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The multi-task system

Operating Manual ProNumeric XCI 600 Version 07/16

67

9.3.2

Event tasks

Event tasks are started by the operating system when particular events such
as an interrupt signal, a CANopen task or an IPO task occur. The following
events are currently defined.

Internal designation

Event No.

Remarks

Interrupts

PLC_EVENT_XFIO_I0

0x00

XFIO Interrupt (Input 0, XCx 3/5)

PLC_EVENT_XUIO_0

0x00

U-Bus Interrupt 0 (XCx7, UBE32 0,1I input 0)

PLC_EVENT_XFIO_I1

0x01

XFIO Interrupt (Input 1, XCx 3/5)

PLC_EVENT_XUIO_1

0x01

U-Bus Interrupt 1 (XCx7, UBE32 0,1I input 1)

PLC_EVENT_XUIO_2

0x02

U-Bus Interrupt 2 (XCx7, UBE32 0,1I input 2)

PLC_EVENT_XUIO_3

0x03

U-Bus Interrupt 3 (XCx7, UBE32 0,1I input 3)

Synchronisation

PLC_EVENT_POS

0x04

Position controller task (XCN only)

PLC_EVENT_CAN

0x05

- CANopen- Task,

PLC_EVENT_IPO

0x06

CNC IPO task (XCN only)

PLC_EVENT_DECO

0x07

CNC DECO task (XCN only)

PLC_EVENT_S3
PLC_EVENT_MCSIO

0x08

- Sercos III task, I/O driver synchronization

PLC_EVENT_ECIO

0x09

EtherCAT®, IO driver synchronization

PLC_EVENT_XFIO_I10

0x0A

Measurement interrupt active 0

PLC_EVENT_XFIO_I11

0x0B

Measurement interrupt active 1

Reserved

0x0C

Reserved

0x0D

Reserved

0x0E

PLC_EVENT_AC_FAIL

0x0F

AC Fail (ProNumeric)

Table 12: Multi-task system, event tasks

The event number is used in the MULTIPROG task setting to specify the
event that starts the event task.
The specified priority is used unless a bypass option is set by the system.
(Bypass cancels the normal task change so that the assigned programs are
executed immediately when the event occurs.)
Up to 16 events will be put in a queue. So these events are not lost, and will
be executed later. This also applies if new events occur before the assigned
event task is executed.

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Содержание ProNumeric XCI 600

Страница 1: ...Operating Manual ProNumericXCI600 OperatingManual ProNumeric XCI600Version 07 16 Article No R4 322 2510 0 322 386 02...

Страница 2: ...or higher Software version V14 04 1 Previous Versions of this Operating Manual 08 14 05 15 06 16 Where to Get Operating Manuals You can download all our operating manuals free of charge from our webs...

Страница 3: ...EC Engineer 18 4 2 1 System requirements 19 4 2 2 MULTIPROG Installation 20 4 2 3 Installing the OPC Server 20 4 2 4 Installing Schleicher add ons for MULTIPROG 21 4 2 5 Installing EC Engineer 21 4 2...

Страница 4: ...9 4 User task information 71 9 5 Task priorities 73 9 6 Tasks and watchdogs 74 9 7 Inserting Tasks and Assigning Programs 75 10 The Shared Memory 76 10 1 Information on the Selection of the Shared mem...

Страница 5: ...hazard Important or Note Emphasises important information on handling the automation system or the respective part in the Operating Manual Other objects are represented as follows Object Example File...

Страница 6: ...e to property or present health hazards However improper configuration installation maintenance or operation of the system or machine ignoring the instructions in this manual or intervention by insuff...

Страница 7: ...trol machines the machine manufacturer and the user must observe the safety regulations as defined in the Machinery Directive 2006 42 EC For specific applications national accident prevention regulati...

Страница 8: ...in accordance with the regulations and instructions of national accident prevention regulations such as in Germany BGV A3 Appropriate power tools must be used Repairs on control components must be ca...

