Date: 04/19/23File: MC-SMO-SYS_07.1

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

The SIMOTION Execution System

Date: 04/19/23File: MC-SMO-SYS_07.2

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

Automating Technical Processes

Machine/plant SIMOTION execution system

Motion/part processes TasksMultitaskingReal-time

Date: 04/19/23File: MC-SMO-SYS_07.3

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

The SIMOTION Execution System

Servo level

DP level

IPO level

Interrupt level

Round robin level

Priority

Date: 04/19/23File: MC-SMO-SYS_07.4

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

Task Structure of the Execution System (1)

Time-controlledexecution levels

Event-controlledexecution levels

Free-runningexecution level

System startup/stop

Pri

ori

ty

High

Medium

Low

T5 DccAux Task

IPO_2 TaskIPOSynchronousTask_2T3 (DCC) Task

Motion Tasks

Timer Interrupt Tasks

System Interrupt Tasks

System level DP/PN Comm. boardor

Servo Task

System Interrupt Tasks

User Interrupt Tasks

Motion Tasks

System startup System shutdown

Timer Interrupt Tasks

Wait For Condition

Background Task

ServoSynchronousTaskT1 (DCC) Task

IPO TaskIPOSynchronousTaskT2 (DCC) Task

Temp. Control

T4 DccAux Task

Date: 04/19/23File: MC-SMO-SYS_07.5

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

Task Structure of the Execution System (2)

Time-controlledexecution levels

Event-controlledexecution levels

Free-runningexecution level

System startup/stop

Pri

ori

ty

High

Medium

Low

T5 DccAux Task

IPO_2 TaskIPOSynchronousTask_2T3 (DCC) Task

Motion Tasks

Timer Interrupt Tasks

System Interrupt Tasks

System level DP/PN Comm. boardor

Servo Task

System Interrupt Tasks

User Interrupt Tasks

Motion Tasks

System startup System shutdown

Timer Interrupt Tasks

Wait For Condition

Background Task

ServoSynchronousTaskT1 (DCC) Task

IPO TaskIPOSynchronousTaskT2 (DCC) Task

Temp. Control

T4 DccAux Task

Date: 04/19/23File: MC-SMO-SYS_07.6

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

Clock Synchronization on the PROFIBUS

SIMOTION

DPcommunicaton

GC GCSl. 1

Sl. 2

Sl. 3

PCT1 PCT2 PCT3

Acycl.part

Res.

T i

T o

Sl. 1

Sl. 2

Sl. 3

T dx

GC: Global control frameT i: read in process valuesTo: output process valuesT dx: Sum of transfer time for all slavesT dp: DP cycle timePCT: Position controllerBT: BackgroundTask

T dp

Drives

Position controlinterrupt

Actual valuesSetpoints

IPO

. . .. . .

BT

Date: 04/19/23File: MC-SMO-SYS_07.7

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

Setting the System Cycles Clocks

System Cycle Clocks

Date: 04/19/23File: MC-SMO-SYS_07.8

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

Overview of the User Tasks

Task

IPOSynchronousTask T2/T3

Anzahl

2

TimeFaultTask 1

TimeFaultBackgroundTask 1

TechnologicalFaultTask 1

PeripheralFaultTask 1

ExecutionFaultTask 1

TimerInterruptTask 5

2

BackgroundTask 1

MotionTask 32 (with V4.0)

StartupTask 1

ShutdownTask 1

Task

Event-controlled (system)

Round robin level

Time-controlled

Startup /Shutdown

Event-controlled (user) UserInterruptTask

ServoSynchronousTask T1 1

DccAuxTask T4/T5 2(with V4.1)

Date: 04/19/23File: MC-SMO-SYS_07.9

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

Time-Controlled Task Processing (1)

Example 1: No InterruptTask active

Default setting: DP cycle Servo cycle IPO cycle 1 1 2

DP cycle

PCT cycle

IPO cycle

Servo task

IPO-Task

SystemInterruptTask

TimerInterruptTask_1

TimerInterruptTask_2

Round robin level

UserInterruptTask

Tdx

GC

cyclic acyclic

Date: 04/19/23File: MC-SMO-SYS_07.10

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

Time-Controlled Task Processing (2)

