The figure present the mechanical process of the SISTEP system.

The main parts the SISTEP mechanical process are hightlighed :

• 3 conveyers,
• the control panel,
• the controllers and
• the robot arm.

The term Industrial Process Terminators (IPTs) is used in the CORFU development process to refer the mechanical parts of the controlled process.

The picture displays the actuators of SISTEP. Sensors and actuators are used to have access to what is called Industrial Process Parameters (IPPs) in CORFU development process.

• M1, M2, M3 servomotors that move the conveyers.
• M4 motor open/close the arm.
• M5 motor moves the arm up/down .
• M6 servomotor moves the arm left/right.
• Led1 lights when object in front of Conveyer 3.
• Led2 lights when object in front of Arm.
• Led3 light when object has w wrong wheight.

This picture displays the sensors of SISTEP.

• S2 is used for object in front of Conveyer 3.
• S4 is used for object in front of Arm.
• S5 senses that arm is colsed with object.
• S6 arm is open.
• S7 arm is down.
• S8 arm is up.

The buttons of the control panel are used to reset/start/stop the application and put it to Auto or Manual operation. In manual operation the other buttons are used to control the conveyers and the arm.

The figure displays the configuration of SISTEP. Actually 2 PCs are playing the role of controllers, executing the Function Block applications. CORFU ESS is used to design the control application and the system layer model and distribute the control application components to the system layer devices. RTAI-AXE is used to load the FB types, create FB instances and their event and date connections, and execute the control application.

The System Layer diagram in CORFU ESS. Notice how the way that the devices are displayed. For each device an Internal Device Diagram (IDD) is creared. IDD makes the mapping between process parameters and FB based application. The IDD usually is shipped from the hardware vendor and encapsulates the complexities of the data transformation. Here boolean data for example in Byte0 are converted to events like ArmMoveDown.

Analysis and design of the application, using ROSE. We have created Use Case and Interaction diagrams, that later are automatically transformed from CORFU FBDK to Function Block diagrams.

The figure presents the final control application as a network of interconnected FB instances. These FBs are distributed to the system layer devices.

The  figure presents ControlUnit and the ArmUnit BF types that have being defined for the SISTEP control application.

The designed FB network is executed in the CORFU ESS for verification. The built-in runtime environment allows such a design time execution. The validation of the FB networks is done through the animation of the model.