Festo CMXR-C1 Installation manual

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Controller
Description
Programming
instructions
Type
CMXR-C1
Description
560 316
en 0805NH
[729 224]

Festo GDCP-CMXR-SW-EN en 0805NH 3
Edition _____________________________________________________0805NH
Designation _______________________________________ GDCP-CMXR-SW-EN
Order no. ___________________________________________________560 316
Festo AG & Co KG., D-73734 Esslingen, Federal Republic of Germany, 2008
Internet: http://www.festo.com
E-mail: [email protected]
The reproduction, distribution and utilization of this document as well as the communica-
tion of its contents to others without express authorisation is prohibited. Offenders will be
held liable for compensation of damages. All rights reserved, in particular the right to carry
out patent, utility model or ornamental design registrations.

4 Festo GDCP-CMXR-SW-EN en 0805NH
Index of revisions
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GDCP-CMXR-SW-EN
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Consec. no.
Description
Index of revisions
Date of amendment
001
Produced:
0805NH
25.06.2008

TABLE OF CONTENTS
Festo GDCP-CMXR-SW-EN en 0805NH 5
TABLE OF CONTENTS
1. Introduction .......................................................................................................... 11
2. Safety precautions ................................................................................................ 12
2.1 Using the documentation .................................................................................... 12
2.2 Recommended operating conditions................................................................... 12
2.3 Qualified personnel ............................................................................................. 13
2.4 Safety notes on the products............................................................................... 13
2.5 Safety notes on this manual ................................................................................ 13
2.6 Safety instructions for the described product...................................................... 14
3. Program processing.............................................................................................. 15
3.1 General information............................................................................................. 15
3.2 Interpreter ........................................................................................................... 15
3.3 Program start ...................................................................................................... 15
3.4 Set forerun .......................................................................................................... 15
3.5 Program structure ............................................................................................... 17
3.6 FTL projects ......................................................................................................... 17
3.6.1 Global FTL project ................................................................................ 18
3.7 FTL program file “tip” .......................................................................................... 18
3.7.1 Project-global programs ...................................................................... 19
3.8 FTL data file “<Name>.tid”.................................................................................... 19
3.8.1 Local program data.............................................................................. 19
3.8.2 Project-global data .............................................................................. 20
3.8.3 System-global data.............................................................................. 20
3.8.4 Instancing of variables......................................................................... 21
4. Language set-up ................................................................................................... 23
4.1 Formatting........................................................................................................... 23
4.2 Identifiers ............................................................................................................ 23
4.3 Keywords............................................................................................................. 23
4.4 Numeric constants............................................................................................... 24
4.5 Strings................................................................................................................. 24
4.6 Operators and limiting characters ....................................................................... 24
4.6.1 Arithmetical operators ......................................................................... 24
4.6.2 Logical operators ................................................................................. 25
4.6.3 Comparators ........................................................................................ 25
4.6.4 Other operators ................................................................................... 25

TABLE OF CONTENTS
6 Festo GDCP-CMXR-SW-EN en 0805NH
4.6.5 Limiting characters .............................................................................. 26
5. Master data types ................................................................................................. 27
5.1 Boolean data type (BOOL)................................................................................... 28
5.2 Integer types, REAL data type, bit pattern types.................................................. 28
5.3 Strings................................................................................................................. 29
5.4 Structured data types.......................................................................................... 29
5.5 Arrays .................................................................................................................. 29
6. Declaration of variables........................................................................................ 30
6.1 Initialisation ........................................................................................................ 30
7. Statements............................................................................................................ 31
7.1 Execution sequence in statements ...................................................................... 31
8. Program control .................................................................................................... 32
8.1 Instructions ......................................................................................................... 32
8.2 Value assignment <:=> ........................................................................................ 32
8.3 Conditions ........................................................................................................... 32
8.4 Branching <IF…THEN> .......................................................................................... 34
8.5 Jump commands.................................................................................................. 35
8.5.1 Jump label <LABEL>............................................................................... 35
8.5.2 Conditional jump <IF…GOTO>................................................................ 36
8.5.3 Absolute jump <GOTO> ......................................................................... 36
8.6 Loops .................................................................................................................. 36
8.6.1 WHILE instruction <WHILE> .................................................................. 37
8.6.2 LOOP instruction <LOOP>..................................................................... 37
8.7 Subprograms....................................................................................................... 38
8.7.1 Subprogram call-up <CALL> .................................................................. 39
8.7.2 Program return <RETURN> .................................................................... 40
8.8 Parallel programs ................................................................................................ 41
8.8.1 Starting the parallel program <RUN>..................................................... 42
8.8.2 Stopping the parallel program <KILL> ................................................... 42
8.9 WAIT –Instruction with time <WaitTime>.............................................................. 42
8.10 WAIT instruction with condition <WAIT> ............................................................... 43
8.11 Adding comments <//>......................................................................................... 46
8.12 Deactivating the program line <##>...................................................................... 46
9. Movement commands........................................................................................... 48
9.1 Positional description.......................................................................................... 48
9.1.1 Axis position ........................................................................................ 48

