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AXL E EC DIO16 M12 6P Axioline E EtherCAT® device, plastic housing, 16 freely configurable inputs or outputs, 24 V DC, M12 fast connection technology Data sheet 8542_en_03 1 © PHOENIX CONTACT 2015-09-10 Description The Axioline E device is designed for use within an EtherCAT® network. – – It is used to acquire and output digital signals. EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Auotmation GmbH, Germany. – – – – – Hot Connect Acyclic data communication (CoE and FoE mailbox protocols) Supports the EtherCAT® cycle time of min. 100 µs Supports distributed clocks (jitter object 2102 is active.) UINT8 UINT8 RO R/W UINT8 R/W Number of object subindices Substitute value sample (for all outputs) is only valid if 03hex (substitute value sample) was previously set in object 2100. Safe State Mode Safe State Values 00 Number of entries 01 Failsafe values output bits 07 02 Failsafe values output bits 815 The CoE objects for configuring the substitute value behavior can only be set in the EtherCAT® “pre-operational” state. 12.4 Reset Objects The device can be reset to its factory settings. To do so, use the following object: Index (hex) 2F00 Subindex Object name Reset to Factory Settings Data type Rights UINT8 R/W Meaning/value 00hex = Normal operation (default) 01hex = Reset device Other = Reserved The reset is carried out once the device is restarted. 8542_en_03 PHOENIX CONTACT 17 AXL E EC DIO16 M12 6P 12.5 PDO mapping objects In addition to the cyclical I/O process data, the device has other status and diagnostic data which is included in the cyclic process image. This data has a total length of 4 bytes (object 1A01hex). PDO Mapping Register Index (hex) 1600 Subindex Object name RxPDO mapping digital outputs 00 Number of UINT8 entries 01   UINT32 02 1A00 1A01 8542_en_03 Data type Rights   UINT32 Meaning/value RO 02hex (2) RO Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0 Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0 RO TxPDO mapping digital inputs 00 Number of UINT8 entries 01   UINT32 RO 02hex (2) RO 02 UINT32 RO Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0 Bit 31 ... bit 16 Bit 15 ... bit 8 Bit 7 ... bit 0 UINT8 UINT32 RO RO   TxPDO mapping IO status 00   01   Index of the output data object (5000hex) Subindex of the output data object (01hex) Subindex length of the output data object (8) Index of the output data object (5000hex) Subindex of the output data object (02hex) Subindex length of the output data object (8) Index of the input data object (4000hex) Subindex of the input data object (01hex) Subindex length of the input data object (8) Index of the input data object (4000hex) Subindex of the input data object (02hex) Subindex length of the input data object (8) 01hex (1) Bit 31 ... bit 16 Index of the IO status object (4001hex) Bit 15 ... bit 8 Subindex of the IO status object (01hex) Bit 7 ... bit 0 Subindex length of the IO status object (32) PHOENIX CONTACT 18 AXL E EC DIO16 M12 6P PDO register Index (hex) 4000 4001 Subindex Object name Digital inputs 00 Number of entries 01 Digital inputs bit 0 ... bit 7 02 Digital inputs bit 8 ... bit 15 IO status 00 Number of entries 01 IO Status Value Data type Rights Meaning/value UINT8 UINT8 RO RO 02hex (2) Bit 7 ... bit 0 UINT8 RO Bit 7 ... bit 0 UINT8 UINT32 RO RO 01hex (1) Bit 31 ... bit 16 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 5000 8542_en_03 Digital outputs 00 Number of entries 01 Digital outputs bit 0 ... bit 7 02 Digital outputs bit 8 ... bit 15 UINT8 UINT8 RO RO 02hex (2) Bit 7 ... bit 0 UINT8 RO Bit 7 ... bit 0 Digital input 8 (X04.2) ... digital input 1 (X01.4) Digital input 16 (X08.2) ... digital input 9 (X05.4) Reserved Undervoltage of sensor supply Surge voltage of sensor supply Undervoltage of actuator supply Short circuit/overload of the actuator supply Output surge voltage Output short circuit Digital output 8 (X08.2) ... digital output 1 (X05.4) Digital output 16 (X08.2) ... digital output 9 (X05.4) PHOENIX CONTACT 19 AXL E EC DIO16 M12 6P 13 EtherCAT® State Machine: AL Objects The device has a state machine, called the EtherCAT® State Machine (ESM). The EtherCAT® master sends state change requests to the AL control register of the slave. The slave displays the current state in the AL status register and make additional error codes available in the AL status code register in the event of errors. 