Спецификация протокола Profibus

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13.3.2.2 State Machine Description

The Scheduler performs the control of the individual Slave-Handlers. The

Scheduler can be controlled by the user with the functions described in section

"Service Interface". The Slave-Handlers are called, respectively stepped

forward, one after the other from the Scheduler to compute the necessary actions

of the Slave-Handlers. The Scheduler notifies the operation modes Clear and

Operate in fixed time intervals (Dx_Control_Timer) to the DP-Slaves. This

occures also at state transitions of the Scheduler.

The user and the Scheduler interact via the data interface using the following

parameters:

Input_Data

(Octet-String)

Input data of the DP-Slaves, which are issued at the interface between the User-

Interface and the user.

Data_Transfer_List

(Octet-String)

This list indicates, which DP-Slaves executed a data transfer cycle within the

last control interval.

The following functions are called at the service interface:

- Set_Mode

- Mode_Changed

- Mark

- Global_Control

The description of these functions is given in section "Service Interface".

The local variables of the Scheduler are described subsequently:

Internal_Data_Transfer_List[0...125]

(Octet-String)

Contains the internal image of the Data_Transfer_List. The individual bits are

set by the corresponding Slave-Handler and cleared by the Scheduler after

copying them into the Data_Transfer_List.

GO_ACLR

(Boolean)

State variable which indicates that after finishing the current cycle the

Scheduler shall branch to the state AUTOCLEAR.

Mark_Active

(Unsigned8)

Indicates that at present:

0 => local function Mark is not active

1 => local function Mark is active, but not yet in execution

2 => local function Mark is active and in execution

Diag_Active

(Boolean)

Used to store the status if during one pass trough the Slave_List a DP-Slave has

not been in the user data exchange mode. The status which was stored is issued

to the user with the Mark.con.

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UGLCO_Active

(Boolean)

State variable which indicates that a local confirmation for a Global_Control

function where expected, which where initiated by the user.

Additionally two timers are used:

- Min_Sl_Interval_Timer

Supervises the minimal access control time of the DP-Slaves. This

timer will be evaluated only in the states CCLEAR and COPEARTE.

- Dx_Control_Interval_Timer

Supervises the correct execution of data transfer cycles. This

timer will be evaluated only in the main states Clear and Operate.

13.3.2.3 State Transitions

Power_On START OFFLINE

=> Input_Data = 0

Diag = Initial Values

Internal_Data_Transfer_List[0..125] = 0

Data_Transfer_List[0..125] = 0

UGLCO_Active = False

OFFLINE SMOD1 OFFLINE

Set_Mode.req(USIF_State)

\USIF_State # Stop AND USIF_State # Offline

=> Set_Mode.con(NO)

USIF_State=Offline

OFFLINE SMOD2 OFFLINE

Set_Mode.req(USIF_State)

\USIF_State = Offline

=> Set_Mode.con(OK)

OFFLINE SMOD3 OFFLINE

Set_Mode.req(USIF_State)

\USIF_State = Stop AND invalid Bus Parameter

=> Set_Mode.con(NO)

OFFLINE SMOD4 LDBP

Set_Mode.req(USIF_State)

\USIF_State = Stop AND valid Bus Parameter

=> DDLM_Set_Bus_Par.req(Bus_Par)

Mark_Active = 0

Input_Data = 0

Diag_Active = False

Diag = Initial Values

OFFLINE MRK1 OFFLINE

Mark.req

=> Mark.con(NO)

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OFFLINE INV2 OFFLINE

Global_Control.req(Rem_Add, Control_Command, Group_Select)

=> Global_Control.con(NO)

LDBP LBPA1 INITM

DDLM_Set_Bus_Par.con(Status)

\Status=OK

=> DDLM_Master_Init.req

LDBP LBPA2 OFFLINE

DDLM_Set_Bus_Par.con(Status)

\Status#OK

=> Set_Mode.con(NO)

INITM IMAS1 INITRES

DDLM_Master_Init.con

=> DDLM_Responder_Init.req(Poll_Timeout)

INITRES IMAS2 STOP

DDLM_Responder_Init.con

=> Set_Mode.con(OK)

STOP SMOD5 WRES

Set_Mode.req(USIF_State)

\USIF_State = Offline

=> DDLM_Reset.Req

STOP SMOD6 STOP

Set_Mode.req(USIF_State)

\USIF_State = Stop

=> Set_Mode.con(OK)

