AXL E EC DI8 DO8 M12 6M
Axioline E EtherCAT® device, metal housing,
8 inputs, 8 outputs, 24 V DC,
M12 fast connection technology
Data sheet
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© 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. The device is designed for use in systems manufacturing.
It is suitable for use without a control cabinet under harsh industrial conditions. The Axioline E device can be used on
tool platforms, directly on welding robots or in conveying
technology, for example.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Auotmation GmbH, Germany.
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Axioline E features
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EtherCAT® features
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2 Ethernet-Ports
Automatic addressing
Identification:
– Rotary coding switch for assigning
the ID for the “Explicit Device ID” mechanism
– Configured Second Station Alias
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
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 07
2102
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
Data type Rights
Meaning/value
-
UINT8
00hex = Normal operation (default)
01hex = Reset device
Other = Reserved
Reset to Factory
Settings
R/W
The reset is carried out once the device is restarted.
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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
1A00
1A01
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Subin- Object name
Data
dex
type
RxPDO Mapping Digital Outputs
00
Number of entries UINT8
01
UINT32
Rights Meaning/value
RO
RO
01hex (1)
Bit 31 ... bit 16
Bit 15 ... bit 8
Bit 7 ... bit 0
Index of the output data object (5000hex)
Subindex of the output data object (01hex)
Subindex length of the output data object (8)
TxPDO mapping digital inputs
00
Number of entries UINT8
01
UINT32
RO
RO
01hex (1)
Bit 31 ... bit 16
Bit 15 ... bit 8
Bit 7 ... bit 0
Index of the input data object (4000hex)
Subindex of the input data object (01hex)
Subindex length of the input data object (8)
TxPDO mapping IO status
00
UINT8
01
UINT32
RO
RO
01hex (1)
Bit 31 ... bit 16
Bit 15 ... bit 8
Bit 7 ... bit 0
Index of the IO status object (4001hex)
Subindex of the IO status object (01hex)
Subindex length of the IO status object (32)
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AXL E EC DI8 DO8 M12 6M
PDO register
Index
(hex)
4000
4001
Subindex Object name
Digital inputs
00
Number of entries
01
Digital inputs
bit 0 ... bit 7
IO status
00
Number of entries
01
IO Status Value
Data type Rights
Meaning/value
UINT8
UINT8
RO
RO
01hex (1)
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
Digital outputs
00
Number of entries
01
Digital outputs
bit 0 ... bit 7
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UINT8
UINT8
RO
RO
01hex (1)
Bit 7 ... bit 0
Digital input 8 (X04.2) ...
digital input 1 (X01.4)
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)
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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
Object
Data type Rights
name
AL Control UINT16
R/W
0130
AL Status
UINT16
RO
0134
AL Status
Code
UINT16
RO
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Meaning/value
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
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
Bit 0 ... bit 15 All Status Code (send by slave)
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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
0012
0015
0016
Description
No error
Unspecified error
Invalid requested state change
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
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State or transition
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
Resulting state
Current state
Any + E
Current state + E
Current state + E
I+E
I+E
Current state + E
S+E
S+E
P+E
P+E
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Process data
14.1
TxPDO Mapping Digital Inputs
Byte
Bit
IN
Connection
Pin
DI
7
07
6
06
5
05
4
7
2
6
X04
2
8
Input process data
Byte 0
4
3
04
03
X03
X02
4
2
5
4
2
02
1
01
0
00
4
3
2
2
4
1
2
02
1
01
0
00
4
3
2
2
X01
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
07
6
06
5
05
4
7
2
6
X08
2
8
Output process data
Byte 0
4
3
04
03
X07
X06
4
2
5
4
X05
4
1
Key:
Bit:
OUT:
DO:
14.3
Process data assignment
LED marking
Output of the device
TxPDO Mapping IO Status
Bit 31... bit 6
Reserved
Reserved
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Bit 5
Bit 4
Supply of the module electronics and
sensors (US)
Undervoltage
Overload
Bit 3
Bit 2
Supply of the actuators (UA)
Undervoltage
Short-circuit
Bit 1
Bit 0
Outputs
Overload
Short-circuit
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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.
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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.
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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.
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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.
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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”.
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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.
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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.
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Endianness
EtherCAT® uses Little Endian format. All variables, parameters, and data in this document are in Little Endian format
(Intel), i.e., LSB/MSB.
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