234
ifm
System Manual
ecomat
mobile
SmartController (CR2500) V05
More functions in the ecomatmobile controller
Processing
interrupts
NOTE
To avoid that the program block called by interrupt is additionally called cyclically, it should be skipped
in the cycle (with the exception of the initialisation call).
Several timer interrupt blocks can be active. The time requirement of the interrupt functions must be
calculated so that all called functions can be executed. This in particular applies to calculations, floating
point arithmetic or controller functions.
Please note:
In case of a high CAN bus activity the set REPEATTIME may fluctuate.
NOTE
The uniqueness of the inputs and outputs in the cycle is affected by the interrupt routine. Therefore only
part of the inputs and outputs is serviced. If initialised in the interrupt program, the following inputs and
outputs will be read or written.
Inputs, digital:
%IX0.0...%IX0.7 (CRnn32)
%IX0.12...%IX0.15, %IX1.4...%IX1.8 (all other ClassicController, ExtendedController, SafetyController)
%IX0.0, %IX0.8 (SmartController)
IN08...IN11 (CabinetController)
IN0...IN3 (PCB controller)
Inputs, analogue:
%IX0.0...%IX0.7 (CRnn32)
All channels (selection bit-coded) (all other controller)
Outputs, digital:
%QX0.0...%QX0.7 (ClassicController, ExtendedController, SafetyController)
%QX0.0, %QX0.8 (SmartController)
OUT00...OUT03 (CabinetController)
OUT0...OUT7 (PCB controller)
Global variants, too, are no longer unique if they are accessed simultaneously in the cycle and by the
interrupt routine. This problem applies in particular to larger data types (e.g. DINT).
All other inputs and outputs are processed once in the cycle, as usual.
