It could be that the
user programs or system programs for individual tasks need more time than is set in the
system cycle clocks in SIMOTION SCOUT.
Also try to minimize the runtime of the SynchronousTasks. Shift the programs to
MotionTasks as much as possible, and split up your programs accordingly, if necessary.
Make sure there is an integer ratio between individual tasks. Otherwise, low-priority
SynchronousTasks will not be started at periodic intervals.
Disable unnecessary tasks.
Note
The system tasks for the TControl technology package can be disabled in the system cycle
clock settings window.
Refer to the online help for information about how to check the device diagnostics, interpret
the alarm window and check/change your system clocks.
9.1.11 Comparing REAL or LREAL variables

When you compare REAL variables or LREAL variables (also corresponding system
variables, e.g. axis position) with one another, you should never use "=". Because of the
different internal number representation, the compared numbers are never identical. Instead,
you should evaluate, for example, the direction of motion and use ">" or "<" or the system
variable for "Position window reached".
9.1.12 Checking for range violations

Range violations, i.e. the violation of range limits for a data type, are not signaled by the
compiler. Therefore, if you use variables in arithmetic operations, you should always check
for possible range violations.
Table 9-3 Example of checking for a range violation
PROGRAM myRange
VAR
a,b : SINT := 100;
c: SINT;
END_VAR
c := a + b;
// If c is outside range, then exit program.
IF (a > 0) AND (c < a) AND (c < b) OR
(a < 0) AND (c > a) AND (c > b) THEN
// Range violation
Basic functions
9.2 Efficient programming
RETURN;
ELSE
; // OK
END_IF;
END_PROGRAM
9.1.13 Setting size of local data stack

When configuring the execution system, set the size of the reserved local data stack for each
task. Use the program structure function to obtain information about the memory
requirements of a program with all called POUs (FCs and FBs) on the stack (see Program
structure in the ST Programming Manual). During configuration, ensure that there is
sufficient spare. For example, temporary additional storage may be required on the local
data stack during downloading in RUN.
The download operation will be aborted with an error message if the reserved local data
stack exceeds the available memory space in the RAM.
The program will be aborted during execution if the reserved local data stack is insufficient
for program execution.
In the event of an error, check the following:
RAM utilization in the device diagnostics
The sources (programs, etc.) for large data structures (arrays, structures), e.g. using the
cross-reference list
Size of local data stack for the task
See also
9.2.1 Efficient programming - overview

The following discrepancy always occurs in many control systems and/or the associated
programming environments:
Well structured and concise user programs with special emphasis on modifiability and
expandability do not perform optimally with regard to runtime.
On the other hand, runtime-optimized programs are difficult to expand or modify.
The following description provides information for runtime-optimizing programming and for
change-optimizing programming. Depending on the task or with local optimizations, you
should focus on one of these options.
Basic functions
9.2.2 Runtime optimized programming
9.2.2.1 Runtime-optimized programming

The following description contains information about runtime-optimized programming. Note
that instructions for runtime-optimizing programming are often at odds with the rules of
structured programming.
9.2.2.2 Optimizing access to inputs and outputs

Access to the process image of cyclic tasks is significantly faster than direct access to inputs
or outputs (see ). Therefore, you should assign an I/O variable to the process image of the
task in which the variable is used. In addition to quicker access, another advantage of this is
that the I/O variable will be consistent during the entire runtime of the task.
9.2.2.3 Optimizing access to system variables

It takes considerably longer to access system variables (seeSystem variables (Page 77))
than to access variables that are stored in the dynamic memory (local variables, non-
retentive unit variables).
Therefore, only a few direct access operations to system variables are possible in high-
speed cyclic tasks (e.g. SynchronousTasks). For this reason, when a system variable is
accessed many times, it is recommended that you copy the entire system variable structure
at the beginning of a cycle (program in the cyclic task) to a local variable of the
corresponding system data type. Then access this variable during the program cycle.
The data types for declaring the local variables can be found in the Parameter Manuals for
SIMOTION technology objects (TOs).
9.2.2.4 Optimal variable declaration

Arrange the variables within a declaration block (e.g. VAR/END_VAR) in order of ascending
size. This enables you to make optimal use of the memory space.
Initialize variables with values other than 0 only when necessary. Variable initialization at the
start of a task or POU requires time. This is especially the case for temporary variables and
variables of programs that are assigned to sequential tasks.
9.2.2.5 Optimizing access to function block parameters

When creating function blocks (FBs) that are to process values, you can select one of two
methods. You can assign input variables in the FB with VAR_INPUT, process the variables
there, and assign the results to output parameters with VAR_OUTPUT.
If a large data volume is to be transferred to the FB, it can be faster to use in/out parameters
(VAR_IN_OUT) than to use input and output parameters (VAR_INPUT and VAR_OUTPUT).
Parameters can be transferred more quickly because copying is eliminated, however, it
could take longer to access the variable from the FB under certain conditions.
Basic functions
NOTICE
When you access unit variables or global device variables with in/out parameters, note that
other tasks can access these variables at the same time.
9.2.2.6 Optimizing function block calls

Only for SIMOTION Kernel V3.0 and below:
When you call the instance of a function block (FB), the instance data are copied to the stack
(see ); when you exit the instance, they are copied back from the stack to the instance. Avoid
FBs with large amounts of instance data due to their long runtimes.
9.2.2.7 Optimizing program structure

Make sure that your ST source files and the POUs they contain are structured clearly and
concisely. However, avoid modularizing your source files too much, since it takes longer to
access functions and variables of imported units than functions and variables within a unit.
9.2.2.8 Optimizing the execution system

Assign the IPOsynchronousTask to a single program only. This reduces the risk of a timeout
during runtime.
Use functions that are executed synchronously in MotionTasks only. (During synchronous
processing, the next command is not executed until processing of the pending command
satisfies a condition, e.g. it is complete.)
Make sure that not too many MotionTasks are active simultaneously.
For more efficient programming of cyclic tasks (primarily the BackgroundTask) go to
sequence controlled programming. This means you consciously control the program flow via
case decisions and only run through the portions of code that are relevant in the current
status (e.g. via CASE statement).
Moreover edge triggered program instead of level-triggered programming is recommended.
Do not run through the relevant code cyclically (if the level of the condition is TRUE) but
rather just once. This is done by querying the satisfied condition on rising edge (new status
of the condition is TRUE, the old status on the other hand was FALSE).
Basic functions
9.2.3 Change-optimized programming
9.2.3.1 Change-optimized programming

The following description contains information about change-optimized programming.
For information about downloading in RUN, please see Download in Run (Page 230) .
9.2.3.2 Declaring retentive variables in one unit

Declare all retentive variables in the interface section in one single unit. This has the
following advantage:
It enables you to make optimal use of limited memory space.
The variables are only initialized if the interface section in this unit has been changed.
As of V4.1 you can also use multiple declaration blocks, see Use multiple VAR_GLOBAL,
VAR_GLOBAL RETAIN blocks (Page 218) .
9.2.3.3 HMI variables in one unit

Declare variables that are exported to HMI devices (see HMI (Human Machine Interface)
coupling in the SIMOTION Motion Control Basic Functions Function Manual) in the interface
section of a separate unit.
The HMI project (e.g. WinCC flexible, ProTool) must only be downloaded again if the
interface section of this unit has been changed.
Optionally, you can disable the consistency check during commissioning.
Please note that there is no check for inconsistencies (e.g. for valid hardware addresses)
performed.
You can also mark HMI relevant data, see Marking HMI relevant data (Page 220).
9.2.3.4 Using device global variables versus unit global variables
Description
Use of global unit variables in sources is preferable to use of device global variables (via the
project navigator).
Benefits:
Variable structures can be used.
Initialization (initial values) of the variables for the STOP-RUN transition is possible (via
program in StartupTask)
For newly created global unit variables a download in RUN is also possible (in a new
declaration block)
Basic functions
Procedure
1. Define unit-global variables in a source file in the interface section.
Retain variables and HMI variables should likewise each be declared in a separate
source file or declaration block (see above).
2. Assign the program with the initialization of the variables to the StartupTask.
The variables will be set to a defined initial value in the startup.
Figure 9-1 Example of the declaration of structures in an MCC source file
Figure 9-2 Example of the declaration of parameters in an MCC source file
Table 9-4 Example declaration and program in an ST source file (unit)
INTERFACE
//global types
TYPE
MyStruct : STRUCT
Intvalue : INT;
Realvalue: REAL;
Bitvalue : BOOL;
END_STRUCT
END_TYPE
//global constants
VAR_GLOBAL CONSTANT
n : INT := 0;
m: INT := 15;
END_VAR
//global variables
VAR_GLOBAL
Bitarray : ARRAY [n..m] OF BOOL := [16 (FALSE)];
Intarray : ARRAY [0..15] OF INT := [16 (0) ];
Realarray: ARRAY [0..15] OF REAL:= [16 (0.0) ];
StructVar: MyStruct;
END_VAR
//programs
PROGRAM Init;
//end of the interface
END_INTERFACE
Basic functions
IMPLEMENTATION
PROGRAM Init
//////////////////////////////////////////////////
//initialization of the variables during startup//
//////////////////////////////////////////////////
StructVar.Intvalue :=0;
StructVar.Realvalue:=0;
StructVar.Bitvalue :=FALSE;
END_PROGRAM
END_IMPLEMENTATION
The program is then assigned to the StartupTask.
Always when unit global variables will be used in a different source file the source files must
be combined with the source file that contains the declaration (USES). See also Connection
to other program sources or to libraries in the MCC Programming Manual or Use of the
USES statement in the interface or implementation section of an importing unit in the ST
programming manual.
9.2.3.5 Centralized starting and resetting of MotionTasks