STOP SMOD7 STOP

Set_Mode.req(USIF_State)

\USIF_State = Operate

=> Set_Mode.con(NO)

STOP SMOD8 CLEAR

Set_Mode.req(USIF_State)

\USIF_State = Clear

=> Input_Data = 0

GO_ACLR = Error_Action_Flag

Internal_Data_Transfer_List[0..125] = 0

Start Dx_Control_Interval_Timer(Data_Control_Time/2)

Start_Slave_Handler.req( 0 .. 125 )

STOP MRK2 STOP

Mark.req

=> Mark.con(NO)

STOP INV1 STOP

Global_Control.req(Rem_Add, Control_Command, Group_Select)

=> Global_Control.con(NO)

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CLEAR SMOD9 CLEAR

Set_Mode.req(USIF_State)

\USIF_State = Offline

=> Set_Mode.con(NO)

CLEAR MRK3 CLEAR

Mark.req

\Mark_Active = 0

=> Mark_Active = 1

CLEAR MRK4 CLEAR

Mark.req

\Mark_Active # 0

=> Mark.con(NO)

CLEAR SMOD10 SLHSTP

Set_Mode.req(USIF_State)

\USIF_State = Stop AND Mark_Active = 0

=> Data_Transfer_List[0..125] = 0

Stop Dx_Control_Interval_Timer

Stop_Slave_Handler.req(0..125)

CLEAR SMOD11 SLHSTP

Set_Mode.req(USIF_State)

\USIF_State = Stop AND Mark_Active # 0

=> Mark.con(NO)

Mark_Active = 0

Data_Transfer_List[0..125] = 0

Stop Dx_Control_Interval_Timer

Stop_Slave_Handler.req(0..125)

SLHSTP STP1 SLHSTP

Stop_Slave_Handler.con(x)

\not yet received all Stop_Slave_Handler.con

=> ignore

SLHSTP STP2 STOP

Stop_Slave_Handler.con(x)

\received all Stop_Slave_Handler.con

=> Set_Mode.con(OK)

CLEAR SMOD12 CLEAR

Set_Mode.req(USIF_State)

\USIF_State = Clear

=> Set_Mode.con(OK)

CLEAR SMOD13 SGC_CO

Set_Mode.req(USIF_State)

\USIF_State = Operate AND GO_ACLR = False

=> DDLM_Global_Control.req(Rem_Add=127,

Control_Command=0, Group_Select=0)

CLEAR SMOD15 CLEAR

Set_Mode.req(USIF_State)

\USIF_State = Operate AND GO_ACLR = True

=> Set_Mode.con(NO)

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SGC_CO SGLCO7 SGC_CO

DDLM_Global_Control.con(Status)

\UGLCO_Active = True

=> UGLCO_Active = False

Global_Control.con(Status)

SGC_CO SMOD14 OPERATE

DDLM_Global_Control.con(Status)

\UGLCO_Active = False

=> Set_Mode.con(OK)

CLEAR GLCO1 CLEAR

Global_Control.req(Rem_Add, Control_Command, Group_Select)

\received all Start_Slave_Handler.con

=> UGLCO_Active = True

DDLM_Global_Control.req(Rem_Add,

Control_Command.1 = 1, Group_Select)

CLEAR GLCO2 CLEAR

Global_Control.req(Rem_Add, Control_Command, Group_Select)

\not yet received all Start_Slave_Handler.con

=> Global_Control.con(NO)

CLEAR GLCO3 CLEAR

DDLM_Global_Control.con(Status)

=> UGLCO_Active = False

Global_Control.con(Status)

CLEAR SSH1 CLEAR

Start_Slave_Handler.con(x)

\not yet received all Start_Slave_Handler.con

=> ignore

CLEAR SSH2 CLEAR

Start_Slave_Handler.con(x)

\received all Start_Slave_Handler.con

=> Start Min_Sl_Interval_Timer(Min_Slave_Interval)

Set_Mode.con(OK)

Continue_Slave_Handler.req(0..125,Output_Clear=True)

CLEAR CSH1 CLEAR

Continue_Slave_Handler.con(x,Diag)

\not yet received all Continue_Slave_Handler.con

AND Mark_Active = 2

=> Diag_Active=Diag_Active OR Diag

CLEAR CSH2 CLEAR

Continue_Slave_Handler.con(x,Diag)

\not yet received all Continue_Slave_Handler.con

AND Mark_Active # 2

=> ignore

CLEAR CSH3 CCLEAR

Continue_Slave_Handler.con(x,Diag)