Страница 9: ...s German R4 322 1060 0 EMC Guidelines R4 322 1070 0 Notes on commissioning field bus systems R4 322 1600 0 For programming the PLC and the CNC MULTIPROG programming system according to IEC 61131 3 MUL...

Страница 10: ...troller Export version max 4 interpolating CNC axes in the subsystem max 16 subsystems XCI 600 R4 287 0380 0 IPC CNC Controller Standard version with 4 CNC axes max 32 interpolating CNC axes in the su...

Страница 11: ...tion in switch cabinet a switch cabinet fan is recommend Sensor controlled fan 2x Ethernet 10 100 1000 MB X107 LAN 1 Intel 82579LM Gigabit network card ID 0x8086 0x1502 X110 LAN 2 Intel 82574L Gigabit...

Страница 12: ...AN 1 X107 Intel 82597LM Gigabit Ethernet controller 0x8086 0x1502 Windows Connection to local area network DHCP LAN 2 X110 Intel 82574L Gigabit Ethernet controller 0x8086 0x10d3 Windows Service fixed...

Страница 13: ...5 V 2 D Data 3 D Data 4 GND Ground 3 4 4 XCI 600 Control interface 7 Pin Phoenix connector Pin Description Explanation 1 GND Shield Ground 2 PWR state 10mA Output optically isolated Output with intern...

Страница 14: ...10 Plug Play Data 1 11 Plug Play Shield data 1 3 12 Plug Play Data 3 13 Plug Play Data 3 14 Plug Play 5 V 15 Plug Play Ground for 5 V 16 Plug Play Hotplug detect 17 Analog Data 0 18 Analog Data 0 19 A...

Страница 15: ...card 10 Sensor Actor 11 Sensor Actor 3 6 Keyboard and mouse Keyboard and mouse can be connected to the USB interfaces Operation without a keyboard mouse and monitor is generally possible 3 7 SSD An SS...

Страница 16: ...akes over the exclusive allocation of processor cores and memory areas for operating multiple mutually independent operating systems With the help of the hypervisor a separation of almost 100 is achie...

Страница 17: ...e Figure 5 Wiring of 7 pin Phoenix connector 01 Power supply with 24V auxiliary voltage 02 24 V power supply without auxiliary voltage The XCI 600 starts automatically when the supply voltage is appli...

Страница 18: ...ents must be installed one after the other in the order described below The programming software can be installed both on an external PC as well as on the PC of the control system The following sectio...

Страница 19: ...e PC operating system Microsoft Windows XP with SP3 or Microsoft Windows Vista with SP2 or Microsoft Windows 7 32 or 64 bit or Microsoft Windows 8 Microsoft NET Framework 4 Client Profile 2 Microsoft...

Страница 20: ...s recommended to install MULTPROG under D Schleicher MULTIPROG5 Figure 6 Installation of MULTIPROG Note The selected installation folder must not be below C Programme C Program Files or C Program File...

Страница 21: ...installation see Figure 7 Follow the instructions The add ons are installed in the MULTIPROG folder Figure 7 Installing the Schleicher add ons for MULTIPROG 4 2 5 Installing EC Engineer The EC Enginee...

Страница 22: ...leicher Dialog Insert the Service Pack CD into the drive The AutoRun function on the CD starts an Internet browser Now in the Internet browser select and start Version xx xx under the heading Schleich...

Страница 23: ...ows Embedded 8 The procedure for other operating systems may differ from those described here 4 3 1 Preparation To prepare commissioning of the network interface to the controller connect the followin...

Страница 24: ...cribed in the following sections 4 3 3 Assigning a computer name for the XCI 600 To change the computer name of the XCI 600 use the Schleicher X Manager see section 13 1 01 Assignment of an in house n...

Страница 25: ...use MULTIPROG for programming on an external PC set up a network route on the respective PC To do so press Windows R simultaneously Type in cmd and confirm by pressing OK Figure 10 Run window Enterin...