To enhance programming clarity, program starting and resetting of MotionTasks in one
centralized location.
Basic functions
Appendix A A
A.1 Symbolic constants
The following table presents names of reserved constants that you must not use for
individual variable names.
Table A-1 Symbolic constants of the Taskstartinfo
Symbolic constant Data type Value

_SC_ALARM_CONFIGURATION UDINT 404
_SC_ARRAY_BOUND_ERROR_READ UDINT 502
_SC_ARRAY_BOUND_ERROR_WRITE UDINT 503
_SC_BACKGROUND_TIMER_OVERFLOW UDINT 300
_SC_BATTERY_WARNING_LEVEL1 UDINT 211
_SC_BATTERY_WARNING_LEVEL2 UDINT 212
_SC_CYCLE_TIMER_OVERFLOW UDINT 301
_SC_DEVICE_COMMAND UDINT 401
_SC_DIAGNOSTIC_INTERRUPT UDINT 201
_SC_DIVISION_BY_ZERO UDINT 500
_SC_DP_CLOCK_DETECTED UDINT 207
_SC_DP_SLAVE_NOT_SYNCHRONIZED UDINT 210
_SC_DP_SLAVE_SYNCHRONIZED UDINT 209
_SC_DP_SYNCHRONIZATION_LOST UDINT 208
_SC_EXCEPTION UDINT 403
_SC_EXTERNAL_COMMAND UDINT 402
_SC_IMAGE_UPDATE_FAILED UDINT 204
_SC_IMAGE_UPDATE_OK UDINT 206
_SC_INVALID_ADDRESS DINT 1
_SC_INVALID_FLOATING_POINT_OPERATION UDINT 501
_SC_IO_MODULE_NOT_SYNCHRONIZED UDINT 215
_SC_IO_MODULE_SYNCHRONIZED UDINT 214
_SC_MODE_SELECTOR UDINT 400
_SC_PC_INTERNAL_FAILURE UDINT 205
_SC_PULL_PLUG_INTERRUPT UDINT 213
_SC_PROCESS_INTERRUPT UDINT 200
_SC_STATION_DISCONNECTED UDINT 202
_SC_STATION_RECONNECTED UDINT 203
_SC_TO_INSTANCE_NOT_EXISTENT UDINT 506
Basic functions
Appendix A
A.1 Symbolic constants
Symbolic constant Data type Value

_SC_VARIABLE_ACCESS_ERROR_READ UDINT 504
_SC_VARIABLE_ACCESS_ERROR_WRITE UDINT 505
Table A-2 Symbolic constants of task states
Symbolic constant Data type Hex notation

TASK_STATE_INVALID DWORD 16#0000
TASK_STATE_LOCKED DWORD 16#0100
TASK_STATE_RUNNING DWORD 16#0004
TASK_STATE_STOP_PENDING DWORD 16#0001
TASK_STATE_STOPPED DWORD 16#0002
TASK_STATE_SUSPENDED DWORD 16#0020
TASK_STATE_WAIT_NEXT_CYCLE DWORD 16#0040
TASK_STATE_WAIT_NEXT_INTERRUPT DWORD 16#0080
TASK_STATE_WAITING DWORD 16#0010
Table A-3 Symbolic constants for alarm messages
Symbolic constant Data type Hex notation

ALARMS_ERROR DWORD 16#8000
ALARMS_QSTATE DWORD 16#0100
ALARMS_STATE DWORD 16#0001
DSC_SVS_DEVICE_ALARMS_EVENT_ID_IN_USE DWORD 16#0006
DSC_SVS_DEVICE_ALARMS_EVENT_ID_NOT_USED DWORD 16#0005
DSC_SVS_DEVICE_ALARMS_ILLEGAL_EVENT_ID DWORD 16#0001
DSC_SVS_DEVICE_ALARMS_INTERNAL_ERROR DWORD 16#0009
DSC_SVS_DEVICE_ALARMS_IV_CALL DWORD 16#0004
DSC_SVS_DEVICE_ALARMS_IV_FIRST_CALL DWORD 16#0007
DSC_SVS_DEVICE_ALARMS_IV_SFC_TYP DWORD 16#0008
DSC_SVS_DEVICE_ALARMS_LAST_ENTRY_USED DWORD 16#0002
DSC_SVS_DEVICE_ALARMS_LAST_SIGNAL_USED DWORD 16#0003
DSC_SVS_DEVICE_ALARMS_NO_ENTRY DWORD 16#0010
Table A-4 Symbolic constants for the value range limits of elementary data types
Symbolic constant Data type Value Hex notation

SINT#MIN SINT -128 16#80
SINT#MAX SINT 127 16#7F
INT#MIN INT -32768 16#8000
INT#MAX INT 32767 16#7FFF
Basic functions
Appendix A
A.2 Reserved identifiers
Symbolic constant Data type Value Hex notation

DINT#MIN DINT -2147483648 16#8000_0000
DINT#MAX DINT 2147483647 16#7FFF_FFFF
USINT#MIN USINT 0 16#00
USINT#MAX USINT 255 16#FF
UINT#MIN UINT 0 16#0000
UINT#MAX UINT 65535 16#FFFF
UDINT#MIN UDINT 0 16#0000_0000
UDINT#MAX UDINT 4294967295 16#FFFF_FFFF
T#MIN T#0ms TIME 16#0000_0000
TIME#MIN
T#MAX T#49d_17h_2m_47s_295ms TIME 16#FFFF_FFFF
TIME#MAX
TOD#MIN TOD#00:00:00.000 TOD 16#0000_0000
TIME_OF_DAY#MIN
TOD#MAX TOD#23:59:59.999 TOD 16#0526_5BFF
TIME_OF_DAY#MAX
Table A-5 Symbolic constants for invalid values of selected data types
Symbolic constant Data type Meaning

STRUCTALARMID#NIL StructAlarmId Invalid AlarmId
STRUCTTASKID#NIL StructTaskId Invalid TaskId
TO#NIL ANYOBJECT Invalid technology object