TABLE OF CONTENTS
Festo GDCP-CMXR-SW-EN en 0805NH 7
9.1.2 Cartesian position................................................................................ 51
9.2 Point-to-point movement <Ptp>............................................................................ 52
9.3 Relative point-to-point movement <PtpRel> ......................................................... 55
9.4 Movement of an axis, <MoveAxisPtp>, <MoveAxisCart>......................................... 57
9.5 Linear motion <Lin> .............................................................................................. 59
9.6 Relative linear motion <LinRel>............................................................................. 61
9.7 Circular movement with support point ................................................................ 63
9.7.1 Method of operation ............................................................................ 63
9.7.2 Definition of levels............................................................................... 64
9.7.3 Circular command with support point <CircIp>...................................... 66
9.7.4 Circular command with support point, PTP travel <PtpToCircIp>........... 68
9.7.5 Circular command with support point, Lin travel <LinToCircIp>............. 70
9.8 Stopping the movement <StopMove>................................................................... 71
10. Dynamics commands ............................................................................................ 72
10.1 Speeds <Vel> ....................................................................................................... 72
10.2 Acceleration <Acc>............................................................................................... 73
10.3 Jerk <Jerk>............................................................................................................. 74
10.4 Override .............................................................................................................. 76
10.4.1 Override on the teach pendant <Ovr>.................................................... 76
10.4.2 Dynamic override <DynOvr> ................................................................. 77
10.5 Acceleration ramps.............................................................................................. 78
10.5.1 Setting the ramp forms <Ramp> ........................................................... 79
10.6 Switching on constant path speed <VconstOn> .................................................... 80
10.7 Switching off constant path speed <VconstOff>................................................... 82
11. Smooth-transition commands .............................................................................. 83
11.1 Marginal area ...................................................................................................... 84
11.2 Speed-type smooth transition ............................................................................. 85
11.2.1 With the percentage factor <OvlVel> .................................................... 85
11.3 Smooth geometric transition............................................................................... 87
11.3.1 Smooth transition of axes X, Y and Z <OvlCart>..................................... 87
11.4 Reference systems (zero offset) .......................................................................... 89
11.5 Reference of the reference system ...................................................................... 89
11.6 Data for the reference system ............................................................................. 90
11.7 Reference system with direct values <SetRefSys> ............................................... 91
11.8 Reference system with three points <SetRefSys3P> ............................................ 92
11.9 World reference system <SetRefSysWorld> ......................................................... 93

TABLE OF CONTENTS
8 Festo GDCP-CMXR-SW-EN en 0805NH
11.10 Example............................................................................................................... 94
12. Referencing a kinematics system ......................................................................... 96
12.1 Homing <RefAxis> ................................................................................................ 96
12.2 Asynchronous homing <RefAxisAsync>................................................................. 98
12.3 Waiting for the end of the homing run <WaitRefFinished> ................................. 100
12.4 Interrogating status of an axis <IsAxisReferenced>............................................ 101
13. Tools ................................................................................................................... 102
13.1 Tool data ........................................................................................................... 102
13.1.1 Data for the TCP vector ...................................................................... 102
13.2 Activating tool data <Tool> ................................................................................ 105
13.2.1 Effect of TCP data............................................................................... 105
14. PROFIBUS interface ............................................................................................ 110
14.1 Boolean inputs and outputs .............................................................................. 110
14.2 32-bit integer variables ..................................................................................... 111
14.3 Positions ........................................................................................................... 112
14.4 Reference systems ............................................................................................ 113
14.5 Programmed stop <ProgHold> ........................................................................... 114
15. Message system ................................................................................................. 116
15.1 Message texts ................................................................................................... 116
15.2 Information <SetInfo> ........................................................................................ 118
15.3 Warning <SetWarning> ..................................................................................... 119
15.4 Error message <SetError> .................................................................................. 120
16. Functions............................................................................................................. 121
16.1 Reading the actual position <ReadActualPos>................................................... 121
16.2 Reading the target position <ReadTargetPos> ................................................... 122
16.3 Permanently saving position value <SavePosition> ........................................... 123
16.4 Reading the system time <Time> ....................................................................... 123
16.5 Converting time into text <TimeToStr>............................................................... 124
16.6 Sine <SIN>, <ASIN> ............................................................................................. 125
16.7 Cosine <COS>, <ACOS> ....................................................................................... 126
16.8 Tangent <TAN>, <ATAN>...................................................................................... 128
16.9 Cotangent <COT>, <ACOT> .................................................................................. 129
16.10 Tangent2 <ATAN2> ............................................................................................. 130
16.11 Logarithm <LN>................................................................................................... 130

