Creating User Program; Programming Procedure - Mitsubishi Electric MELSEC iQ-R Series User Manual

6.10

Creating User Program

Create a user program by using VxWorks standard API functions and functions offered by a C Controller module in
accordance with the specification of VxWorks.
For programming method of VxWorks standard API functions, refer to the manual for VxWorks of the following version.
• VxWorks Version 6.9
For details on the dedicated function library of the C Controller module, refer to the following manual.
• MELSEC iQ-R C Controller Module Programming Manual
• MELSEC iQ-R C Controller Module/C Intelligent Function Module Programming Manual (Data Analysis)
For details on sample programs, please consult your local Mitsubishi representative.

Programming procedure

The following shows the procedure for creating a user program.
For more details on project creation and programming method, refer to the following manual.
CW Workbench/CW-Sim Operating Manual
1.
Install CW Workbench on a personal computer.
2.
Start CW Workbench, and check that VxWorks image file version of the personal computer is the same as that of the C
Controller module. (Page 51 Checking VxWorks Image File)
3.
Create a project of the user program.
4.
Configure the setting to use the dedicated function library.
5.
Program for a user program.
6.
Debug the user program.
7.
Create a script file to start the user program. ( Page 52 Creating Script File)
8.
Register the created user program and the script file to the C Controller module. (Page 54 Registering User
Program)
Considerations for creating a user program
The following shows the considerations when creating a user program.
■Endian format (memory layout)
The endian format (memory layout) of a C Controller module is little endian. Compile a user program in the little endian
format.
■VxWorks real-time process (RTP)
A C Controller module does not support applications running in VxWorks real-time process. Create a user program as an
application based on the VxWorks kernel.
■Build property
Enter [-mlong-calls] to "Tool Flags", and then enter [-fsigned-char] to "Debug mode" and "Non Debugmode" to compile a user
program.
[Project Explorer]  right-click an arbitrary project  [Properties]  [Build Properties]  [Tools] from CW Workbench
6 PROCEDURE BEFORE OPERATION
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6.10 Creating User Program