This chapter presents an alphabetical listing of all identifiers that are used in the ST
programming language and in the system functions and system variables of SIMOTION
devices. These identifiers should not be used in user programs.
Protected identifiers of the Cam technology package are listed in the Parameter Manuals for
the technology package.
Icons
_abortAllReadWriteDriveParameterJobs
_abortReadWriteRecordJobs
_activateConfiguration
_activateDpSlave
_activateDpSlaveAddress
_activateNameOfStation
Basic functions
Appendix A
_activateTo
_alarmS
_alarmSc
_alarmScId
_alarmSId
_alarmSq
_alarmSqId
_allocateTokenToVariableName
_AND
_BOOL
_BYTE_FROM_8BOOL
_BYTE_TO_8BOOL
_changeOperationMode
_checkEqualTask
_checkExistingUnitDataSet
_configurationManagement
_cpuData
_cpuDataRW
_DATE
_DATE_AND_TIME
_deactivateDpSlave
_deactivateTo
_deallocateTokenToVariableName
_deleteAllUnitDataSets
_deleteUnitDataSet
_DINT
_disableScheduler
_DWORD_FROM_2WORD
_DWORD_FROM_4BYTE
_DWORD_TO_2WORD
_DWORD_TO_4BYTE
_enableDpInterfaceSynchronizationMode
_enableScheduler
_exportUnitDataSet
_exportUnitDataSet2
_finite
Basic functions
Appendix A
_getActiveDpSlaveAddress
_getActiveNameOfStation
_getAlarmId
_getAverageTaskIdRunTime
_getAverageTaskRunTime
_getBit
_getCommandId
_getConfigurationData
_getCurrentTaskIdRunTime
_getCurrentTaskRunTime
_getDataByToken
_getDeviceId
_getDoIndexNumberFromLogAddress
_getDpStationAddressFromLogDiagnosticAddress
_getGeoAddressFromLogAddress
_getInOutByte
_getInternalTaskIdIdx
_getInternalTaskIdx
_getInternalTimeStamp
_getIO_Part_4
_getIPConfig
_getLogDiagnosticAddressFromDpStationAddress
_getMaximalTaskIdRunTime
_getMaximalTaskRunTime
_getMemoryCardId
_getMinimalTaskIdRunTime
_getMinimalTaskRunTime
_getNextLogAddress
_getPendingAlarms
_getPnInterfacePortNeighbour
_getSafeValue
_getSegmentIdentification
_getStateOfAllDpSlaves
_getStateOfAllDpStations
_getStateOfDiagnosticDataCommand
_getStateOfDpSlave
Basic functions
Appendix A
_getStateOfProcessInterruptCommand
_getStateOfRecordCommand
_getStateOfSingleDpSlave
_getStateOfTask
_getStateOfTaskId
_getStateOfTo
_getStateOfUnitDataSetCommand
_GetStateOfXCommand
_getStationType
_getSyncCommandId
_getSystemTime
_getTaskId
_getTimeDifferenceOfInternalTimeStamps
_imData
_IMPLEMENTATION
_importUnitDataSet
_importUnitDataSet2
_INT
_INTERFACE
_INTERFACE_AND_IMPLEMENTATION
_internalTest
_isNaN
_LINT
_loadUnitDataSet
_loadUnitDataSet2
_LREAL
_MRES
_NOT
_OR
_readDiagnosticData
_readDriveFaults
_readDriveMultiParameter
_readDriveMultiParameterDescription
_readDriveParameter
_readDriveParameterDescription
_readRecord
Basic functions
Appendix A
_readSystemClock
_REAL
_releaseSemaphore
_resetAlarmId
_resetAllAlarmId
_resetDriveObjectFault
_resetTask
_resetTaskId
_resetTechnologicalErrors
_resetUnitData
_restartTask
_restartTaskId
_resumeTask
_resumeTaskId
_RETAIN
_retriggerTaskControlTime
_retriggerTaskIdControlTime
_RUN
_S7_COUNTER
_S7_TIMER
_saveConfigData
_savePersistentMemoryData
_saveUnitDataSet
_saveUnitDataSet2
_SC_ALARM_CONFIGURATION
_SC_ARRAY_BOUND_ERROR_READ
_SC_ARRAY_BOUND_ERROR_WRITE
_SC_BACKGROUND_TIMER_OVERFLOW
_SC_BATTERY_WARNING_LEVEL1
_SC_BATTERY_WARNING_LEVEL2
_SC_CYCLE_TIMER_OVERFLOW
_SC_DEVICE_COMMAND
_SC_DIAGNOSTIC_INTERRUPT
_SC_DIVISION_BY_ZERO
_SC_DP_CLOCK_DETECTED
_SC_DP_SLAVE_NOT_SYNCHRONIZED
Basic functions
Appendix A
_SC_DP_SLAVE_SYNCHRONIZED
_SC_DP_SYNCHRONIZATION_LOST
_SC_EXCEPTION
_SC_EXTERNAL_COMMAND
_SC_IMAGE_UPDATE_FAILED
_SC_IMAGE_UPDATE_OK
_SC_INVALID_ADDRESS
_SC_INVALID_FLOATING_POINT_OPERATION
_SC_IO_MODULE_NOT_SYNCHRONIZED
_SC_IO_MODULE_SYNCHRONIZED
_SC_MODE_SELECTOR
_SC_PC_INTERNAL_FAILURE
_SC_PROCESS_INTERRUPT
_SC_PULL_PLUG_INTERRUPT
_SC_STATION_DISCONNECTED
_SC_STATION_RECONNECTED
_SC_TO_INSTANCE_NOT_EXISTENT
_SC_VARIABLE_ACCESS_ERROR_READ
_SC_VARIABLE_ACCESS_ERROR_WRITE
_sendProcessInterrupt
_SERVICE
_setBit
_setDataByToken
_setDeviceErrorLED
_setDpSlaveAddress
_setIO_Part_4
_setIPConfig
_setModeSelfAdaptingConfiguration
_setNameOfStation
_setSafeValue
_setSystemTime
_SHUTDOWN
_SINT
_sizeOf
_startSyncCommands
_startTask
Basic functions
Appendix A
_startTaskId
_STARTUP
_startupData
_STOP
_STOPU
_suspendTask
_suspendTaskDebug
_suspendTaskId
_suspendTaskIdDebug
_synchronizeDpInterfaces
_tcpCloseConnection
_tcpCloseServer
_tcpOpenClient
_tcpOpenServer
_tcpReceive
_tcpSend
_testAndSetSemaphore
_testSFBSysDataInit
_TIME
_TIME_OF_DAY
_toggleBit
_triggerTestMode
_UDINT
_udpAddMulticastGroupMembership
_udpDropMulticastGroupMembership
_udpReceive
_udpSend
_UINT
_ULINT
_upsData
_USINT
_waitTime
_WORD_FROM_2BYTE
_WORD_TO_2BYTE
_writeAndSendMessage
_writeDriveMultiParameter
Basic functions
Appendix A
_writeDriveParameter
_writeRecord
_XOR
_Xreceive
_Xsend
A
ABORT_CONNECTION
ABORT_CURRENT_COMMAND
ABS
ACCESS_DENIED
ACOS
ACTION
ACTIVATE_FALL_BACK_CONFIGURATION
ACTIVATED
ACTIVATED_NO_ALARM
ACTIVE
ACTUAL_ACTIVATED
ADD
ADD_DT_TIME
ADD_TIME
ADD_TOD_TIME
ALARM_S
ALARM_SQ
ALARMS_ERROR
ALARMS_QSTATE
ALARMS_STATE
ALL_GLOBAL
AND
ANYOBJECT
ANYOBJECT_TO_OBJECT
ANYTYPE_TO_BIGBYTEARRAY
ANYTYPE_TO_LITTLEBYTEARRAY
ARRAY
AS
ASIN
Basic functions
Appendix A
AT
ATAN
AUTOMATIC_INTERFACE_SYNCHRONIZATION
B
BCD_TO_BYTE
BCD_TO_DINT
BCD_TO_DWORD
BCD_TO_INT
BCD_TO_LWORD
BCD_TO_SINT
BCD_TO_WORD
BEGIN_SYNC
BigByteArray_to_AnyType
BIGBYTEARRAY_TOANYTYPE
BOOL
BOOL_TO_BYTE
BOOL_TO_DWORD
BOOL_TO_WORD
BOOL_VALUE_TO_DINT
BOOL_VALUE_TO_INT
BOOL_VALUE_TO_LREAL
BOOL_VALUE_TO_REAL
BOOL_VALUE_TO_SINT
BOOL_VALUE_TO_UDINT
BOOL_VALUE_TO_UINT
BOOL_VALUE_TO_USINT
BUFFERED
BY
BYTE
BYTE_TO_BCD
BYTE_TO_BOOL
BYTE_TO_DINT
BYTE_TO_DWORD
BYTE_TO_INT
BYTE_TO_SINT
Basic functions
Appendix A
BYTE_TO_UDINT
BYTE_TO_UINT
BYTE_TO_USINT
BYTE_TO_WORD
BYTE_VALUE_TO_LREAL
BYTE_VALUE_TO_REAL
C
CASE
cDINT_TO_UDINT
CLOSE_ON_EXIT
COMMAND_FAILED
COMMAND_NOT_FOUND
CommandIdType
CONCAT
CONCAT_DATE_TOD
CONFIGURATION
CONFIGURATION_DELETED
CONFIGURATION_ERROR
CONFIGURATION_ID_NOT_FOUND
CONFIGURATION_NOT_FOUND
CONFIGURATION_VERSION
CONFIGURED
CONSTANT
COS
CRITICAL
CTD
CTD_DINT
CTD_LINT
CTD_UDINT
CTD_ULINT
CTU
CTU_DINT
CTU_LINT
CTU_UDINT
CTU_ULINT
Basic functions
Appendix A
CTUD
CTUD_DINT
CTUD_LINT
CTUD_UDINT
CTUD_ULINT
D
DATA_EXCHANGE_INACTIVE
DATA_INCOMPATIBLE
DATA_INCOMPLETE
DATA_MISMATCH
DATASET_ALREADY_EXISTS
DATASET_ID_NOT_VALID
DATASET_NOT_FOUND
DATE
DATE_AND_TIME
DATE_AND_TIME_TO_DATE
DATE_AND_TIME_TO_TIME_OF_DAY
dccAux_2Clock
dccAuxClock
DEACTIVATED
DEACTIVATED_NO_ALARM
DEFAULT_VALUE
DELETE
DINT
DINT_TO_BCD
DINT_TO_BYTE
DINT_TO_DWORD
DINT_TO_INT
DINT_TO_LREAL
DINT_TO_REAL
DINT_TO_SINT
DINT_TO_STRING
DINT_TO_UDINT
DINT_TO_UINT
DINT_TO_USINT
Basic functions
Appendix A
DINT_TO_WORD
DINT_VALUE_TO_BOOL
DISABLE
DIV
DIVTIME
DO
DO_NOT_CLOSE_ON_EXIT
DO_NOT_SET_DP_ALARM
DONE
DP_1
DP_2
DP_3
DP_CLOCK_DETECTED
DP_INTERFACES_SYNCHRONIZED
DP_SLAVE_NOT_SYNCHRONIZED
DP_SLAVE_SYNCHRONIZED
DRIVE
DSC_SVS_DEVICE_ALARMS_ILLEGAL_EVENT_ID
DSC_SVS_DEVICE_ALARMS_IV_CALL
DT
DT_TO_DATE
DT_TO_TOD
DWORD
DWORD_TO_BCD
DWORD_TO_BOOL
DWORD_TO_BYTE
DWORD_TO_DINT
DWORD_TO_INT
Basic functions
Appendix A
DWORD_TO_REAL
DWORD_TO_SINT
DWORD_TO_UDINT
DWORD_TO_UINT
DWORD_TO_USINT
DWORD_TO_WORD
DWORD_VALUE_TO_LREAL
DWORD_VALUE_TO_REAL
E
effectiveTaskRuntime
ELSE
ELSIF
EN
ENABLE
END_ACTION
END_CASE
END_CONFIGURATION
END_EXPRESSION
END_FOR
END_FUNCTION
END_FUNCTION_BLOCK
END_IF
END_IMPLEMENTATION
END_INTERFACE
END_LABEL
END_PROGRAM
END_REPEAT
END_RESOURCE
END_STEP
END_STRUCT
END_SYNC
END_TRANSITION
END_TYPE
END_VAR
Basic functions
Appendix A
END_WHILE
ENO
ENUM_TO_DINT
EnumAccessMode
EnumAlarmIdState
EnumAlarmIdType
EnumConfigurationInfoId
EnumDataType
EnumDeviceAbortReadWriteJobs
EnumDeviceCommandIdState
EnumDeviceConfigurationActivationState
EnumDeviceDataActivationState
EnumDeviceDataScope
EnumDeviceDpAlarmMode
EnumDeviceIdType
EnumDeviceKindOfData
EnumDeviceModeOfOperation
EnumDeviceStartupOperationMode
EnumDeviceStateOfDpSlave
EnumDeviceStorageType
EnumDeviceUnitDataSetCommand
EnumDpInterfaceSyncMode
EnumDpInterfaceSyncState
EnumDpSegmentId
EnumDpSlaveSyncState
EnumDriveFaultsType
EnumEnableDisable
EnumEventClass
EnumFctGenStartStop
EnumFctGenState
EnumIncomingOutgoing
EnumInOutDirection
EnumInterfaceID
EnumIoIdType
EnumMemoryCardIdType
EnumModeSelfAdaptingConfiguration
Basic functions
Appendix A
EnumNextCommandMode
EnumOperationMode
EnumPersistentDataState
EnumReqActDeactGetStateMode
EnumReqSysFunctMode
EnumSaveState
EnumSetAndGetSafeValue
EnumStartStop
EnumStateOfDpSlave
EnumStateOfDpStation
EnumStateOfTo
EnumTcpNextCommandMode
EnumToSetStateOfTo
EnumTraceState
EnumUdpCommunicationMode
EnumUpsBatteryState
EnumUpsState
EnumXCommandIdState
EnumXCommunicationMode
EnumXNextCommandEnable
EnumYesNo
EQ
EXIT
EXP
EXPD
EXPRESSION
EXPT
F
F_EDGE FROM
F_TRIG
FAILED
FALSE
FCTGEN_DISABLED
FCTGEN_ENABLED
FCTGEN_LIMIT_EXCEEDED
Basic functions
Appendix A
FCTGEN_PARAM_VALID
FCTGEN_RUNNING
FCTGEN_START
FCTGEN_START_FG1
FCTGEN_START_FG2
FCTGEN_STARTING
FCTGEN_STOP
FCTGEN_STOPPING
FCTGEN_WAIT_FG1
FCTGEN_WAIT_FG2
FIND
FOR
FROM_BACKUP
FROM_FILE
FROM_RAM
FUNCTION
FUNCTION_BLOCK
FUNCTION_IS_ACTIVATED
FUNCTION_IS_ACTIVE
FUNCTION_IS_WAITING_FOR_ACTIVATION
G
GE GT
GOTO
H
HOLD_CONNECTION
HW_TYPE
I
IE_01
IE_02
IE_1
IE_2
IF
IMMEDIATELY
Basic functions
Appendix A
IMPLEMENTATION
IN
IN_ACTIVATION
IN_DEACTIVATION
IN_OPERATION
INACTIVE
INCOMING
INCOMING_ALARM
INITIAL_STEP INT_TO_BCD
INPUT
INSERT
INT
INT_TO_BYTE
INT_TO_DINT
INT_TO_DWORD
INT_TO_LREAL
INT_TO_REAL
INT_TO_SINT
INT_TO_TIME
INT_TO_UDINT
INT_TO_UINT
INT_TO_USINT
INT_TO_WORD
INT_VALUE_TO_BOOL
INTERFACE
INTERNAL_ERROR
INTERNAL_ERROR
INVALID
INVALID_VALUE
ipoClock
ipoClock_2
L
LABEL
LAST_OPERATION_MODE
LE
Basic functions
Appendix A
LEFT
LEN
LIMIT
LINT
LITTLEBYTEARRAY_TOANYTYPE
LN
LOG
LREAL
LREAL_TO_DINT
LREAL_TO_INT
LREAL_TO_REAL
LREAL_TO_SINT
LREAL_TO_STRING
LREAL_TO_UDINT
LREAL_TO_UINT
LREAL_TO_USINT
LREAL_VALUE_TO_BOOL
LREAL_VALUE_TO_BYTE
LREAL_VALUE_TO_DWORD
LREAL_VALUE_TO_WORD
PM
LWORD
LWORD_TO_BCD
G
MASTER_SLAVE_ALARMMESSAGES_1
MAX
MEMORY_CARD_FULL
MEMORY_CARD_SERIAL_NUMBER
MID
MIN
MOD
modeOfDpInterfaceSynchronization
modeOfOperation
MUL MULTIME
Basic functions
Appendix A
MUX
N
MS
NO
NO_ACCESS
NO_ALARMMESSAGES
NO_CHANGE
NO_COMMAND_BUFFER_AVAILABLE
NO_DP_SEGMENT
NO_REQUEST_TO_ACTIVATE
NO_RESOURCES_AVAILABLE
NO_RETAIN_GLOBAL
NO_STORAGE_AVAILABLE
NO_VALID_CONFIGURATION_ID
NO_VALID_STATE
NOT
NOT_ACTIVATED
NOT_ENOUGH_RAM
NOT_EXISTENT
NOT_PRESENT
NOTSUPP
numberOfSummarizedTaskOverflow
O
O_K_
OF
OF OR
OFF
OK
ON
OR
ORDER_ID
OUT
OUTGOING
OUTGOING_ALARM
Basic functions
Appendix A
OUTPUT
P
PERMANENT-STORAGE
persistentDataPowerMonitoring
PN_1
PREDEFINED_APPLICATION_EVENTS
PREDEFINED_MODULE_INFORMATION
PREVIOUS_ACTIVATED
PROGRAM
R
R_EDGE RESOURCE
R_TRIG
RAM_DISK_FULL
READ_AND_WRITE_JOBS
READ_ERROR
READ_JOBS
REAL
REAL_TO_DINT
REAL_TO_DWORD
REAL_TO_INT
REAL_TO_LREAL
REAL_TO_SINT
REAL_TO_STRING
REAL_TO_TIME
REAL_TO_UDINT
REAL_TO_UINT
REAL_TO_USINT
REAL_VALUE_TO_BOOL
REAL_VALUE_TO_BYTE
REAL_VALUE_TO_DWORD
REAL_VALUE_TO_WORD
REPEAT
REPLACE
REQUEST_ABORT
Basic functions
Appendix A
REQUEST_FALSE
REQUEST_TRUE
RETAIN
RETURN
RIGHT
ROL
ROR
RS
RTC
RUN
S
SAVE_ABORTED
SAVE_FINISHED
SEL
SEMA
SERIAL_NUMBER
servoControlClock
servoTaskCycle
SET_DP_ALARM
SHL
SHR
SIN
SINT
SINT_TO_BCD
SINT_TO_BYTE
SINT_TO_DINT
SINT_TO_DWORD
SINT_TO_INT
SINT_TO_LREAL
SINT_TO_REAL
SINT_TO_UDINT
SINT_TO_UINT
SINT_TO_USINT
SINT_TO_WORD
SINT_VALUE_TO_BOOL
Basic functions
Appendix A
SLAVE_ALARMMESSAGES_1
SPECIFIC_NUMBER
SQRT
SR
START
stateOfDpInterfaceSynchronization
stateOfDpSlaveSynchronization
STEP
STOP
STOP_DEVICE
STOPU
STRING
STRING_TO_DINT
STRING_TO_LREAL
STRING_TO_REAL
STRING_TO_UDINT
STRUCT
StructAlarmId
StructAlarmId_TO_DINT
StructDeviceConfigurationData
StructDeviceConfigurationManagement
StructDeviceCpuData
StructDeviceCpuDataRW
StructDeviceDataActivationState
StructDeviceIm0
StructDeviceIm0Softwareversion
StructDeviceIm0Version
StructDeviceImData
StructDeviceStartUp
StructDeviceUpsData
StructDpStationAddressType
StructEffectiveTaskRuntimeType
StructPendingAlarmState
structPersistentDataPowerMonitoringtype
StructRetAllocateToken
StructRetConfiguration
Basic functions
Appendix A
StructRetDeviceCommandState
StructRetDeviceGetStateOfAllDpStations
StructRetDeviceGetStateOfDpSlave
StructRetDeviceNameOfStation
StructRetDiagnosticData
StructRetDpSlaveAddress
StructRetGetConfigurationData
StructRetGetDataByToken
StructRetGetDeviceId
StructRetGetDoIndexNumberFromLogAddress
StructRetGetDpStationAddressFromLogDiagnosticAddress
StructRetGetGeoAddressFromLogAddress
StructRetGetInOutByte
StructRetGetLogDiagnosticAddressFromStationAddress
StructRetGetMemoryCardId
StructRetGetNextLogAddress
StructRetGetPendingAlarmState
StructRetGetSegmentIdentification
StructRetGetStateOfAllDpSlaves
StructRetGetStateOfSingleDpSlave
StructRetGetStateOfTo
StructRetGetStationType
StructRetIPConfig
StructRetReadDriveFaults
StructRetReadDriveMultiParameter
StructRetReadDriveMultiParameterDescription
StructRetReadDriveParameter
StructRetReadDriveParameterDescription
StructRetReadRecord
StructRetTcpOpenClient
StructRetTcpOpenServer
StructRetTcpReceive
StructRetUdpReceive
StructRetUnitDataSetCommand
StructRetWriteDriveMultiParameter
StructRetWriteDriveParameter
Basic functions
Appendix A
StructRetXCommandState
StructRetXreceive
StructStateOfDpStations
StructSystemLoad
StructTaskId
StructTaskOverflowType
StructTaskRuntimeType
StructTaskRuntimeValues
StructTCOFctGenOverride
StructTraceControl
StructTraceState
StructUserData
StructXsendDestAddr
SUB
SUB_DATE_DATE
SUB_DT_DT
SUB_DT_TIME
SUB_TIME
SUB_TOD_TIME
SUB_TOD_TOD
SYMBOL_INFORMATION_NOT_AVAILABLE
SYMBOL_INFORMATION_NOT_FOUND
systemClock
systemLoad
T
TAN
TASK_STATE_INVALID
TASK_STATE_LOCKED
TASK_STATE_RUNNING
TASK_STATE_STOP_PENDING
TASK_STATE_STOPPED
TASK_STATE_WAIT_NEXT_CYCLE
TASK_STATE_WAIT_NEXT_INTERRUPT
TASK_STATE_WAITING
Basic functions
Appendix A
taskRuntime
taskRuntimeMonitoring
TCOFctGenOverride
TEMPORARY_STORAGE
THEN
TIME
TIME_OF_DAY
TIME_OUT
TIME_TO_INT
TIME_TO_REAL
TIME_TO_UDINT
TO
TOD
TOF
TON
TP
TRACE_ABORTED
TRACE_FINISHED
TRACE_INACTIVE
TRACE_MISMATCH
TRACE_NO_TIME
TRACE_PARAM_VALID
TRACE_RUNNING
TRACE_WAIT_FOR_TRIGGER
traceControl
traceState
TRANSITION
TRUE
TRUNC
TYPE
U
UDINT
UDINT_TO_BYTE
UDINT_TO_DINT
UDINT_TO_DWORD
Basic functions
Appendix A
UDINT_TO_INT
UDINT_TO_LREAL
UDINT_TO_REAL
UDINT_TO_SINT
UDINT_TO_STRING
UDINT_TO_TIME
UDINT_TO_UINT
UDINT_TO_USINT
UDINT_TO_WORD
UDINT_VALUE_TO_BOOL
UINT
UINT_TO_BYTE
UINT_TO_DINT
UINT_TO_DWORD
UINT_TO_INT
UINT_TO_LREAL
UINT_TO_REAL
UINT_TO_SINT
UINT_TO_UDINT
UINT_TO_USINT
UINT_TO_WORD
UINT_VALUE_TO_BOOL
ULINT
UNIT
UNIT_NOT_FOUND
UNTIL
USELIB
USEPACKAGE
USER
USER_DEFINED
USER_EVENTS_1
USER_EVENTS_2
USER_STORAGE
userData
USES
USINT
Basic functions
Appendix A
USINT_TO_BYTE
USINT_TO_DINT
USINT_TO_DWORD
USINT_TO_INT
USINT_TO_LREAL
USINT_TO_REAL
USINT_TO_SINT
USINT_TO_UDINT
USINT_TO_UINT
USINT_TO_WORD
USINT_VALUE_TO_BOOL
V
VAR
VAR_ACCESS
VAR_ALIAS
VAR_EXTERNAL
VAR_GLOBAL
VAR_IN_OUT
VAR_INPUT
VAR_OBJECT
VAR_OUTPUT
VAR_TEMP
VERSION_MISMATCH
VOID
W
WAIT_FOR_DP_CLOCK
WAITFORCONDITION
WAITING
WAITING_FOR_RESTART
WARNING
WHEN_COMMAND_DONE
WHILE
WITH
WORD
Basic functions
Appendix A
WORD_TO_BCD
WORD_TO_BOOL
WORD_TO_BYTE
WORD_TO_DINT
WORD_TO_DWORD
WORD_TO_INT
WORD_TO_SINT
WORD_TO_UDINT
WORD_TO_UINT
WORD_TO_USINT
WORD_VALUE_TO_LREAL
WORD_VALUE_TO_REAL
WRITE_JOBS
X
XOR
Y
YES
Basic functions
Index
_DWORD_TO_4BYTE, 386
_exportUnitDataSet
_ Application, 347
Description, 319
_additionObjectType, 65
_finite
_alarm, 253, 342
Description, 294
_alarmS
_fixedGearType, 65
Application, 340, 341
_formulaObjectType, 65
_alarmSc
_getAlarmId
Application, 342
_alarmScId
Description, 262
_getAverageTaskIdRunTime, 250
Description, 260
_getBit, 269
_alarmSId
_getCommandId, 333
Application, 340
Error source, 392
Application, 341
_getCurrentTaskIdRunTime, 249
Description, 254
_getDeviceId, 336
_alarmSq
_getInOutByte
Application, 340
Description, 309
Application, 341
_getMaximalTaskIdRunTime, 246
_alarmSqId
_getMemoryCardId, 337
Application, 341
_getMinimalTaskIdRunTime, 247
Application, 340
_getPendingAlarms, 263
Description, 257
_getStateOfTaskId
_AND, 274
Brief description, 231
_BYTE_TO_8BOOL, 384
Description, 233
_camTrackType, 65
_getStateOfUnitDataSetCommand
_checkEqualTask
Description, 328
Description, 244
Example, 352
Example, 98
_GetStateOfXCommand, 359
_checkExistingDataSet
_getSyncCommandId, 334
Application, 347
Application, 364
Description, 329
_getTaskId
_controllerObjectType, 65
Application, 232
_deleteAllUnitDataSets
Application, 253
Application, 347
Description, 243
Description, 331
_importUnitDataSet
_deleteUnitDataSet
Application, 347
Application, 347
Description, 322
Description, 326
_isNaN
_device, 312, 317, 323, 326, 329, 332, 349
Description, 295
_disableScheduler
_loadUnitDataSet
Brief description, 232
Application, 347
_DWORD_FROM_2WORD, 291
Description, 316
_DWORD_FROM_4BYTE, 292
Example, 352
_DWORD_TO_2WORD, 386
Basic functions
Index
_NOT11, 273 _SC_MODE_SELECTOR, 95