Example 1: No InterruptTask active

Default setting: DP cycle Servo cycle IPO cycle 1 1 2

DP cycle

PCT cycle

IPO cycle

IPO-Task

SystemInterruptTask

TimerInterruptTask_1

TimerInterruptTask_2

Round robin level

UserInterruptTask

Tdx

GC

Servo task

cyclic acyclic

Date: 04/19/23File: MC-SMO-SYS_07.11

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

Cycles at the Round Robin Level

MotionTask_1

MotionTask_20

Internal tasks

BackgroundTask

Date: 04/19/23File: MC-SMO-SYS_07.12

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

Task Time unit

Background n

Motion 1 1

Motion 2 1

....

Communication 1

Example: n=5 n=2

Example of Time Slice Allocation at the Round Robin Level

n=1n=10n=20

Tim

e

Date: 04/19/23File: MC-SMO-SYS_07.13

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

Assigning Programs to Tasks

1. Open execution system

2. Select task

3. Select program

4. Assign program

5.Use task in the executionsystem

Date: 04/19/23File: MC-SMO-SYS_07.14

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

Example: Setting Task Parameters for UserInterruptTask

Start condition

Date: 04/19/23File: MC-SMO-SYS_07.15

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

Task Runtimes and Task Status Information

Date: 04/19/23File: MC-SMO-SYS_07.16

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

Task Handling Operations in MCC

Start Task

Interrupt Task

Continue Task

Reset Task

Task State

Determine TaskId

Date: 04/19/23File: MC-SMO-SYS_07.17

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

e.g.: _task.MotionTask_1

Start task

Restart a task

Operations for Starting Tasks in LAD/FBD

_startTaskId

EN ENO

id OUT

BOOL

StructTaskId

BOOL

DWORD

_restartTaskId

EN ENO

id OUT

BOOL

StructTaskId

BOOL

DWORD

Assign input parameter "id":

Date: 04/19/23File: MC-SMO-SYS_07.18

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

Starting and Stopping Tasks in LAD/FBD

_resetTaskId

EN ENO

id OUT

BOOL

StructTaskId

BOOL

DWORD

Reset task

_resumeTaskId

EN ENO

id OUT

BOOL

StructTaskId

BOOL

DWORD

Resume task

_suspendTaskId

EN ENO

id OUT

BOOL

StructTaskId

BOOL

DWORD

Interrupt task

Date: 04/19/23File: MC-SMO-SYS_07.19

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

Returning the Task State in LAD/FBD

_getStateOfTaskId

EN ENO

id OUT

BOOL

StructTaskId

BOOL

DWORD

Determine task state

Return value "OUT" indicates ORing of the following states:• 16#0000: Specified task does not exist (TASK_STATE_INVALID)• 16#0001: Transition RUN to STOP (TASK_STATE_STOP_PENDING)• 16#0002: Task is stopped (TASK_STATE_STOPPED)• 16#0004: Task running (TASK_STATE_RUNNING)• 16#0010: Task waiting (TASK_STATE_WAITING)• 16#0020: Task is suspended (TASK_STATE_SUSPENDED)• 16#0040: TimerInterruptTask waiting for next cycle

(TASK_STATE_WAIT_NEXT_CYCLE)• 16#0080 UserInterruptTask or SystemInterruptTask waiting for

next event (TASK_STATE_WAIT_NEXT_INTERRUPT)• 16#0100 Task disabled by _disablescheduler (TASK_STATE_LOCKED)

Date: 04/19/23File: MC-SMO-SYS_07.20

SIMOTIONSiemens AG 2008. All rights reserved.

SITRAIN Training for Automation and Drives

State Model for Tasks

TS_STOP_PENDING

TS_WAIT_NEXT

_CYCLE TS_WAIT_NEXT_INTERRUPT

TS_LOCKED

TS_STOPPED

_resetTask()

_restartTask()

• WAITFORCONDITION• _waitTime()

TS_RUNNING

TS_WAITING

Condition fulfilled

TS_SUSPENDED

_suspe

ndTask

()

_resum

eTask(

)

MT completed

terminated

Next interrupt

_disableScheduler_enableScheduler

TS_INVALID