IFM ecomat 100 R 360 Series, System Manual

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page 79
The last position of the word address describes the connection
of the node no. 1 - 8 (0 - 7), the second and third position the
node number 1 - 32 (1 - 20 hex). As standard, the predefined
address area is rated for 32 I/O modules.
Basic program structure To utilize the I/O modules in a control application the following
program structure can be used. In a standard application it
supports the use of up to 31 I/O modules. As the 32nd
participant the plc R
360 configured as network master
(NMT master) is connected. A node with the address 0 is not
allowed because this address is used for the system-wide
controlling of all nodes (also see NMM_NMT functions in section
6.9).
Program step 1 COP_MSTR_BOOTUP
The function initializes the plc as master and the connected
nodes. It is only executed in the booting phase. In this function
the flag CAN_OPEN is set to TRUE.
Program step 2 COP_MSTR_MAIN
Due to its cyclic call the function creates the SYNC object for
the synchronous transmission of the I/O data.
Program step 3 SLAVE_8_CONFIG
Slave configuration for each connected I/O node.
After a successful configuration this function is again de-
activated.
Program step 4 NMM_SET_OPERATIONAL
A call with the parameter NODE = 0 sets the whole network
(also the NMT master) to the operational mode. This function
may only be executed once.
Program step 5 SLAVE_8_WORK
Due to the cyclical call of the function the I/O data of the slave
modules are written to or read from the defined flag area of the
R 360.
Program step 6 EMC_GET_EMERGENCY
The function provides the emergency (error) data of the
connected nodes.
The example program EA_SLAVE.PRO in the directory
CR0015_X\PROJEKT shows the software structure for two
nodes. It can serve as the basis for extending an application
software. If only one slave node is connected to the R 360, all
function calls for the second node must be removed. This
program also includes some other master functions (e.g.
SDO_READ, SDO_WRITE). These functions enable online
communication with the connected slaves via the programming
system.