_OR, 274 _SC_PC_INTERNAL_FAILURE, 92
_project, 72 _SC_PULL_PLUG_INTERRUPT, 93
see also Name space, 72 _SC_STATION_DISCONNECTED, 92
_releaseSemaphore _SC_STATION_RECONNECTED, 92
Application, 346 _SC_TO_INSTANCE_NOT_EXISTENT, 91
Description, 303 _SC_VARIABLE_ACCESS_ERROR_READ, 91
_resetAlarmId, 263 _SC_VARIABLE_ACCESS_ERROR_WRITE, 91
_resetAllAlarmId, 263 _sensorType, 65
_resetTaskId _setBit, 271
Brief description, 231 _setDeviceErrorLED, 338
Description, 235 _setSafeValue
_resetUnitData Description, 306
Application, 347 _sizeOf, 339
_restartTaskId _startSyncCommand
Brief description, 231 Application, 364
Description, 236 _startTaskId
_resumeTaskId Brief description, 231
Brief description, 231 Description, 240
Description, 237 _suspendTaskId
_retriggerTaskControlTimeId Brief description, 231
Description, 239 Description, 241
_retriggerTaskIdControlTime _task, 231
Brief description, 231 _testAndSetSemaphore
_S7_COUNTER, 388 Application, 346
_S7_TIMER, 389 Description, 302
_saveUnitDataSet _to, 72
Application, 347 see also Name space, 72
Description, 312 _toggleBit, 272
Example, 352 _waitTime, 392
_SC_ALARM_CONFIGURATION, 95 Application, 222
_SC_ARRAY_BOUND_ERROR_READ, 91 Description, 335
_SC_ARRAY_BOUND_ERROR_WRITE, 91 _WORD_FROM_2BYTE, 290
_SC_BACKGROUND_TIMER_OVERFLOW, 89 _WORD_TO_2BYTE, 385
_SC_BATTERY_WARNING_LEVEL1, 93 _writeAndSendMessage
_SC_BATTERY_WARNING_LEVEL2, 93 device function, 340
_SC_CYCLE_TIMER_OVERFLOW, 89 _XOR, 274
_SC_DEVICE_COMMAND, 95 _Xreceive
_SC_DIAGNOSTIC_INTERRUPT, 92 Application, 356
_SC_DIVISION_BY_ZERO, 91 Parameter description, 358
_SC_DP_CLOCK_DETECTED, 93 _Xsend
_SC_DP_SLAVE_NOT_SYNCHRONIZED, 93 Application, 356
_SC_DP_SLAVE_SYNCHRONIZED, 93 Parameter description, 357
_SC_DP_SYNCHRONIZATION_LOST, 93 Structure of destination address, 357
_SC_EXCEPTION, 95
_SC_EXTERNAL_COMMAND, 95
_SC_IMAGE_UPDATE_FAILED, 92 A
_SC_IMAGE_UPDATE_OK, 93
ABS, 266
_SC_INVALID_ADDRESS, 94
ACOS, 267
_SC_INVALID_FLOATING_POINT_OPERATION, 91
Actual torque, 56
_SC_IO_MODULE_NOT_SYNCHRONIZED, 93
Addition object, 37
_SC_IO_MODULE_SYNCHRONIZED, 93
Additive torque, 56
Basic functions
Index
Alarm, 84 BOOL_VALUE_TO_INT, 278

