File rhw.cfg

File used by the RTE manager to describe the hardware configuration used.

It must be in the alias folder HW_DIR or USER_DIR, otherwise alarm 988 is generated at switch on. RTE will look for the file in HW_DIR and, if not present, will switch to look for it in USER_DIR.

WARNING: This file is automatically generated based on the information entered in the Project Configurator -> Hardware (see Hardware Settings for more details).

The file is automatically placed in the "files in flash" table. Obviously it will need to be transferred to the CF of the connected motion controller so that it will be assumed at the next switch on.

NOTE: To enable this feature, the auto-generation option of the RHW.CFG file must be selected. From the project configurator, press on the properties icon (the first on the top left) -> Configuration -> Hardware.

NOTE: The AUTOCONFIG shell command is also available, which commands the control to create the RHW.CFG file automatically. The generated file will be placed in the HW_DIR folder.

NOTE: From RDE 3.51.0 it is possible to set the IW and OW addresses of the RP-1 expansion modules (limited to the first 256 words).

use_io_def

This file can also be self-generated by RTE in /f@/ (or in /fa/ in case /f@/ results to be full) following the AUTOCONFIG shell command.

in rhw.cfg

Modules	Description	Input Word	Word Output
Digital inputs:
AXL_F_DI16_1_1H	16-channel digital input module	1	0
AXL_F_OF16_1_HS_1H	16-channel digital input module	1	0
AXL_F_OF16_4_2F	16-channel digital input module	1	0
AXL_F_OF32_1_1F	32-channel digital input module	2	0
AXL_F_OF32_1_2H	32-channel digital input module	2	0
AXL_F_OF64_1_2F	64-channel digital input module	4	0

Digital outputs:
AXL_F_DO4_3_AC_1F	4-channel digital output module	0	1
AXL_F_DO8_2_2A_1H	8-channel digital output module	0	1
AXL_F_DO16_1_1H	16-channel digital output module	0	1
AXL_F_DO16_FLK_1H	16-channel digital output module	0	1
AXL_F_DO16_3_2F	16-channel digital output module	0	1
AXL_F_DO32_1_1F	32-channel digital output module	0	2
AXL_F_DO64_1_2F	64-channel digital output module	0	4

Digital I/O:
AXL_F_DI8_1_DO8_1_1H	8+8 digital I/O channels module	1	1
AXL_F_OF8_3_DO8_3_2H	8+8 digital I/O channels module	1	1
AXL_F_DI16_1_DO8_2_2A_2H	16+8 digital I/O channels module	1	1
AXL_F_DI16_1_DO16_1_2H	16+16 digital I/O channels module	1	1

Analog inputs:
AXL_F_AI4_I_1H	4-channel analog input module (I)	4	0
AXL_F_AI4_U_1H	4 channel analog input module (V)	4	0
AXL_F_AI8_1F	8 channel analog input module	8	0

Analog outputs:
AXL_F_AO4_1H	module 4 channel analog outputs	4	4
AXL_F_AO8_1F	8-channel analog output module	8	8

Analog I/O:
AXL_F_AI2_AO2_1H	2+2 channel analog I/O module	2	2

Thermocouples:
AXL_F_UTH4_1H	4 thermocouple module	5	1
AXL_F_UTH8_1F	8 thermocouples module	9	1

Thermo resistances:
AXL_F_RTD4_1H	4 thermo resistance module	4	0
AXL_F_RTD8_1F	8 thermo resistance module	8	0
AXL_F_RTD8_S_1F	8 thermo resistance module	8	0

Miscellaneous:
AXL_F_CNT2_INC2	module 2 counters / 2 incremental encoders	14	14
AXL_F_DOR4_2_AC220DC_1F	4 relay outputs module	0	1
AXL_F_PM_EF_1F	power measurement module	0	0
AXL_F_PWM2_1H	module 2 PWM outputs	0	4
AXL_F_RS_UNI_1H	module for serial communication	6	0
AXL_F_SGI2_1H	module for reading 2 load cells	6	2
AXL_F_SSI1_AO1_1H	SSI interface module for absolute encoder	6	6

SE Series:
AXL_SE_AI4_I_4_20	4-channel analog input module (I)	4	0
AXL_SE_AI4_U_0_10	4 channel analog input module (V)	4	0
AXL_SE_AO4_I_4_20	4 channel analog output module (I)	4	4
AXL_SE_AO4_U_0_10	4 channel analog output module (V)	4	4
AXL_SE_AO4_U_10_10	4 channel analog output module (V)	4	4
AXL_SE_CNT1	counter module	3	3
AXL_SE_DI16_1	16-channel digital input module	1	0
AXL_SE_DI16_1_NPN	16-channel digital input NPN module	1	0
AXL_SE_DO16_1	16-channel digital output module	0	1
AXL_SE_DO16_1_NPN	16-channel digital output NPN module	0	1
AXL_SE_DOR2_W_230	2 relay outputs module	0	1
AXL_SE_INC1_SYM	incremental encoder module	5	1
AXL_SE_IOL4	IO-link master module	3	1
AXL_SE_RS485	RS485 serial communication module	0	0
AXL_SE_RTD4_PT100	4 PT100 resistance thermometer module	4	0
AXL_SE_SC_A	cover module	0	0
AXL_SE_UTH4_EF	4 thermocouples/linear voltages module	5	1

Safety:
AXL_F_LPSDO8_3_1F	digital safety output module	0	0
AXL_F_SSDI8_4_1F	digital safety input module	0	0
AXL_F_SSDO8_3_1F	digital safety output module	0	0
AXL_SE_SSDI8_3	digital safety input module	0	0
AXL_SE_SSDO4_2_2A	digital safety output module	0	0