Страница 26: ...63 Response from 192 168 212 2 Bytes 32 Time 1ms TTL 63 Response from 192 168 212 2 Bytes 32 Time 1ms TTL 63 Ping statistics for 192 168 212 2 Packages Sent 4 Received 4 Lost 0 0 Loss Approx time in...

Страница 27: ...MULTIPROG specifications The alias addresses vxTarget and vxHost can be maintained as they are and then you will need to assign the appropriate IP addresses in the hosts file under Windows You can fin...

Страница 28: ...esource Resource window opens see Figure 18 this indicates that a connection has been established The window can be closed again In the case of a faulty connection the window does not open and Timeout...

Страница 29: ...Commissioning Operating Manual ProNumeric XCI 600 Version 07 16 29 Figure 18 Resource window when there IS an online connection to the XCI 600 controller...

Страница 30: ...ROG 5 1 Start MULTIPROG open and save a new project Start MULTIPROG select File New project see Figure 19 Figure 19 Opening a new project in MULTIPROG Select a project for the available controller typ...

Страница 31: ...he project window see Figure 21 The project tree already contains logical POUs that are fully functional and sufficient for a simple quick startup Figure 21 Example for project tree in MULTIPROG Save...

Страница 32: ...configuration is specified Only after the I Os have been configured with EtherCAT does this warning disappear after the next compiler run If errors are displayed you can branch directly to the line of...

Страница 33: ...er Dialog software or can be accessed via the Help menu of MULTIPROG To gain full access to the the predefined variables incorporate the shared memory structure into the project These are not yet incl...

Страница 34: ...nsert in configuration Resource Selection of the resource of the PLC project where the shared memory variables are to be inserted Version of shared memory Selection of the shared memory version Number...

Страница 35: ...hared memory dialog window Important The selected shared memory version of the operating software and the version in the PLC project must match see section 10 1 The PLC project must be recompiled and...

Страница 36: ...d on for MULTIPROG performs the following tasks Figure 30 Schleicher add ons for MULTIPROG The EtherCAT add on offers different use cases Figure 31 shows the possible choices that are available and br...

Страница 37: ...r Next you can insert the I O variables for EtherCAT into the PLC project and transfer the ENI file to the controller Here you can modify the EtherCAT configuration already existing in the PLC project...

Страница 38: ...1 since it includes all possible steps In other Use Cases not all steps are used Figure 32 Step 1 Schleicher EtherCAT configuration Figure 33 Step 2 Schleicher EtherCAT configuration Figure 34 Step 3...

Страница 39: ...can re read the configuration under Network Browse EtherCAT Network and the slave modules are displayed see Figure 37 This requires that the EtherCAT modules must be supplied with power and that they...

Страница 40: ...roceed as follows You can add the file with the ESI administration see Figure 38 The ESI data are provided by the manufacturer of the slave modules Figure 38 EC Engineer ESI administration The existin...

Страница 41: ...ESI file manufacturer list Now you can re read the configuration under Network Browse EtherCAT Network and the slave modules are displayed see Figure 37 Terminate the EC Engineer and save the project...

Страница 42: ...ure 43 Step 9 Schleicher EtherCAT configuration If a new configuration was created you need to close the window with Finish Next you must compile the PLC project transfer it to the controller and then...

Страница 43: ...In the event that the topology is altered the ENI file must be deleted at this point Figure 46 EtherCAT configuration deleting the ENI file After completing the steps that you already learned from se...

Страница 44: ...Select out Figure 49 Assigning an IP address to the Master Module Only after the above steps have been completed should you browse through the EtherCAT network again for the inserted slave modules Fi...

Страница 45: ...use the right mouse button to insert the slave module Figure 53 Inserting a slave module The new slave module is thus assigned to the first master and the second master can now be deleted Terminate t...