TABLE OF CONTENTS
Festo GDCP-CMXR-SW-EN en 0805NH 9
16.12 Exponent <EXP>.................................................................................................. 130
16.13 Absolute value <ABS>........................................................................................ 131
16.14 Square root <SQRT> ........................................................................................... 131
16.15 Shifting bit-by-bit <SHR>, <SHL>.......................................................................... 132
16.16 Rotating bit-by-bit <ROR>, <ROL>......................................................................... 133
17. Modules .............................................................................................................. 134
17.1 Functions........................................................................................................... 135
17.2 Variables ........................................................................................................... 135
17.3 Runtime behaviour ............................................................................................ 136
17.3.1 Parameter ovlEnable.......................................................................... 136
17.4 Digital input module DIN ................................................................................... 137
17.4.1 Instancing .......................................................................................... 137
17.4.2 Methods ............................................................................................ 139
17.4.3 Waiting for the status, methods Wait / WaitN.................................... 140
17.4.4 Reading status with Read method ..................................................... 140
17.4.5 RisingEdge method............................................................................ 140
17.4.6 ResetRisingEdge method................................................................... 141
17.5 Digital output module DOUT ............................................................................. 141
17.5.1 Instancing .......................................................................................... 141
17.5.2 Variables............................................................................................ 143
17.5.3 Methods ............................................................................................ 144
17.5.4 Waiting for the status, methods Wait / WaitN.................................... 145
17.5.5 Reading status with Read method ..................................................... 145
17.5.6 RisingEdge method............................................................................ 145
17.5.7 ResetRisingEdge ................................................................................ 146
17.5.8 Set / Reset methods .......................................................................... 146
17.5.9 Setting the output, Write method ...................................................... 147
17.6 Analogue input module AIN............................................................................... 147
17.6.1 Instancing .......................................................................................... 147
17.6.2 Variables............................................................................................ 148
17.6.3 Methods ............................................................................................ 149
17.6.4 Waiting until the value is less/greater - WaitLss/WaitGrt methods.... 150
17.6.5 Waiting until value is inside/outside the range - WaitIns/WaitOuts
methods............................................................................................. 150
17.6.6 Sensing the value, Read method ....................................................... 151
17.7 Analogue output module AOUT ......................................................................... 152
17.7.1 Instancing .......................................................................................... 152
17.7.2 Variables............................................................................................ 153
17.7.3 Methods ............................................................................................ 154