\received all Continue_Slave_Handler.con

AND Mark_Active = 0

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CLEAR CSH4 CCLEAR

Continue_Slave_Handler.con(x,Diag)

\received all Continue_Slave_Handler.con

AND Mark_Active = 1

=> Mark_Active=2

Diag_Active = False

CLEAR CSH5 CCLEAR

Continue_Slave_Handler.con(x,Diag)

\received all Continue_Slave_Handler.con

AND Mark_Active = 2

=> Diag_Active=Diag_Active OR Diag

Mark_Active=0

Mark.con(Status=OK, Dia=Diag_Active)

CLEAR CTMR1 SGC_CL

Dx_Control_Interval_Timer expired

\Error_Action_Flag = True AND

At least one Slave(i=0..125) fulfills following condition:

Active[i] = True AND Internal_Data_Transfer_List[i] = 0

=> Data_Transfer_List[0..125]

= Internal_Data_Transfer_List[0..125]

Internal_Data_Transfer_List[0..125] = 0

Start Dx_Control_Interval_Timer(Data_Control_Time/2)

GO_ACLR = True

DDLM_Global_Control.req (Rem_Add = 127

Control_Command=2, Group_Select = 0)

CLEAR CTMR2 SGC_CL

Dx_Control_Interval_Timer expired

\Error_Action_Flag = True AND

No Slave(i=0..125) fulfills following condition:

Active[i] = True AND Internal_Data_Transfer_List[i] = 0

=> Data_Transfer_List[0..125]

= Internal_Data_Transfer_List[0..125]

Internal_Data_Transfer_List[0..125] = 0

GO_ACLR = False

Start Dx_Control_Interval_Timer(Data_Control_Time/2)

DDLM_Global_Control.req (Rem_Add = 127

Control_Command=2, Group_Select = 0)

CLEAR CTMR3 SGC_CL

Dx_Control_Interval_Timer expired

\Error_Action_Flag = False

=> Data_Transfer_List[0..125]

= Internal_Data_Transfer_List[0..125]

Internal_Data_Transfer_List[0..125] = 0

Start Dx_Control_Interval_Timer(Data_Control_Time/2)

DDLM_Global_Control.req (Rem_Add = 127

Control_Command=2, Group_Select = 0)

SGC_CL SGLCO1 CLEAR

DDLM_Global_Control.con(Status)

\UGLCO_Active = False

=> ignore

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SGC_CL SGLCO2 SGC_CL

DDLM_Global_Control.con(Status)

\UGLCO_Active = True

=> UGLCO_Active = False

Global_Control.con(Status)

CCLEAR ITMR1 CLEAR

Min_Sl_Interval_Timer expired

=> Continue_Slave_Handler.req(0..125,Output_Clear=True)

Start Min_Sl_Interval_Timer(Min_Slave_Interval)

OPERATE SMOD17 OPERATE

Set_Mode.req(USIF_State)

\USIF_State # Clear AND USIF_State # Operate

=> Set_Mode.con(NO)

OPERATE SMOD18 OPERATE

Set_Mode.req(USIF_State)

\USIF_State = Operate

=> Set_Mode.con(OK)

OPERATE SMOD16 GLOBCLR

Set_Mode.req(USIF_State)

\USIF_State = Clear

=> DDLM_Global_Control.req(Rem_Add=127,

Control_Command=2, Group_Select=0)

OPERATE MRK5 OPERATE

Mark.req

\Mark_Active = 0

=> Mark_Active = 1

OPERATE MRK6 OPERATE

Mark.req

\Mark_Active # 0

=> Mark.con(NO)

OPERATE UGLCO4 OPERATE

Global_Control.req(Rem_Add, Control_Command, Group_Select)

\Control_Command ≠ Clear

=> UGLCO_Active = True

DDLM_Global_Control.req(Rem_Add, Control_Command.1 = 0,

Group_Select)

OPERATE UGLCO4A OPERATE

Global_Control.req(Rem_Add, Control_Command, Group_Select)

\Control_Command = Clear

=> Global_Control.con(Status=NO)

OPERATE UGLCO5 OPERATE

DDLM_Global_Control.con(Status)

=> UGLCO_Active = False

Global_Control.con(Status)

OPERATE CSH6 OPERATE

Continue_Slave_Handler.con(x,Diag)