Страница 46: ...p is reserved for the EtherCAT add on All variables already existing in this group are overwritten by the add on You should thus not insert any of your own variables into this group and also make no o...

Страница 47: ...k on the tab Variables Select the variable that you want to rename and click Edit Figure 58 EC Engineer editing the variable names Now you can enter your own variable names If the variable name is pre...

Страница 48: ...you can follow the procedure described in section 5 4 1 In MULTIPRO you will find the variable names under Global_Variables Here you can see that the variable names were once taken over just in the c...

Страница 49: ...FA starts automatically when the controller is booted up and it is then placed into the system tray of the taskbar see Figure 62 If the MFA programming window is not visible it can be viewed by double...

Страница 50: ...trol system corresponds to that of the button with the same name The controller software including the PC operating system is shutdown and the controller is switched off The MFA can only be terminated...

Страница 51: ...start and stop the PLC The behaviour is described in detail in section The PLC see section 7 2 Extras menu Figure 67 MFA Extras menu The condition of a UPS uninterruptable power supply that may be co...

Страница 52: ...p time or every 24 hours The log files are generated with each restart of the controller If the controller is in continuous operation the LogBook file is generated every 24 hours The storage intervals...

Страница 53: ...basic initialisation After selecting PLC init the controller must be restarted with Start XCI 600 No PLC project is loaded PLC status On MULTIPROG can then be used to transfer a project to the contro...

Страница 54: ...s Schleicher Dialog has been factory installed on the controller and starts automatically after the controller has booted up 6 2 1 Structure of the User Interface Figure 71 Schleicher Dialog startup w...

Страница 55: ...onsists of the operating elements that are oriented towards important activities for the machine manual mode automatic programming etc They are called with the key combination Ctrl Function key Figure...

Страница 56: ...F3 F4 F5 F6 F7 F8 Help Referen cing Procedure Subsystem Axes Jog Incremental Target value specification Handwheel Axis Rapid feed Zero set Override Automatic Ctrl F2 F1 F2 F3 F4 F5 F6 F7 F8 Help Progr...

Страница 57: ...it program Change value Change value Change value Change value New program Edit Activate program New Copy program Entry up Delete program Entry down Program properties Delete New Project Sort Activate...

Страница 58: ...NC system Drive con figuration Boot settings OPC variables Data backup More Edit Edit Edit Edit Change value Backup Display mode Drive parameters Language Edit Delete Axis map DriveTop CAN settings Ne...

Страница 59: ...ser tasks inactive Process map memory inputs are not updated Output signals are not sent to inputs and outputs RUN Program execution active User tasks active Process map memory inputs updated accordin...

Страница 60: ...user tasks are activated Program execution activated Stop Run Warm start Only non buffered data is initialised SPG 0 is called All user tasks are activated Program execution activated Stop Run Hot sta...

Страница 61: ...iables worksheet Name Data type Description PLCMODE_ON BOOL TRUE current PLC state is ON PLCMODE_RUN BOOL TRUE current PLC state is RUN PLCMODE_STOP BOOL TRUE current PLC state is STOP PLCMODE_HALT BO...

Страница 62: ...an create user libraries Schleicher only provides SchleicherLib_Vxxx Important The latest version of the libraries that match the controller operating system must always be used Table 11 Libraries and...

Страница 63: ...window Each library is stored in a separate path For example if the Serial library is to be integrated it must be selected in the library path with the same name see Figure 77 Figure 77 MULTIPROG Int...

Страница 64: ...1131 3 with keywords VAR and END_VAR If you wish to use the example programs with MULTIPROGRAM you have to enter the variable declarations manually in tabular form on the variables worksheet of the re...

Страница 65: ...ting system task that identifies errors such as zero divide or exceeding the execution time of a task 9 3 User tasks Please note Incorrectly or inappropriately selected user task settings for type pri...