13.1 AL control and AL status register If the master writes to the AL control register, then the corresponding state transition is triggered in the device state machine by the slave. The AL status register reflects the current state of the slave. Index (hex) 0120 0130 0134 Object Data type Rights Meaning/value name AL Control UINT16 R/W Bit 0 ... bit 3 State (AL status requested by master) 01hex = Init (I) 02hex = Pre-Operational (P) 03hex = Bootstrap (B) 04hex = Safe-Operational (S) 08hex = Operational (O) Bit 4 Acknowledge (Master acknowledge bit) 00hex = Parameter Change of the AL Status Register will be unchanged. 01hex = Parameter Change of the AL Status Register will be reset. Bit 5 ... bit 7 Reserved 00hex = Shall be zero AL Status UINT16 RO Bit 0 ... bit 3 AL Status (AL status requested by master) 01hex = Init (I) 02hex = Pre-Operational (P) 03hex = Bootstrap (B) 04hex = Safe-Operational (S) 08hex = Operational (O) Bit 4 Change (Error Flag, Master acknowledge bit) 00hex = Confirmation of state in AL Control Register 01hex = A change has happened or an error occurred. Bit 5 ... bit 7 Reserved Bit 8 ... bit 15 Application Specific Reserved AL Status UINT16 RO Bit 0 ... bit 15 All Status Code (send by slave) Code 8542_en_03 PHOENIX CONTACT 20 AXL E EC DIO16 M12 6P 13.2 AL Status Code Register If the state transition requested by the master is not possible, then the slave sets an error flag in the AL status register (bit 4) and writes an error code to the AL status code register. AL status code (hex) 0000 0001 0011 Description State or transition Resulting state No error Unspecified error Invalid requested state change Current state Any + E Current state + E 0012 0015 0016 0017 001B 001D Unknown requested state Invalid Mailbox Configuration for Bootstrap Invalid Mailbox Configuration for Pre-Operational State Invalid Sync Manager Configuration Sync Manager Watchdog Invalid output configuration 001E Invalid input configuration Any Any I→S, I→O, P→O O→B, S→B, P→B Any I→B I→P P→S, S→O O, S O, S P→S O, S, P→S 8542_en_03 Current state + E I+E I+E Current state + E S+E S+E P+E P+E PHOENIX CONTACT 21 AXL E EC DIO16 M12 6P 14 Process data 14.1 TxPDO Mapping Digital Inputs Byte Bit IN Connection Pin DI 7 6 07 06 X04 2 4 8 7 Input process data Byte 0 5 4 3 2 1 0 05 04 03 02 01 00 X03 X02 X01 2 4 2 4 2 4 6 5 4 3 2 1 7 6 17 16 X08 2 4 16 15 Byte 1 5 4 3 2 15 14 13 12 X07 X06 2 4 2 4 14 13 12 11 1 0 11 10 X05 2 4 10 9 7 6 17 16 X08 2 4 16 15 Byte 1 5 4 3 2 15 14 13 12 X07 X06 2 4 2 4 14 13 12 11 1 0 11 10 X05 2 4 10 9 Key: Bit: IN: DI: Process data assignment LED marking Input of the device 14.2 RxPDO Mapping Digital Outputs Byte Bit OUT Connection Pin DO 7 6 07 06 X04 2 4 8 7 Output process data Byte 0 5 4 3 2 1 0 05 04 03 02 01 00 X03 X02 X01 2 4 2 4 2 4 6 5 4 3 2 1 Key: Bit: OUT: DO: 14.3 Process data assignment LED marking Output of the device TxPDO Mapping IO Status Byte Bit Port Function 14.4 Byte 3 ... 5 31 ... 8 Reserved Reserved 7 6 Reserved Reserved 5 4 Sensor supply UndervoltSurge age voltage Byte 2 3 2 Entire device Actuator supply UndervoltShort-cirage cuit/overload 1 0 Outputs Surge Short-circuit voltage Configuration of digital inputs and outputs A channel, whether an input or an output, is configured by using the IN or OUT process data according to the channel function. Parameterization is not necessary. If the channel is used as an output, the status of the channel is also mapped to the IN process data. This can be useful, e.g., for diagnostic purposes. If the channel is used as an input, the channel cannot simultaneously be used as an output. 