AlarmId, 253 BOOL_VALUE_TO_REAL, 278
Alarms BOOL_VALUE_TO_SINT, 278
Configuration, 84 BOOL_VALUE_TO_UDINT, 278
Querying Taskstartinfo; task: Startinfo; BOOL_VALUE_TO_UINT, 278
Taskstartinfo; TSI, 98 BOOL_VALUE_TO_USINT, 278
AlarmS Buffer management
Buffer management, 342 AlarmS messages, 342
ALARMS_ERROR, 255, 258, 261 Bus cycle clock, 158
ALARMS_ERROR OR BYTE_TO_BOOL, 278
DSC_SVS_DEVICE_ALARMS_IV_CALL, 256, 259 BYTE_TO_DINT, 278
ALARMS_ERROR OR BYTE_TO_DWORD, 278
DSC_SVS_DEVICE_ALARMS_IV_FIRST_CALL, 256, BYTE_TO_INT, 279
259 BYTE_TO_SINT, 279
ALARMS_ERROR OR BYTE_TO_UDINT, 279
DSC_SVS_DEVICE_ALARMS_IV_SFC_TYP, 256, 259 BYTE_TO_UINT, 279
ALARMS_ERROR OR BYTE_TO_USINT, 279
DSC_SVS_DEVICE_ALARMS_NO_ENTRY, 256, 259 BYTE_TO_WORD, 279
ALARMS_STATE, 261 BYTE_VALUE_TO_LREAL, 279
ALARMS_STATE OR ALARMS_QSTATE, 261 BYTE_VALUE_TO_REAL, 279
ANYOBJECT, 65, 293
AnyObject_to_Object
Description, 293 C
AnyType_to_BigByteArray
Cam, 36, 65
Description, 285
Cam track (camTrackType), 36
AnyType_to_LittleByteArray
camType, 65
Description, 285
Clock synchronization
ASIN, 267
Terminal-terminal, 186
Asynchronous command execution, 29
Command
For data transmission, 356
Step enabling condition, 68
ATAN, 267
CommandId, 30
Axis, 36
Return value, 30, 110
Drive axis, 65
synchronous/asynchronous, 29
Following axis, 65
Command execution diagnostics;, 71
Position axis, 65
Command reference - commandId;, 71
CommandId, 30
Error source, 392
B
Commands
BackgroundTask, 118, 130 Return values, 59
Taskstartinfo, 88 Communication commands, 356
Basic cycle clock, 158 CONCAT_DATE_TOD, 282
BEGIN_SYNC Configuration, 29
Application, 364 Execution system, 153
BigByteArray_to_AnyType Configuration data, 29
Description, 287, 290 Consistency commands
Bistable function block, 371 Application, 345
Bit string standard functions, 268 Description, 301
Blocking calls, 392 Constant bus cycle time, 157
BOOL_TO_BYTE, 278 Controller object, 37
BOOL_TO_DWORD, 278 ControlPanelTask, 118
BOOL_TO_WORD, 278 COS, 267
BOOL_VALUE_TO_DINT, 278 CPU STOP, 84
Basic functions
Index
CTD, 377 DINT_VALUE_TO_BOOL, 279

