Application And Programming Instructions; I/O Update; Using Canopen Masters; Cpx-Mmi Use And Program Downloads - Festo CPX-CEC Series Manual

CPX-CEC-...

1.10 Application and programming instructions

1.10.1 I/O update

The run-time system of the CPX-CEC-... operates with a task-dependent I/O update which only updates
outputs that are assigned to a task. CoDeSys automatically detects which outputs a task is using.
Exercise caution when using pointers to outputs because CoDeSys cannot automatically detect which
output is being accessed by means of a pointer. Referencing this output with the following sample calls is
enough to guarantee an I/O update on an output:
%QB0;
or
pByOut := ADR(%QB0)

1.10.2 Using CANopen masters

A start telegram is sent to each CANopen station as standard. The sending of a "Start All Nodes" telegram,
node ID = 0 should be initiated from the IEC application.
The application must always set the bUseStartAllNodes flag of the master once to this end when the
controller starts up, as shown in the following example (bInit is defined by the application):
IF NOT bInit THEN
pCanOpenMaster[0].bUseStartAllNodes := TRUE;
bInit := TRUE;
END_IF
Note
This flag must not be set cyclically as otherwise individual nodes will no longer start correctly after
a failure.

1.10.3 CPX-MMI use and program downloads

Note
Parameters modified by CPX−MMI and Festo_CPX.lib are only overwritten during the project
download if parameter changes have also been made in the CoDeSys project.
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