\not yet received all Continue_Slave_Handler.con

AND Mark_Active = 2

=> Diag_Active=Diag_Active OR Diag

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OPERATE CSH7 OPERATE

Continue_Slave_Handler.con(x,Diag)

\not yet received all Continue_Slave_Handler.con

AND Mark_Active # 2

=> ignore

OPERATE CSH8 COPERATE

Continue_Slave_Handler.con(x,Diag)

\received all Continue_Slave_Handler.con

AND Mark_Active = 0

OPERATE CSH9 COPERATE

Continue_Slave_Handler.con(x,Diag)

\received all Continue_Slave_Handler.con

AND Mark_Active = 1

=> Mark_Active=2

Diag_Active = False

OPERATE CSH10 COPERATE

Continue_Slave_Handler.con(x,Diag)

\received all Continue_Slave_Handler.con

AND Mark_Active = 2

=> Diag_Active=Diag_Active OR Diag

Mark_Active=0

Mark.con(Status=OK, Dia=Diag_Active)

OPERATE CTMR4 OPERATE

Dx_Control_Interval_Timer expired

\Error_Action_Flag = True AND

At least one Slave(i=0..125) fulfills following condition:

Active[i] = True AND Internal_Data_Transfer_List[i] = 0

=> Data_Transfer_List[0..125]

= Internal_Data_Transfer_List[0..125]

Internal_Data_Transfer_List[0..125] = 0

Start Dx_Control_Interval_Timer(Data_Control_Time/2)

GO_ACLR = True

OPERATE CTMR5 SGC_OP

Dx_Control_Interval_Timer expired

\Error_Action_Flag = True AND

No Slave(i=0..125) fulfills following condition:

Active[i] = True AND Internal_Data_Transfer_List[i] = 0

=> Data_Transfer_List[0..125]

= Internal_Data_Transfer_List[0..125]

Internal_Data_Transfer_List[0..125] = 0

Start Dx_Control_Interval_Timer(Data_Control_Time/2)

DDLM_Global_Control.req (Rem_Add = 127

Control_Command=0, Group_Select = 0)

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OPERATE CTMR6 SGC_OP

Dx_Control_Interval_Timer expired

\Error_Action_Flag = False

=> Data_Transfer_List[0..125]

= Internal_Data_Transfer_List[0..125]

Internal_Data_Transfer_List[0..125] = 0

Start Dx_Control_Interval_Timer(Data_Control_Time/2)

DDLM_Global_Control.req (Rem_Add = 127

Control_Command=0, Group_Select = 0)

SGC_OP SGLCO3 OPERATE

DDLM_Global_Control.con(Status)

\UGLCO_Active = False

=> ignore

SGC_OP SGLCO4 SGC_OP

DDLM_Global_Control.con(Status)

\UGLCO_Active = True

=> UGLCO_Active = False

Global_Control.con(Status)

COPERATE ITMR2 OPERATE

Min_Sl_Interval_Timer expired

\GO_ACLR = False

=> Continue_Slave_Handler.req(0..125,Output_Clear=False)

Start Min_Sl_Interval_Timer(Min_Slave_Interval)

COPERATE ITMR3 AUTCLR

Min_Sl_Interval_Timer expired

\GO_ACLR = True

=> DDLM_Global_Control.req (Rem_Add = 127

Control_Command=2, Group_Select = 0)

Start Min_Sl_Interval_Timer(Min_Slave_Interval)

AUTCLR SGLCO5 AUTCLR

DDLM_Global_Control.con(Status)

\UGLCO_Active = True

=> UGLCO_Active = False

Global_Control.con(Status)

AUTCLR ACLR CLEAR

DDLM_Global_Control.con(Status)

\UGLCO_Active = False

=> Mode_Changed.ind(USIF_State=Clear)

Continue_Slave_Handler.req(0..125,Output_Clear=True)

GLOBCLR SGLCO6 GLOBCLR

DDLM_Global_Control.con(Status)

\UGLCO_Active = True

=> UGLCO_Active = False

Global_Control.con(Status)

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GLOBCLR SMCLR CLEAR

DDLM_Global_Control.con(Status)

\UGLCO_Active = False

=> Set_Mode.con(OK)

any-state FATAL1 WRES

DDLM_Fault.ind

=> Reset_Slave_Handler.req(0..125)

Mode_Changed.ind(USIF_State=Offline)

DDLM_Reset.req

WRES GOFFL OFFLINE

DDLM_Reset.con