CTD_DINT, 378 Down counter (system FB), 377
CTD_UDINT, 378 Download in RUN, 223
CTU, 375 DP cycle clock, 158
CTU_DINT, 376 Drive axis, 65
CTU_UDINT, 377 driveAxis, 65
CTUD, 379 DSC_SVS_DEVICE_ALARMS_EVENT_ID_IN_USE, 25
CTUD_DINT, 379 6, 259
CTUD_UDINT, 380 DSC_SVS_DEVICE_ALARMS_EVENT_ID_NOT_USE
Cycle clock source D, 256, 259
Selection, 157 DSC_SVS_DEVICE_ALARMS_ILLEGAL_EVENT_ID, 2
Cycle time 55, 258, 261
Monitoring, 168 DSC_SVS_DEVICE_ALARMS_INTERNAL_ERROR, 2
Cyclic program execution 56, 259
Determining, 209 DSC_SVS_DEVICE_ALARMS_LAST_ENTRY_USED,
Influencing, 231 255, 258
Status of the task, 215 DSC_SVS_DEVICE_ALARMS_LAST_SIGNAL_USED,
Timeout, 392 256, 259
Cyclic tasks, 118 DT_TO_DATE, 282
DT_TO_TOD, 282
DWORD_TO_BOOL, 279
D DWORD_TO_BYTE, 279
DWORD_TO_DINT, 279
Data processing
DWORD_TO_INT, 279
Isochronous, 180
DWORD_TO_REAL, 279
Data types
DWORD_TO_SINT, 279
Conversions;, 277
DWORD_TO_UDINT, 279
Enumerator, 63
DWORD_TO_UINT, 279
Enumerators, 63
DWORD_TO_USINT, 279
Error sources, 391
DWORD_TO_WORD, 279
Technology objects, 65
DWORD_VALUE_TO_LREAL, 279
DATE_AND_TIME_TO_DATE, 282
DWORD_VALUE_TO_REAL, 279
DATE_AND_TIME_TO_TIME_OF_DAY, 282
DCC, 23
Block, 188
E
DCCAux Task, 193
DCCAux_2 Task, 193 Edge detection
T1(DCC) task, 190 In message programming, 341
T2(DCC) task, 191 System FBs, 373
T3(DCC) task, 193 effectiveTaskruntime, 167
DINT#MAX, 405 Efficient programming, 397
DINT#MIN, 405 encoder
DINT_TO_BYTE, 279 External, 65
DINT_TO_DWORD, 279 END_SYNC
DINT_TO_INT, 279 Application, 364
DINT_TO_LREAL, 279 ENUM_TO_DINT, 283
DINT_TO_REAL, 279 Enumerator data types, 63
DINT_TO_SINT, 279 Enumerators, 62
DINT_TO_STRING, 284 Error
DINT_TO_UDINT, 279 Command return values, 59
DINT_TO_UINT, 279 CommandId missing, 392
DINT_TO_USINT, 279 Comparing REAL variables, 396
DINT_TO_WORD, 279 CPU not in RUN, 394
Basic functions
Index
Cyclic tasks, 391 Function