Страница 66: ...he individual tasks a priority between 0 and 31 Task 0 has the highest priority task 31 the lowest The task with the highest priority is called first The user task priorities Table 14 are mapped to th...

Страница 67: ...y PLC_EVENT_CAN 0x05 CANopen Task PLC_EVENT_IPO 0x06 CNC IPO task XCN only PLC_EVENT_DECO 0x07 CNC DECO task XCN only PLC_EVENT_S3 PLC_EVENT_MCSIO 0x08 Sercos III task I O driver synchronization PLC_E...

Страница 68: ...only uses some of the available residual time Only one default task is permitted in each resource It is recommended only to use cyclical tasks Note All drivers in the I O configuration that are not ex...

Страница 69: ...hdog time User tasks are deactivated All outputs are updated The close function of the I O driver is executed PLC switches to STOP SPG 11 ZERODIV Is executed if division by zero occurs during program...

Страница 70: ...outputs are updated The close function of the I O driver is executed PLC switches to STOP SPG 20 BUS_ERR Is executed if variables with a data type 2 bytes and uneven addresses were used or an interna...

Страница 71: ...ype 04 Task name TaskPrio INT 14 Task priority TaskMode INT 16 Task mode TaskPeriod INT 18 ms Task period in ms TaskStack INT 20 Size of used task stack MainPoe INT 22 assigned PLC program assigned PL...

Страница 72: ...e 80 Each TaskInfoType contains information about a task of the project Figure 80 Multi task system Variable declaration The following user task information is declared with an offset of 64 starting a...

Страница 73: ...PO Check and adapt the task assignment and task time setting MULTIPROG priority RTOS priority defau lt RTOS Task name Application 0 30 Any e g User task event 0 1 31 Any e g User task event 1 2 32 Any...

Страница 74: ...If the execution time of the task and the watchdog time are roughly the same and the CPU workload is high the watchdog time may be exceeded during certain online operating steps The reason for this be...

Страница 75: ...st be observed when assigning priorities Programs must be assigned to tasks before they can be executed Assigning a program to a task means that an instance of the program will be executed when the ta...

Страница 76: ...CNC and the PLC system now enables you to carry out complex processes which would not be possible with separate CNC and PLC controllers The classic PLC interface enables PLC functions in NC programs...

Страница 77: ...to alter the address of variables For this reason shared memory versions with different version numbers are incompatible Compatibility is only ensured for matching version numbers The latest shared me...

Страница 78: ...C task 6 is synchronised with the interpolation task of the CNC controller The cycle time of task 6 is then oriented on the interpolation cycle of the CNC 10 3 Access to the Shared memory The data str...

Страница 79: ...so the whole data structure of the shared memory is mapped out as a one dimensional list The names are composed of two parts separated by an underline from each other The first part is the access path...

Страница 80: ...the non retentive section the values of the variables of this section are retained after switching off the controller For this purpose the global variable cncRMem is additionall inserted The global v...

Страница 81: ...ing grinding handling Endless rotating round axes Spindle packet with comprehensive functionality e g thread cutting functions variable pulse evaluation oriented spindle stop Synchronous spindle Progr...

Страница 82: ...the output of the bootlog when the XCI 600 is booting up for example To set the necessary parameters open the Schleicher X Manager see section 13 1 4 Figure 87 Setting up the terminal program on the s...

Страница 83: ...te with each other via a shared memory and a virtual network So called virtual network adapters RTOS Virtual Network are provided on both sides for this purpose The network interface is commissioned i...

Страница 84: ...file c windows system32 etc host for this purpose IP address of the default gateway in the Home network IP address of the default DNS in the Home network IP address of the default WINS in the Home net...

Страница 85: ...s This can be used to shorten the time until PLC start for example if no network cable was connected from the Ethernet interface of the XCI 600 to the LAN Background In Windows it is not possible to d...

Страница 86: ...edirects write accesses to the system partition to a RAM overlay Windows system error Delayed Write Failed Therefore it may be appropriate to disable the EWF so that the memory space in RAM is not res...