TABLE OF CONTENTS
10 Festo GDCP-CMXR-SW-EN en 0805NH
17.7.4 Writing the output value, Write method............................................. 155
17.7.5 Waiting until the value is greater/less - WaitLss/WaitGrt methods.... 155
17.7.6 Waiting until value is inside/outside the range - WaitIns/WaitOuts methods 156
17.7.7 Reading output value, Read method.................................................. 156
17.8 Timer module CLOCK ......................................................................................... 157
17.8.1 Instancing .......................................................................................... 157
17.8.2 Methods ............................................................................................ 158
17.8.3 Starting the timer, Start method ........................................................ 158
17.8.4 Stopping the timer, Stop method....................................................... 159
17.8.5 Resetting the timer, Reset method .................................................... 159
17.8.6 Reading the timer, Read method ....................................................... 159
17.8.7 Converting time value into string ....................................................... 160
17.9 Encoder module ENCODER ................................................................................ 161
17.9.1 Instancing .......................................................................................... 161
17.9.2 Variables............................................................................................ 162
17.9.3 Methods ............................................................................................ 162
17.9.4 Setting the encoder, Set method ....................................................... 163
17.9.5 Reading the encoder, Read method................................................... 163
17.10 CANopen module COPDEVICE............................................................................ 164
17.10.1 Instancing .......................................................................................... 164
17.10.2 Methods ............................................................................................ 165
17.10.3 Writing SDO, WriteSDO method......................................................... 165
17.10.4 Reading SDO, ReadSDOSigned method............................................. 166
17.10.5 Reading SDO, ReadSDOUnsigned method......................................... 168
18. Peripheral signals............................................................................................... 169
18.1 Working with digital inputs and outputs............................................................ 169
18.2 Working with analogue inputs and outputs....................................................... 169
19. Examples............................................................................................................. 171
19.1 Stopping the movements .................................................................................. 171
19.2 Working with input and output modules ........................................................... 174
19.3 Controlling the set forerun................................................................................. 175
19.4 Working with grippers ....................................................................................... 176
19.4.1 Vacuum grippers................................................................................ 177
19.4.2 Pneumatic parallel grippers ............................................................... 180
19.4.3 Pneumatic swivel/gripper unit........................................................... 183
19.5 Working with the PLC interface.......................................................................... 187
19.5.1 Problem definition ............................................................................. 187
19.5.2 PLC interface...................................................................................... 187
19.5.3 Sequence program............................................................................. 188

1. Introduction
Festo GDCP-CMXR-SW-EN en 0805NH 11
1. Introduction
This document describes the command set FTL (Festo Teach Language) for the Festo CMXR
multi-axis control system, with the software status of version 1.0. The CMXR controller is
programmed using the CDSA-D1-VX teach pendant or the CMXR PlugIn in Festo Configura-
tion Tool (FCT).
Fig. 1.1 Festo CMXR-C1 multi-axis control system Festo CDSA-D1-VX teach pendant
FTL is a programming language with a command set that is designed for creating user pro-
grams by machine users. The simplified language set-up supports the creation of simple
machine sequences without needing extensive programming training to do so.

2. Safety precautions
12 Festo GDCP-CMXR-SW-EN en 0805NH
2. Safety precautions
2.1 Using the documentation
This document is intended for users and programmers of robots that work together with
the Festo CMXR system. There is a training induction programme for the operation and
programming. Appropriate personnel training is a requirement.
2.2 Recommended operating conditions
Warning
The Festo CMXR system is not designed for safety-relevant control
tasks (e.g.: shutdown in emergency or monitoring reduced speeds).
The Festo CMXR system conforms only to category B of EN-954-1
and is thus not adequate for the implementation of safety functions
for the protection of persons.
Additional external protective measures that ensure the safe oper-
ating status of the overall system even in the event of a malfunction
must be adpoted for safety-relevant control tasks or for the safety
of persons.
Festo is not liable for damage caused by failure to observe the warning instructions in
these operating instructions.
Note
The safety precautions in chapter 2.3 ff. must be read through
completely prior to commissioning.
If the documentation is not clearly understood in this language version, please inform the
supplier.
The faultless and reliable operation of the control system depends on its correct transport,
storage, mounting and installation as well as on careful operation and maintenance.

2. Safety precautions
Festo GDCP-CMXR-SW-EN en 0805NH 13
2.3 Qualified personnel
Note
Only trained and qualified personnel should be allowed to handle
the electrical installations.
2.4 Safety notes on the products
Warning
DANGER!
The regulations for special waste must be observed when dispos-
ing of the batteries.
Although batteries have a low voltage, they can give off enough
current in a short circuit to cause flammable materials to ignite.
They must not, therefore, be disposed of together with conductive
materials (such as metal chips, wire wool contaminated with oil
etc.).
ESD
Electrostatically sensitive devices: incorrect handling can result in
damage to components.
Warning
DANGER!
Dangerous movements!
Danger of death, serious bodily injury or damage to property due to
unintentional movement of the axes!
2.5 Safety notes on this manual
Warning
DANGER!
Considerable damage to property and injury to human beings may
occur if these instructions are not observed.
Caution
Considerable damage to property may occur if these instructions
are not observed.

