4
Operating Manual XCx 300 / 500 / 540 Version 09/08
5
XRIO .................................................................................................................................................................... 64
5.1
Recognition of XRIO Configuration by XCx Operating System ........................................................................... 65
5.1.1
The sysinfo.txt file XRIO section ......................................................................................................................... 66
5.2
Addressing I/O Modules ...................................................................................................................................... 68
5.3
XRIO Flags in Shared Memory Validity of Process Data .................................................................................... 68
5.4
The XRIO Driver .................................................................................................................................................. 69
5.5
Calculating Estimated Transmission Time .......................................................................................................... 69
5.6
Expansion Modules from the RIO System .......................................................................................................... 71
5.6.1
Overview ............................................................................................................................................................. 71
5.6.2
Tables of module types and module classes ...................................................................................................... 74
5.7
Expansion Module XRIO ..................................................................................................................................... 75
5.7.1
Displays and Connections ................................................................................................................................... 75
5.7.2
Technical data ..................................................................................................................................................... 75
6
CANopen Field Bus ........................................................................................................................................... 76
6.1
Fundamentals ...................................................................................................................................................... 76
6.1.1
Process Data Objects (PDO) .............................................................................................................................. 77
6.1.2
Service Data Objects (SDO) ............................................................................................................................... 77
6.1.3
Nodeguarding ...................................................................................................................................................... 77
6.1.4
Lifeguarding ......................................................................................................................................................... 78
6.2
CANopen-Specific PLC Addresses ..................................................................................................................... 79
6.2.1
Parameterizing and diagnosis data ..................................................................................................................... 79
6.2.2
Network variables ................................................................................................................................................ 79
6.2.3
Access to network variables and I/O configuration ............................................................................................. 80
6.2.4
Accessing direct network variables ..................................................................................................................... 82
6.2.5
Accessing parameterizing and diagnosis functions ............................................................................................. 82
6.3
SDO Function Blocks .......................................................................................................................................... 83
6.4
Parameterizing and Diagnosis Functions ............................................................................................................ 84
6.4.1
Function 1 Set and read CANopen node number ............................................................................................. 85
6.4.2
Function 2 Set and read data transmission rate ................................................................................................ 85
6.4.3
Function 7 Output CANopen error number ....................................................................................................... 86
6.4.4
Function 8
Read CANopen firmware version ................................................................................................... 86
6.4.5
Function 20 Set CANopen startup delay ........................................................................................................... 86
6.5
Error messages ................................................................................................................................................... 87
6.6
Expansion Module XF-CAN ................................................................................................................................ 88
6.6.1
Displays and Connections ................................................................................................................................... 88
6.6.2
Technical data ..................................................................................................................................................... 88
7
The XCx Multi-Tasking System ........................................................................................................................ 89
7.1
Overview ............................................................................................................................................................. 89
7.2
User Tasks .......................................................................................................................................................... 90
7.2.1
Cyclical tasks ....................................................................................................................................................... 90
7.2.2
Event tasks .......................................................................................................................................................... 91
7.2.3
System tasks ....................................................................................................................................................... 92
7.2.4
Default task ......................................................................................................................................................... 94
7.3
User Task Information ......................................................................................................................................... 95
7.4
Task Priorities ...................................................................................................................................................... 97
7.5
Tasks and Watchdogs ......................................................................................................................................... 98
7.6
Inserting Tasks and Assigning Programs ............................................................................................................ 99
8
The PLC ............................................................................................................................................................ 101
8.1
Programming ..................................................................................................................................................... 101
8.2
PLC Operating States and Starting Behaviour .................................................................................................. 101
8.2.1
Operating states ................................................................................................................................................ 101
8.2.2
Changing operating states with MULTIPROG ................................................................................................... 102
8.2.3
PLC starting behaviour after power supply is switched on ................................................................................ 103
8.3
System Variables .............................................................................................................................................. 103
8.4
Libraries and Function Blocks in MULTIPROG ................................................................................................. 104
8.4.1
CANopen_Vxxx library ...................................................................................................................................... 106
8.4.2
CFB_Vxxx Library ............................................................................................................................................. 106
8.4.3
CNC_Vxxx library .............................................................................................................................................. 107
8.4.4
Date_Time library .............................................................................................................................................. 107
8.4.5
MMI Library ....................................................................................................................................................... 108
8.4.6
PLC library ......................................................................................................................................................... 108