Example

RHW.CFG file generated related to uRMC control (AS1017.001):

; ROBOX Cpu PN AS1017.001 - self created /F@/RHW.CFG file

; Date 08/07/08 Time 10:03:37

; OSF Version Robox OSF_PPC OSF 32bit<V 13.12 > , BIOS Version 1.4.3

[MCPU]

SLOT 0 CPURBX ; First Iw/Ow 1

; PSER serial channels

; PSER n {RS232 | RS422 | RS485 | GUN}

; Fast Autoconfiguration

PSER 1 RS232

PSER 2 RS485 ; replace RS485 with GUN,

; then upload the new rhw.cfg to the CF to connect Dispan/Vispan devices to SER2

; ETH Ethernet channels

; ETH n ; n = eth interface (1 = main)

ETH 1

; CAN channels

; CAN n {CanOpen402 | Unused}

CAN 1 CanOpen402 ; code=0x06

CAN 2 CanOpen402 ; code=0x06 ; replace CanOpen402 with Unused,

; then reload rhw.cfg to CF if CAN2 is not used to avoid alarm9204

; PROFIBUS channels

; PROFIBUS n {DPS | Unused}

PROFIBUS 1 DPS

SLOT 1 AUX1_URMC ; First Iw/Ow 17

; Input words map

IW 1 SLOT 0.01 ; CPURBX (User Cpu keys)

IW 2 SLOT 0.02 ; CPURBX (Cpu Jumpers)

IW 3 SLOT 0.03 ; CPURBX (Robox RBXGUN keys #1)

IW 4 SLOT 0.04 ; CPURBX (Robox RBXGUN Keys #2)

IW 5 SLOT 0.05 ; CPURBX (Robox RBXPAN Keys #1)

IW 6 SLOT 0.06 ; CPURBX (Robox RBXPAN Keys #2)

IW 7 SLOT 0.07 ; CPURBX (Robox RBXPAN Keys #3)

IW 8 SLOT 0.08 ; CPURBX (Robox DISPAN Keys #1)

IW 9 SLOT 0.09 ; CPURBX (Robox DISPAN Keys #2)

IW 10 SLOT 0.10 ; CPURBX (First 16 inp)

IW 11 SLOT 0.11 ; CPURBX (Second 16 inp)

IW 12 SLOT 0.12 ; CPURBX (Board Status)

IW 13 SLOT 0.13 ; CPURBX (First 16 latched on Int.)

IW 14 SLOT 0.14 ; CPURBX (Second 16 latched on Int.)

IW 15 SLOT 0.15 ; CPURBX (Robox Reserved #1)

IW 16 SLOT 0.16 ; CPURBX (Robox Reserved #2)

IW 17 SLOT 1.01 ; AUX1_URMC (Real position #1)

IW 18 SLOT 1.02 ; AUX1_URMC (Zero position #1)

IW 19 SLOT 1.03 ; AUX1_URMC (Channel status #1)

; Output words map

OW 1 SLOT 0.01 ; CPURBX (Display Leds)

OW 2 SLOT 0.02 ; CPURBX (Cpu User Leds)

OW 3 SLOT 0.03 ; CPURBX (Robox minigun leds)

OW 4 SLOT 0.04 ; CPURBX (Robox RBXPAN Ascii key)

OW 5 SLOT 0.05 ; CPURBX (Robox RBXPAN Edges #1)

OW 6 SLOT 0.06 ; CPURBX (Robox RBXPAN Edges #2)

OW 7 SLOT 0.07 ; CPURBX (Robox RBXPAN Edges #3)

OW 8 SLOT 0.08 ; CPURBX (Robox DISPAN leds)

OW 9 SLOT 0.09 ; CPURBX (Robox Reserved #1)

OW 10 SLOT 0.10 ; CPURBX (First 16 out)

OW 11 SLOT 0.11 ; CPURBX (Second 16 out)

OW 12 SLOT 0.12 ; CPURBX (Robox Reserved #2)

OW 13 SLOT 0.13 ; CPURBX (Robox Reserved #3)

OW 14 SLOT 0.14 ; CPURBX (Robox Reserved #4)

OW 15 SLOT 0.15 ; CPURBX (Robox Reserved #5)

OW 16 SLOT 0.16 ; CPURBX (Robox Reserved #6)

OW 17 SLOT 1.01 ; AUX1_URMC (Zero cycle kind #1)

TRD 1 IW 17

CHOPPER_OK CH 152

ENABLE_POWER CH 152

PSER 2 GUN ; replace RS485 with GUN, then upload the new rhw.cfg to the CF to connect Dispan/Vispan devices to SER2

See RSW.CFG file for its configuration

CAN 2 unused ; replace CanOpen402 with Unused, then reload rhw.cfg to CF if CAN2 is not used to avoid alarm9204

PROFIBUS 1 Unused ; replace DSP with Unused, then reload rhw.cfg to CF if PROFIBUS channel is not used to avoid alarm9200

Red buttons present on CPU (adv bit 0).

See dispan_keys

INP 1 = (10-1)*16 +1 = 145

LEDs present on CPU

Numeric display (seven segments).

OUT 1 = (10-1)*16 +1 = 145

Physical ENC on uRMC

INP 8 : equals the index (0) default in the POWER SET

OUT 8 : equals the index (0) predefined in the POWER SET

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File rhw.cfg

See: RTE Configuration, Flash Files

Example

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