2. Safety precautions
14 Festo GDCP-CMXR-SW-EN en 0805NH
2.6 Safety instructions for the described product
Warning
Danger!
Danger of death due to inadequate EMERGENCY-STOP devices!
Emergency-stop devices must remain operative and accessible in
all operating modes of the system. Unlocking the EMERGENCY-
STOP device must not initiate an uncontrolled restart of the system!
Check the EMERGENCY-STOP chain first, then switch on!
Warning
DANGER!
Danger to people and equipment!
Test every new program before you commission the system!
Warning
DANGER!
Retrofittings and modifications can compromise the safety of the
system!
The consequences of this could be personal injury, material dam-
age or environmental damage. Possible retrofittings or modifi-
cations to the system using component parts from external manu-
facturers must therefore be approved by Festo.
Warning
DANGER!
Hazardous electric voltage!
If not otherwise specified, maintenance work must always be car-
ried out with the system switched off! At the same time, the system
must be protected against unauthorised use and against being
switched on again unintentionally.
Should measuring or test work be needed on the system, this must
be carried out by expert electrical technicians.
Caution
Only replacement parts approved by Festo may be used.

3. Program processing
Festo GDCP-CMXR-SW-EN en 0805NH 15
3. Program processing
3.1 General information
FTL stands for Festo Teach Language. FTL is a movement-oriented programming language
and is used to program CMXR controllers.
As a programming language for robotics and handling systems, FTL has an enormous lan-
guage capacity, which, despite this, is easy to learn and easy to master. This enables the
user to direct the programming into his/her application. The language commands are
based on the English language.
3.2 Interpreter
FTL programs are not compiled, but rather processed by an interpreter. This interpreter
firstly reads the programs in a structured manner into the memory to process them opti-
mally. This procedure needs a short reaction time according to the length of the program.
For this reason, it is recommendable to load the program prior to the start - so that a quick
program start can be attained.
3.3 Program start
To start a program, it must be loaded in the corresponding project. Loading can either be
carried out via the teach pendant or by an external control system via a control interface.
Note
Only one user project may be loaded at one given time. In addition
to this, the global system project is always loaded.
Program execution always begins after the start signal at the current position of the pro-
gram indicator.
If the program indicator has reached the last program line of the sequencing program, the
program is concluded but remains loaded. Should parallel programs have been started
during the sequence, then the main program remains active until the parallel programs are
concluded.
3.4 Set forerun
The interpreter precalculates a number of movement commands to achieve quick program
processing. The precalculation takes place during running operation simultaneously with
the program execution and is managed in the system. The size of the set forerun, i.e. the
number of movement commands that are precalculated is stored in the system.

3. Program processing
16 Festo GDCP-CMXR-SW-EN en 0805NH
Note
The set forerun is related to movement commands. Other instruc-
tions located between the movement commands, such as the modi-
fication of dynamic values or the processing of variables, are not
affected by this.
In this set forerun, the FTL commands are decoded and made available for the further cal-
culation. Furthermore, the path of the movement that is calculated as a result of the set
dynamic values is also planned in this set forerun.
With several commands from FTL the set forerun can be influenced, i.e. in some cases it is
stopped. This could, for example, be the case of a program branch, where decisions are
made on the input signals of the peripherals. If the set forerun stops, the entire command
set calculated beforehand is processed and the kinematics stops the movement. Then the
decision on the program branch is calculated, for example, and the subsequent movement
commands executed.
Note
Stopping the set forerun with the corresponding command brings
with it, in some cases, unwanted stops on the path. A smooth tran-
sition of the movements is not possible in these kinds of com-
mands.
The illustration shows an extract from an FTL program. The upper arrow marks the com-
mand that is currently being executed. The lower arrow marks the active command of the
set precalculation. The distance between both arrows is the set forerun.
More information and examples of the set forerun are described in chapter 19.3 Control-
ling the set forerun.
Lin(Pos1)
Lin(Pos2)
Lin(Pos3)
Lin(Pos4)
Lin(Pos5)
Lin(Pos6)
Lin(Pos7)
Lin(Pos8)
Lin(Pos9)
Set main run
Set forerun