Data type conversion, 391 Communication, 356
Locating, 393 Error sources during a call, 391, 392
Range violation, 396 Semaphores (application), 345
runtime, 83 Semaphores (description);, 301
TO function in cycle, 391 Standard function, 265
while accessing system data, 111 Function block
Error activation, 101 Efficient parameter access, 398
Event-driven tasks, 118 System function block, 369
Example, complete Function chart, 23
Expression, 219
Using data types of TOs, 66
WaitForCondition, 219 G
Execution errors, 85
General interconnection screen form, 34
Execution level, 207
General standard functions, 266
Interrupts, 208
Global control telegram (GC), 178
Round robin, 208
Global response
Time-controlled, 208
Process Alarms, 101
Execution levels, 115, 116
Execution system, 115
configuring, 153
H
ExecutionFaultTask, 86, 144, 208
Taskstartinfo, 90 Hardware platforms, 17
EXP, 267 HMI (Human Machine Interface), 365
EXPD, 267 HW Config, 20
Expert List, 39
Exponentiation, 267
EXPRESSION I
Description (in context), 217
I/O processing
EXPT, 267
Isochronous, 177
Extended language elements, 212
Identifier
External encoder, 36, 65
Reserved for basic system, 405
externalEncoderType, 65
Implicit interconnection, 33
Initialization
Technology objects, 65
F
Input parameters
F_TRIG, 374 System functions, 62
Fault, 83 InputSynchronousTask_1:, 137, 208
Cyclic tasks, 392 Taskstartinfo, 89
Wait times in cycle, 392 InputSynchronousTask_2, 137, 208
FBD, 23 Taskstartinfo, 89
Fields of application, 15 Instantiation, 27, 28
Filter for error numbers, 344 INT#MAX, 404
Fixed gear, 37 INT#MIN, 404
Floating-point number INT_TO_BYTE, 279
Error cause, 396 INT_TO_DINT, 279
Following axis, 65 INT_TO_DWORD, 279
Following object, 36, 65 INT_TO_LREAL, 279
followingAxis, 65 INT_TO_REAL, 279
followingObjectType, 65 INT_TO_SINT, 279
Formula object, 37 INT_TO_TIME, 282
Free-running tasks, 118 INT_TO_UDINT, 280
Basic functions
Index
INT_TO_UINT, 280 LREAL_VALUE_TO_WORD, 280

INT_TO_USINT, 279
INT_TO_WORD, 280
INT_VALUE_TO_BOOL, 280 M
Interconnection
Marshalling, 285
implicit, 33
Masked error numbers, 344
of technology objects, 48
MAX, 298
Via general interconnection screen forms, 34
Measuring input, 36, 65
via technological interconnection screen forms, 33
measuringInputType, 65
Interface arrangements, 356
Mechatronics, 15
Interpolator cycle clock, 158
Messages
Interpolator cycle clock 2, 158
Alarms, 83
Interrupt
Programming, 253, 340
Programmable, 217
MIN, 299
IPO cycle clock, 158
Modular machines, 15, 24
IPO_2 cycle clock, 158
Monitoring
IPOsynchronousTask, 208
Cycle time, 168
Taskstartinfo, 89
Timeouts and level overflows, 167
IPOSynchronousTask, 138
Motion
IPOsynchronousTask_2, 208
Interface type, 54
Taskstartinfo, 89
Motion basis, 54
IPOSynchronousTask_2, 138
Motion control, 115
IPOTask, 139
Motion Control, 15, 115
IPOTask_2, 139
Motion Control Chart, 23
Isochronous data processing, 180
MotionTask, 127
Isochronous I/O processing, 177
MotionTasks, 118
Taskstartinfo, 88
MUX, 297
L
Ladder diagram, 23
Level overflow, 166 N
Monitoring, 167
Numeric standard functions, 266
Library
Technology package, 83
LIMIT, 300
O
Description, 287 OFF delay (system FB), 382
LN, 267 Offline mode, 23
Local response ON delay (system FB), 381
Process Alarms, 100 One-time program data instantiation, 213
LOG, 267 Online mode, 23
Logarithmic standard functions, 266 OperationLevel, 120
LREAL_TO_DINT, 280 Output cam, 36, 65
LREAL_TO_INT, 280 outputCamType, 65
LREAL_TO_REAL, 280
LREAL_TO_SINT, 280
LREAL_TO_UDINT, 280 P
LREAL_TO_UINT, 280
Parameter
LREAL_TO_USINT, 280
Efficient access in function blocks, 398
LREAL_VALUE_TO_BOOL, 280
Value parameter; reference parameter
LREAL_VALUE_TO_BYTE, 280
Value parameter, 63
LREAL_VALUE_TO_DWORD, 280
Basic functions
Index
Path object, 36 REAL_VALUE_TO_BYTE, 280

PeripheralFaultTask, 144, 208 REAL_VALUE_TO_DWORD, 280
Taskstartinfo, 91 REAL_VALUE_TO_WORD, 280
PLC functionality, 15 References, 4
PLCopen, 23 Reserved identifiers, 405
PN cycle clock, 158 Return value, 30, 110
posAxis, 65 Rising edge
Position axis, 65 System FB, 373
Position control cycle clock, 158 ROL, 268
PostControlTask_1, 137, 208 ROR, 268
Taskstartinfo, 89 Round robin, 118, 169
PostControlTask_2, 137, 208 Setting time allocation, 171
Taskstartinfo, 89 RTC, 383
Priorities, 121 RUN
Process Alarms Effect on variable initialization, 210
Global response, 101 Mode not reached, 394
Local response, 100 Runtime group, 188
Program Runtime model, 123
Assigning tasks, 209 Runtime system, 117
Increasing efficiency, 397
Locating errors, 393, 394
Program data instantiation S
One-time, 223
SEL, 296
Pragma, 225
Semaphore commands
Programming, 23
Application), 345
Command execution; command execution;, 66
Description, 301
Error sources, 391
Sending data, 356
Increasing efficiency, 397
Sensor, 37
Programs, 115
Sequence
Assigning tasks, 153
in the round robin execution level, 169
Project, 21
Sequential program execution
ProTool, 365
Determining, 209
Pulse (system FB), 381
Influencing, 231
Pulse-width modulation cycle clock, 159
Status of the task, 215
PWMsynchronousTask, 137, 208
Sequential tasks, 118
Taskstartinfo, 89
Servo cycle clock, 158
ServoSynchronousTask, 137, 208
Taskstartinfo, 89
R
Set flip-flop, 371
R_TRIG, 373 SHL, 268
Range violation, 396 SHR, 268
REAL_TO_DINT, 280 ShutdownTask, 118, 151
REAL_TO_DWORD, 280 Taskstartinfo, 95
REAL_TO_INT, 280 SIMATIC S7 device
REAL_TO_LREAL, 280 Communication with SIMOTION devices, 359
REAL_TO_SINT, 280 Destination address, structure, 357
REAL_TO_STRING, 285 SIMOTION
REAL_TO_TIME, 282 Execution system, 115
REAL_TO_UDINT, 280 Fields of application, 15
REAL_TO_UINT, 280 Motion Control, 15
REAL_TO_USINT, 280 Project, 21
REAL_VALUE_TO_BOOL, 280 Runtime model, 123
Basic functions
Index
Runtime system, 117 Query the command/execution status; system

System architecture, 19 function: Return values;, 71
Technology packages, 27 System function blocks
SIMOTION C2xx, 18 Definitions, 371
SIMOTION D4xx, 18 Overview, 369
SIMOTION device communication with SIMATIC S7 System functions
device, 359 Definition, 57
SIMOTION P350, 18 System tasks, 115
SIMOTION SCOUT engineering system, 20 System variables, 29
SIN, 267 Definition, 57
SINT#MAX, 404 Error cause, 396
SINT#MIN, 404 Overview; variables: System; variables: structured;
SINT_TO_BYTE, 280 structured variables, 75
SINT_TO_DINT, 280 Optimizing access, 398
SINT_TO_DWORD, 280 SystemInterruptTasks, 118, 143
SINT_TO_INT, 280
SQRT, 266
SR, 371, 372 T
Stack size, 157
T#MAX, 405
Standard functions, 265, 266
T#MIN, 405
Start sequence
TAN, 267
Tasks, 123
Task
StartupTask, 118, 125
Assigning initial values, 211
Taskstartinfo, 88
Assigning programs, 209
Status
BackgroundTask, 130, 208
Task (status values), 215
Concept, 207
STOP mode, 84
Control commands (brief description), 231
STOP to RUN
ExecutionFaultTask, 144
Effect on variable initialization, 210
Initialization of local variables, 210
Error cause, 394
IPOSynchronousTask, 138
STRING_TO_DINT, 285
MotionTask, 127, 208
STRING_TO_REAL, 285
PeripheralFaultTask, 144
STRING_TO_UDINT, 285
Priorities, 120
STRUCTALARMID#NIL, 405
Programming, 231
STRUCTTASKID#NIL, 405
Runtime measurement (functions), 245
Structured text, 23
ServoSynchronousTask, 137
Substitute value strategy, 111
ShutdownTask, 151, 209
Synchronous command execution, 29
StartupTask, 125, 208
For data transmission, 356
States, 215
Synchronous start, 363
SynchronousTask, 208
Synchronous tasks, 118
SynchronousTasks, 136
SynchronousTasks, 118, 136
SystemInterruptTask, 208
Taskstartinfo, 89
SystemInterruptTasks, 143
System architecture, 19
TaskStartInfo (TSI), 168
System clocks, 115
TechnologicalFaultTask, 144
Defining, 158
TimeFaultBackgroundTask, 144
System cycle clock
TimeFaultTask, 144
Error cause, 394
TimerInterruptTask, 133, 208
System data
UserInterruptTask, 208
Error while accessing, 111
UserInterruptTasks, 147
System function
Task control, 157
Task priorities, 120
Basic functions
Index
Task runtimes, 164 Temperature control, 36, 115