8542_en_03 PHOENIX CONTACT 22 AXL E EC DIO16 M12 6P 15 Emergency messages Emergency messages are messages that are actively sent from the device to the EtherCAT® master if certain events/problems occur. They are an unverified service which is based on CoE. In this way, all errors can be indicated to the master by the slave. This takes the form of messages which are specified in ETG.1000.6. An emergency message is structured as follows: 2 bytes Error code CoE emergency message 1 byte Error register 5 bytes Diagnostic data The following emergency messages are supported by the device: Error code (hex) 3001 3002 3003 3004 3005 4001 Error register Bit 2 set Bit 2 set Bit 2 set Bit 2 set Bit 2 set Bit 4 set Diagnostic data (hex) 00, 01, 00, 00 00, 02, 00, 00 00, 03, 00, 00 00, 04, 00, 00 00, 05, 00, 00 00, 06, 00, 00 Localization Device level Device level Device level Device level Device level Device level Meaning Supply voltage overcurrent Supply surge voltage Supply undervoltage Surge voltage of actuator supply Undervoltage of actuator supply Overtemperature The device sends emergency messages for an incoming and outgoing error. Once the problem has been solved, an emergency message with the error code 0000hex (reset error) is sent by the slave. The value of the corresponding bit in the error register is then 0. The diagnostic data value does not change. 8542_en_03 PHOENIX CONTACT 23 AXL E EC DIO16 M12 6P 16 Synchronization There are two modes for synchronizing the application which can be selected in the engineering system. - SM Synchronous (process data update when an SM event occurs) - DM Synchronous (process data update when a SYNC0 event occurs) 16.1 SM Synchronous In this mode, the EtherCAT® communication system and the I/Os operate asynchronously. The I/Os are in Auto-Run mode and run with the minimum cycle time possible for the current device configuration. This mode is set by default in the device. 16.2 DC Synchronous In this mode, the I/Os are synchronized with the EtherCAT®cycle. The implemented Distributed Clocks unit is used for the time synchronization of processes. In synchronous operation, the time points for outputting and reading the process data of the individual I/Os are synchronized with the higher-level network. EtherCAT® Distributed Clocks (DC) are used for this synchronization. Figure 11 Synchronization model The figure shows the synchronization model of the EtherCAT® device. The “DC Sync0 event” is used for synchronization. After the “Sync0 event” has occurred and a fixed delay time (output delay time) has elapsed, the process data is output. The inputs are likewise read after a fixed delay (input delay time). In order to activate DC Synchronous mode in TwinCAT®, it must be selected in the DC tab under Operation Mode and the slave must be started up again by means of the EtherCAT® master. TwinCAT® should be operated in Run mode. 8542_en_03 PHOENIX CONTACT 24 AXL E EC DIO16 M12 6P 17 Restoring the default settings The following option is available for restoring the default settings: – Write the value “1” to CoE object 2F00hex. After powering on again, the device is in the default settings. 18 Firmware started Once you have connected the power, the firmware is started. After completion of the boot process of the firmware, the RDY LED lights up green or flashes depending on the bus status. 19 Monitoring/substitute value behavior The device monitors the connection for network communication. In the event of a connection timeout, the device switches its outputs to the previously configured safe state. For further information, please refer to “Safe state objects”. 20 Firmware update It is possible to carry out a firmware update via EtherCAT®. The File Access over EtherCAT® (FoE) mechanism is used for this, which is provided via your engineering system. For detailed instructions for the firmware update with TwinCAT®, please refer to AH EN FIRMWARE UPDATE AXL E EC. The application note can be downloaded at phoenixcontact.net/products. 21 Device description file (ESI) In the case of EtherCAT®, a device description file is required for various configuration tools. This file is called EtherCAT® Slave Information (ESI). A single ESI file is provided for all Axioline E EtherCAT® devices. 22 Endianness EtherCAT® uses Little Endian format. All variables, parameters, and data in this document are in Little Endian format (Intel), i.e., LSB/MSB. 8542_en_03 PHOENIX CONTACT GmbH & Co. KG • 32823 Blomberg • Germany phoenixcontact.com 25