3. Program processing
Festo GDCP-CMXR-SW-EN en 0805NH 17
3.5 Program structure
All FTL programs are stored on the memory card (Compact Flash Card) for the CMXR multi-
axis control system in the directory: application\control\teachcontrol (from now on called
applications directory). The programs are stored in a folder structure. A project contains
the allocated movement programs. The number of projects and programs is limited by the
size of the memory card.
Set-up of the program structures:
3.6 FTL projects
An FTL project is created as a subdirectory in the applications directory. The name of the
directory is the project name and has the extension “tt”.
Example for project names:
Project “_global”
Project “cube”
Project “PickPlace”

3. Program processing
18 Festo GDCP-CMXR-SW-EN en 0805NH
FTL programs are brought together in a project. Thus, all programs are elements of a pro-
ject. Other subdirectories are not permissible in a project directory.
Note
The project structure and management is automatically created and
managed by the graphical software of the teach pendant and via
the editor of the FCT software.
3.6.1 Global FTL project
Along with all the FTL projects there is a global FTL project that has the name “_global”.
This name is fixed and must not be changed. The project is global for all projects. All data
and programs saved there are accessible from all other projects. Should data and pro-
grams have to be used in several projects, they are stored in this global project. This en-
sures data consistency.
The global project “_global”is automatically loaded and activated when the CMXR starts
up.
3.7 FTL program file “tip”
All FTL programs belonging to a project are saved in the assigned project directory. A pro-
gram comprises the program code and the data belonging to it. These are saved in sepa-
rate files, under the same name but with a different file extension:
<Name>.tip File extension for the program code
<Name>.tid File extension for the program data
Example:
The file “Load.tip”is created for a program with the name “Load”. The file name of the
local program data is “Load.tid”.
If the program is created via the CDSA teach or via Festo programming editor (in the Festo
Configuration Tool), the file is generated automatically for the local program data. If a pro-
gram is generated via other software, then you must make sure that the appropriate data
file is created for every program.
Note
If a program is generated via external software, then you must
make sure that the naming convention of the files is adhered to.

3. Program processing
Festo GDCP-CMXR-SW-EN en 0805NH 19
3.7.1 Project-global programs
The system-global project “_global” can include programs as well as data. These programs
can be used by all programs in all projects.
System-global programs offer considerable user-friendliness. Programs which are depend-
ent upon the kinematics used can thus be defined and stored separately from the applica-
tions projects. Should fixed positions exist in a kinematics system, such as a safety posi-
tion for example, then the sequence for moving to this position can be stored in the global
project once.
3.8 FTL data file “<Name>.tid”
In the CMXR control system, data are used as variables and for communication. The project
structure offers the possibility to save data neatly and to limit the access to the data.
A data file is identified by the file extension “tid” and is - like the program file - text-based.
Options in the system are:
local program data within the individual programs,
project-global data for every project and
system-global data for all projects.
This distribution of data can be used to select who has access to the data. The communica-
tion between programs or projects can be controlled in the same way. With project-global
data, communication can take place between programs; with system-global data, commu-
nication can take place between projects.
3.8.1 Local program data
Local program data are only known within the program. Other programs or projects do not
have any access to these data.
Note
Local program data are only known and valid within the assigned
program. Other programs or projects do not have any access to it.
The following illustration shows the programs “Fill” and “Sort”. Both of these programs
have local data and program data which are stored in the respective files.

3. Program processing
20 Festo GDCP-CMXR-SW-EN en 0805NH
3.8.2 Project-global data
Project-global data are used for the communication between the individual programs
within a project. Programs outside the corresponding project do not have any access to
these data.
Project-global data are stored in their own file under the name “_globalvars.tid”. Should a
project be created via the CDSA teach or the FTL programming editor, then this project-
global data file will be created automatically. If a project is generated via other software,
e.g. customer programming software, you must make sure that this data file is created.
Note
If a program is generated via external software, then you must
make sure that the “_globalvars.tid” file is created in the project
directory.
The following illustration shows the projects “FillPalett” and “FeedParts". Both of these
projects have project-global data which are saved in the “globalvars.tid” file and stored in
the project directory.
3.8.3 System-global data
System-global data are known system-wide in all programs from all projects. The system-
global data are assigned to the “_global” project and stored there in the “_globalvars.tid”
data file.
Note
Since all programs have access to the system-global data, you must
make certain these data are used carefully. Simultaneous access by
several programs to these data must be checked and must, if nec-
essary, be locked in the application using appropriate measures.
The following illustration shows the global project “_global” in combination with project-
global and local data. System-global programs are also shown in the system-global range.