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State Diagram

๐Ÿ“– Quick Reference

Concepts

Step
A state your machine can be in
Hold
Wait condition โ€” checked every 1ms scan
Transition
Where to go when the hold is met
Interlock
Global safety check โ€” runs every scan, jumps to a target step if tripped

Execution Order

  1. Entry actions (once)
  2. HALT (yield to control loop)
  3. Check interlocks (if tripped โ†’ jump)
  4. Check hold condition (if not met โ†’ back to 2)
  5. Exit actions (once)
  6. Transition to next step

Tips

  • NC wiring: use state = OFF for safety inputs (e-stop, overload)
  • active_from: skip interlocks during Standby or Fault steps
  • Variables are 32-bit signed integers, up to 64 slots (indexed 0โ€“63)
  • Timers count down in ms; hold checks for zero
  • AND/OR: combine conditions for multi-sensor interlocks

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