Страница 87: ...Other Operating Software Operating Manual ProNumeric XCI 600 Version 07 16 87 Figure 89 X Manager EWF Configuration...

Страница 88: ...Other Operating Software 88 Operating Manual ProNumeric XCI 600 Version 07 16 13 1 3 NFS and Hardlink Used for internal purposes therefore no further description Figure 90 X Manager NFS and Hardlink...

Страница 89: ...automatically when Windows boots up or whether VxWorks must be started manually with the help of the MFA Utility COM Port Configuration Defines the assignment of the COM ports to the respective opera...

Страница 90: ...client server model where the server runs on the computer to be monitored in the case of the XCI 600 also under Windows Embedded 8 Load the current version of UltraVNC from the website of the manufac...

Страница 91: ...600 but it is not licensed 13 5 EC Engineer The EC Engineer configuration tool by Acontis is required for configuring and diagnosing the EtherCAT network EC Engineer is not a component of the XCI 600...

Страница 92: ...terface drive interface EtherCAT 7x USB 2 0 USB interface e g mouse keyboard USB memory stick etc DVI Monitor interface DVI I digital analog Other technical data Processor Performance version 1 COMe b...

Страница 93: ...riginal packaging Electrical safety Protection class Note for the operator When connected to the mains the device must be connected via a safety transformer reliable isolation Protection type IP 20 to...

Страница 94: ...alue is used for only one work cycle When the cycle is finished the variable is processed normally FTP FTP File Transfer Protocol The File Transfer Protocol is a specified network protocol for transfe...

Страница 95: ...er cards are angled pieces that make it possible to install expansion cards parallel to the motherboard instead of vertical RTOS Real Time Operating System SATA Serial ATA Hard drive interface for per...

Страница 96: ...is the alias name of the IP address for connecting the controller to the Home network The name must be registered in the Hosts file VxTarget This is the alias name of the VxWorks IP address for commun...

Страница 97: ...Corporation CANopen is a registered trademark of CAN in Automation e V ProCANopen is a registered trademark of Vector Informatik GmbH VxWorks is a registered trademark of Wind River Systems Inc PROFIB...

Страница 98: ...electing controller type for new project 30 Figure 21 Example for project tree in MULTIPROG 31 Figure 22 Calling memory dialog 31 Figure 23 Dialog window Save project 31 Figure 24 Compile Project 32 F...

Страница 99: ...Extras menu 51 Figure 68 MFA Menu 52 Figure 69 Basic initialisation 53 Figure 70 Examples of error messages after basic initialisation 53 Figure 71 Schleicher Dialog startup window 54 Figure 72 Schlei...

Страница 100: ...leicher Dialog status and messages area 55 Table 6 PLC Operating states 59 Table 7 MULTIPROG start program execution 60 Table 8 MULTIPROG stop program execution 60 Table 9 MULTIPROG general reset 61 T...

Страница 101: ...31 N Network interface Commissioning 23 Communication schematic 24 Preparation 23 Network route 25 Network interface Computer name 24 Customizing the TCP IP settings 25 Inhouse network address 24 PC a...

Страница 102: ...ee System programs SSD 15 SSD Monitor 91 Start controller MFA 50 Start external software 58 Startup behaviour of the PLC 50 System overview Designation Variants 10 System programs SPG 69 System requir...

Страница 103: ...ed Misc Reset Button Power Cycle Menu Advanced Platform Thermal Conf Passive Trip Point Disabled Menu Advanced Super IO Serial Port 1 Serial Port Enabled IO 3F8h IRQ4 Menu Advanced Super IO Serial Por...

Страница 104: ...Schleicher Electronic GmbH Co KG Tel 49 30 33005 0 Wilhelm Kabus Strasse 21 35 info schleicher berlin 10829 Berlin Germany www schleicher berlin...

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