Introduction

AXIOLINE devices can be controlled from RTE 34.18.9.

Up to 63 I/O modules can be managed with motion control.

For their configuration use from project window tab configuration --> settings --> hardware.

The modules have retentive parameterization. It is a good idea to initialize them at every switch on so that, in case of module replacement, you have a correct configuration.

The status of the inputs is read at the same moment the channel is accessed. The status of the outputs is refreshed, if not "overridden" by bit 24 of SYS_CFG, at the system frequency.

NOTE: To get more diagnostic regarding the status and any alarms present, use the mreport command.

Bookmarks

Related arguments

Configuration of modules via Axiobus

Connection via Axiobus is only possible for RP-X motion controllers.

From the RDE project, open "Configuration" --> "Hardware", enter the device used (e.g. RP1), then select the "Axioline Modules" folder, press the INS key and enter the modules connected via AXIOLINE in order from the closest to the control to the farthest (these modules will all have Robox ID: r.id=0).

NOTE: The number found in the "Pos" column is equivalent to the slot assigned to the module, and which is needed (as is the r.id) to be able to use the functions/directions related to AXIO modules.

Press twice on each inserted Axioline module to add the additional requested parameters. For most axioline modules, the only parameter available is module I/O addressing (see below).

Addressing modules

When an Axioline module is inserted, a certain number of input words and output words are associated with it.

NOTE: See individual axioline modules in detail to understand better what the input/output words associated with it are used for.

The words associated with the module are set by the hardware configurator by pressing twice on each Axioline module entered. If a number is entered, the associated words will start from it; otherwise, if automatic, RTE will set the addressing.

In addition, regardless of the module entered, 16 input and output words are allocated for the axioline driver. Specifically, the first 4 input words will contain:

•BUS STATE: Contains the same value as the "diagnostic status register". Below is the table of the relative meaning of the bits:

•DIAGNOSTIC PARAMETERS: Contains the code for any error present in one of the Axioline modules. The meaning of the error code can be found in the data sheet of the relevant module, or in the manual "UM EN AXL F SYS DIAG," which can be downloaded from the Phoenix Contact website

•ADDITIONAL INFO: Indicates the location of the module in question

•DEVICE COUNT: Indicates the number of Axioline modules present

NOTE: SAFETY modules are not considered.

There are two methods to figure out module addressing:

•Read the RHW.CFG file (simplest method), where there is a list of all input and output words used by the control, the Axioline module to which they are associated, and a description of their contents

•Use from task the GET_HW_INFO instruction (method to use if you want to manage everything by design)

Example

Configuration of modules via EtherCAT

In order to operate connected via EtherCAT line, axiolines need the AXL_F_BK_EC module.

Enter the AXL_F_BK_EC module on the EtherCAT line, double click on it and under "slots" enter the next connected Axio modules. In this case the module marked "Module 1" will have slot 1 associated with it, the one with "Module 2" will have slot 2, and so on..

Generated the EtherCAT configuration, go back to the project configuration and press right mouse button, "New" --> "Remote Device..." --> "Axioline", then set all parameters in Generic, Terminals and Definitions.

Select "Global variables" to associate the variables contained in the PDOs with the variables in the axis control (global variables).

NOTE: For more information on creating an EtherCAT line, press here.

Configuration of modules via Ethernet (Modbus/TCP)

In order to operate connected via Ethernet line communicating via Modbus/TCP, axiolines need the module AXL_F_BK_ETH.

For configuration, it is sufficient to have the PCMBC.CFG file in the flash.

Modules that communicate via Modbus/TCP should be parameterized through Modbus client commands, and not using AXIO_ROBJ and AXIO_WOBJ.

NOTE: Not all axioline modules can be used with this configuration, to see the available modules, see the PCMBC.CFG file.

Device commands and functions available

These commands and functions can also be used if devices are connected on the EtherCAT line via the AXL_F_BK_EC bus coupler.

Available commands (usable from shell and STP file):

Available functions (usable by program):

Functions for IOlink master (AXL_SE_IOL4) (unmanaged IOLink configurator):

Other available commands and functions:

Keywords Axioline

Axioline module list

The table lists all modules that can be used via Axioline that can be managed via RDE project.

NOTE: There are no SAFETY modules in the list, as they are configured differently.