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

Avoid Hidden States in the Safety System

Handle Faults in the Control System

Blocks have to be added to a time domain and will then be run by this. If you have blocks which are used only for a certain task such as initialization, you can remove them after this task has finished in order to safe processing power, see Time Domains.

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 Switch or check the example in Control System Containing Switch Blocks .

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 …

Seq soll signale in CS setzen (const) oder lesen

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