TASK_STATE_INVALID, 215, 234 Temperature controller, 65
TASK_STATE_LOCKED, 215, 234 temperatureControllerType, 65
TASK_STATE_RUNNING, 215, 234 Terminal - axis - response time, 137
TASK_STATE_STOP_PENDING, 215, 234 Terminal - terminal response time, 137
TASK_STATE_STOPPED, 215, 234 Terminal-terminal isochronous mode, 186
TASK_STATE_SUSPENDED, 215, 234 Ti, 180
TASK_STATE_WAIT_NEXT_CYCLE, 215, 234 Time allocation
TASK_STATE_WAIT_NEXT_INTERRUPT, 215, 234 in the round robin execution level, 169
TASK_STATE_WAITING, 215, 234 Setting, 171
Taskruntime, 167 Time types
Tasks, 115, 116 Conversions, 282
Assigning programs, 153 TIME#MAX, 405
Start sequence, 123 TIME#MIN, 405
TaskStartInfo (TSI), 168 TIME_OF_DAY#MAX, 405
TControl TIME_OF_DAY#MIN, 405
Technology package, 27 TIME_TO_INT, 282
Tdp, 180 TIME_TO_REAL, 282
Tdx, 180 TIME_TO_UDINT, 282
Technological alarm, 32 TimeFaultBackgroundTask, 144, 208
Technological alarms Taskstartinfo, 89
configuring, 102 TimeFaultTask, 144, 208
Evaluating in the user program, 109 Taskstartinfo, 89
Technological Alarms, 99 Timeout, 165, 392
Technological interconnection screen forms, 33 Monitoring, 167
TechnologicalFaultTask, 144, 208 TimerInterruptTask, 133
Taskstartinfo, 89 TimerInterruptTasks, 118
Technology object, 26 Taskstartinfo, 88
Configuration, 29 Time-triggered tasks, 118
Instantiation, 27, 28 To, 180
Interconnection, 48 TO, 26
System variables, 29 TO#NIL, 65, 76, 405
Technology object types, 27, 28 TOD#MAX, 405
Technology objects TOD#MIN, 405
Data types, 65 TOF, 382
Definition, 57 TON, 381
Functions (codes), 59 Tooltips, 29
Functions (definition), 57 Torque limits B+ / B, 55
Functions (input parameters), 62 Totally Integrated Automation, 17
Initialization, 65 TP Cam
Instances, 59 Technology package, 27
Names, 59 TP Cam_ext
Package (definition), 57 Technology package, 27
Query validity, 65 TP Path
Technology Objects, 28 Path object, 28
Configuration data, 78 Trigonometric standard functions, 267
reset, 82 TRUNC, 266
Technology package TSI, 168
Definition, 57 TSI#alarmNumber, 90
in library, 83 TSI#alarmP1_DINT, 90
Technology packages, 27 TSI#alarmP1_LREAL, 90
Temperature channel, 36 TSI#alarmP1_UDINT, 90
Basic functions
Index
TSI#alarmP2_DINT, 90 V
TSI#alarmP2_LREAL, 90
Variables
TSI#alarmP2_UDINT, 90
Efficient access, 397
TSI#alarmP3_DINT, 90
Instance declaration of TO, 59
Range violation, 396
Semaphores (application), 345
W
TSI#alarmP5_LREAL, 90 Wait for condition, 122
TSI#alarmP5_UDINT, 90 WAITFORCONDITION, 122
TSI#commandId.high, 90 Description (in context), 217
TSI#commandId.low, 90 Watchdog, 168
TSI#currentTaskId, 88, 89, 90, 92, 94, 95
TSI#cycleTime, 88, 89, 90, 92, 94, 95
TSI#details, 94, 95
TSI#eventClass, 94
TSI#executionFaultType, 91
TSI#eventClass, 96
TSI#faultId, 94
TSI#interruptId, 89, 92
TSI#InterruptId, 95, 96
TSI#logBaseAdrIn, 94
TSI#logBaseAdrOut, 94
TSI#logDiagAdr, 94
TSI#shutDownInitiator, 95
TSI#startTime, 88, 89, 90, 91, 94, 95
TSI#taskId, 89, 91
TSI#toInst, 90
Type conversion functions, 277
U
UDINT#MAX, 405
UDINT#MIN, 405
UDINT_TO_STRING, 285
UDINT_TO_TIME, 282
UINT#MAX, 405
UINT#MIN, 405
Up counter (system FB), 375
Up/down counter (system FB), 379
USEPACKAGE, 58
User interrupt
Programmable, 217
User program, 23
User program tasks, 116
UserInterruptTasks, 118, 147
Taskstartinfo, 94
Using the expert list, 42
USINT#MAX, 405
USINT#MIN, 405
Basic functions

Simotion (Basic)

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Simotion (Basic)

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Preface

Execution System, Tasks,

Siemens AG Copyright Siemens AG 2007.

Chapters in this manual

Hotline and Internet addresses

Siemens Internet address

3.2.2 Differences between cyclical and sequential programming........................................................ 63

5.3.6 Information on starting a task: TaskStartInfo (TSI) ....................................................................173

6.1.6.1 Querying and meaning of the task states ................................................................................. 221

7.2.4 Trigonometric standard functions...............................................................................................277

7.14.3 _loadUnitDataSet function......................................................................................................... 328

8 Programming of general system function blocks.................................................................................... 383

9.2.2.7 Optimizing program structure.................................................................................................... 415

1.1 SIMOTION motion control

1.2 Fields of application

1.3 Fusion of PLC and motion control

The system approach of

Figure 1-1 Fusion of PLC and motion control

1.4 Totally Integrated Automation

1.5 Hardware platforms

Figure 1-2 SIMOTION hardware platforms

The following platforms are available:

1.6 System architecture

1.6.1 SIMOTION system architecture

Figure 1-3 SIMOTION system architecture

1.6.2 SIMOTION SCOUT Engineering System

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Figure 1-4 SIMOTION SCOUT engineering system

1.6.3 SIMOTION project

Figure 1-5 SIMOTION SCOUT project navigator

1.6.4 Offline/online mode

SIMOTION SCOUT can be used in two modes:

It is possible to edit a Drive Control Chart with an external DCC editor.

SIMOTION basic functionality

Figure 2-1 SIMOTION basic functionality

The user programs can arbitrarily be assigned to the various tasks.

Figure 2-2 Assignment of the user programs to tasks

Figure 2-3 Programming model on technology object instances, e.g. on TO axis

2.2 Technology packages

2.3 Technology objects (TO)

Figure 2-4 Possible interfaces to technology objects

2.3.1 Instantiation and configuration

Synchronous/asynchronous command execution

Figure 2-5 Programming model on technology object instances, e.g. on TO axis

Command execution on the TO / effectiveness of TO commands

Figure 2-6 Interconnection between technology objects,

Interconnection using technological interconnection screen forms

Interconnection using general interconnection screen form (for experts only)

2.3.5 Technology objects and DCC

Figure 2-7 Technology and DCC

2.3.6 Available technology objects

Table 2-1 Overview of the technology objects available in SIMOTION

Technology object Symbol Product Brief

Technology object Symbol Product Brief

2.4 SIMOTION memory concept (target system)

2.4.1 Storage Concept in the Target System

Memory management in the RUN mode

Figure 2-8 Memory concept, general representation

2.5 Expert list

Invoking the expert list

2.5.1 Expert list for configuration data and system variables

Table 2-2 The following information is displayed in the expert list:

Button / Table column Meaning/Note

Button / Table column Meaning/Note

Button / Table column Meaning/Note

2.5.2 Using the expert list

Changing the Data in the Expert List Offline

Carrying Out a Quick Search

Figure 2-9 Example of quick search

If it is a writable parameter, the cursor jumps directly to the value field.

Navigating within the Expert List Using the Arrow Keys

Selecting Cells Using the Keyboard

Copying cell contents into other Windows applications

Creating a user-defined parameter list

1. Press the Create new tab button.

Figure 2-10 Selection dialog box for user-defined parameter lists

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