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--- eeros_architecture:practical_problems:start [2017/04/06 13:06] – [Handle Faults in the Control System] graf
+++ eeros_architecture:practical_problems:start [2017/09/24 15:39] (current) – removed graf
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-====== Practical Problems ======
-Every EEROS system consists of a control system, a safety system, and a sequencer. In order to guarantee maximum stability we strongly recommend that you adhere to a strict set of design rules as given below.
-===== Trigger Safety Event from Control System =====
-signale aus dem cs sollen se bewirken (signal checker). \\
-Seq soll signale in CS setzen (const) oder lesen \\
-===== Avoid Hidden States in the Safety System =====
-It might be tempting to define elaborate actions in a certain safety level. However, in order to keep the safety system clean and simple avoid such practises. Do not define different states in a safety level. If you need to stay a certain amount of time in a safety level use the field ''nofActivations'' as described in [[eeros_architecture:safety_system:properties#counter|]]. As soon as you want to model a more complex behaviour use a [[eeros_architecture:sequencer:sequence|]].
-===== Handle Faults in the Control System =====
-input not connected, forget to connect
-nan
-initial signals = nan, forget to addBlock
-remove block
-===== Switch Block Switches Automatically =====
-There are cases were a switch block has to switch to a certain input under given conditions. While it might be possible to use the safety system to check this condition it might be preferable if the switch block itself switches when a certain condition is met. To use the sequencer for this purpose is generally not advisable as realtime cannot be met there. \\
-For further information refer to [[eeros_architecture:control_system:available_blocks|]] or check the example in [[getting_started:tutorials:controlsystem4|Control System Containing Switch Blocks ]].
-===== Block with Parameters =====
-Situation: inner states of blocks can be changed only through signals or getter / setter methods. How to implement a slowly changing inertia matrix? You do not want to calculate this matrix out of regular signals with full speed. Solution: use slow time domain for this purpose and change ...