Programming manual M238 | 3 MB - BERGER - POSITEC
Programming manual M238 | 3 MB - BERGER - POSITEC
Programming manual M238 | 3 MB - BERGER - POSITEC
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Controller States and Behaviors<br />
Task and I/O Behavior When Update IO While In Stop Is Selected<br />
When the Update IO while in stop setting is selected:<br />
The Read Inputs operation continues normally. The physical inputs are read<br />
and then written to the %I input memory variables.<br />
The Task Processing operation is not executed.<br />
The Write Outputs operation continues. The %Q output memory variables are<br />
updated to reflect either the Keep current values configuration or the Set all<br />
outputs to default configuration, adjusted for any output forcing, and then<br />
written to the physical outputs.<br />
NOTE: if Q0, Q1, Q2 or Q3 outputs are configured for PTO, PWM, FG, or HSC<br />
operation, they fallback to a value of 0 irrespective of the configured fallback setting.<br />
For PTO operation, outputs Q0, Q1, Q2, and Q3 execute a fast stop deceleration.<br />
Outputs configured for PWM, FG, and HSC go immediately to 0.<br />
WARNING<br />
UNINTENDED EQUIPMENT OPERATION<br />
Design and program your system so that controlled equipment assumes a<br />
safe state when the controller enters fallback mode if you use outputs Q0,<br />
Q1, Q2, or Q3 for PTO, PWM, FG, or HSC operation.<br />
Failure to follow these instructions can result in death, serious injury,<br />
or equipment damage.<br />
NOTE: Commands received by Serial, USB, and CAN communications can<br />
continue to write to the memory variables. Changes to the %Q output memory<br />
variables are written to the physical outputs.<br />
CAN Behavior When Update IO While In Stop Is Selected<br />
The following is true for the CAN buses when the Update IO while in stop setting<br />
is selected:<br />
The CAN bus remains fully operational. Devices on the CAN bus continue to<br />
perceive the presence of a functional CAN Master.<br />
TPDO and RPDO continue to be exchanged.<br />
The optional SDO, if configured, continue to be exchanged.<br />
The Heartbeat and Node Guarding functions, if configured, continue to<br />
operate.<br />
If the Behaviour for outputs in Stop field is set to Keep current values, the<br />
TPDOs continue to be issued with the last actual values.<br />
If the Behaviour for outputs in Stop field is Set all outputs to default the<br />
last actual values are updated to the default values and subsequent TPDOs<br />
are issued with these default values.<br />
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