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Axioline F bus coupler for EtherCAT® AXL F BK EC © PHOENIX CONTACT Data sheet Valid from firmware version 1.10. The bus coupler represents the link between an EtherCAT®network and the Axioline F system. You can connect up to 63 Axioline F devices to an existing EtherCAT® system with the help of the bus coupler. EtherCAT® is a registered trademark and patented technol- ogy, licensed by Beckhoff Auotmation GmbH, Germany. EtherCAT® features –2 E t h e r n e t - P o r t s – Automatic addressing – Rotary coding switch for assigning the ID for the “Explic- it Device ID” mechanism – Detail of the station as a modular EtherCAT ® device us- ing a Modular Device Profile (MDP) – Detail of the station as a block device is possible – Acyclic data communication (mailbox protocols) – Cyclic (synchronous) data communication Features of Axioline F – Up to 63 additional Axioline F devices can be connect- ed – Typical cycle time of the Axioline F local bus is around 10 μs – Runtime in the bus coupler is negligible (goes to 0 µs) –F i r m w a r e c a n b e u p d a t e d – Diagnostic and status indicators Abbreviations used - Supports the EtherCAT ® cycle time of < 100 µs - Synchronism between EtherCAT ® and local bus - Distributed clocks (jitter << 1 µs) for specific data ac- quisition CoE CAN application layer over EtherCAT® DC Distributed clocks FoE File accesss over EtherCAT ® This data sheet is only valid in association with the UM EN AXL F SYS INST user manual. Make sure you always use the latest documentation. It can be downloaded from the product at phoenixcontact.net/products. Here you will also find the current ESI file. 8479_en_07 2014-10-27
8479_en_07 PHOENIX CONTACT 2 2T a b l e o f c o n t e n t s
8479_en_07 PHOENIX CONTACT 3 Description Type Order No. Pcs. / Pkt. Axioline F bus coupler for EtherCAT® (including bus base module and connector) AXL F BK EC 2688899 1 3O r d e r i n g d a t a Accessories Type Order No. Pcs. / Pkt. Axioline F bus base module for housing type BK (Replacement item) AXL BS BK 2701422 5 item) AXL CN S/UL 2701421 5 RJ45 connector, shielded, with bend protection sleeve, 2 pieces, gray for straight cables, for assembly on site. For connections that are not crossed, it is recommended that you use the connector set with gray bend protection sleeve. (Connector/Adapter) FL PLUG RJ45 GR/2 2744856 1 RJ45 connector, shielded, with bend protection sleeve, 2 pieces, green for crossed cables, for assembly on site. For connections that are crossed, it is recommended that the connector set with green bend protection sleeves is used. (Connector/Adapter) FL PLUG RJ45 GN/2 2744571 1 Crimping pliers, for assembling the RJ45 plugs FL PLUG RJ45..., for as- sembly on site (Tools) FL CRIMPTOOL 2744869 1 Zack marker strip for Axioline F (device labeling), in 2 x 20.3 mm pitch, un- printed, 25-section, for individual labeling with B-STIFT 0.8, X-PEN, or CMS-P1-PLOTTER (Marking) ZB 20,3 AXL UNPRINTED 0829579 25 Zack marker strip, flat, in 10 mm pitch, unprinted, 10-section, for individual labeling with M-PEN 0,8, X-PEN, or CMS-P1-PLOTTER (Marking) ZBF 10/5,8 AXL UNPRINTED 0829580 50 Insert label, Roll, white, unlabeled, can be labeled with: THERMOMARK ROLL, THERMOMARK X, THERMOMARK S1.1, Mounting type: snapped into marker carrier, Lettering field: 35 x 18.7 mm (Marking) EMT (35X18,7)R 0801831 1 Documentation Type Order No. Pcs. / Pkt. User manual, English, Starting up the Axioline F bus coupler for EtherCAT® using TwinCAT® UM EN AXL F BK EC - - User manual, English, Axioline F: System and installation UM EN AXL F SYS INST - - User manual, English, Axioline F: Diagnostic registers, and error messages UM EN AXL F SYS DIAG - - User manual, English, AXL F BK EC bus coupler: Access to PDI objects and startup parameter- ization AH EN AXL F BK EC - TUNNEL - - Application note, English, Firmware update on the AXL F BK EC bus coupler with TwinCAT® AH EN FIRMWARE UPDATE AXL F BK EC
8479_en_07 PHOENIX CONTACT 4 Dimensions (nominal sizes in mm) Width 45 mm Height 125.9 mm Depth 74 mm Note on dimensions The depth is valid when a TH 35-7.5 DIN rail is used (according to EN 60715).
4 Technical data
125,9122,4 General data Color traffic grey A RAL 7042 Weight 177 g (with connector and bus base module) Ambient temperature (operation) -25 °C ... 60 °C (Mount ing position: wall mounting on horizontal DIN rail) -25 °C ... 55 °C (Mounting position: any) Ambient temperature (storage/transport) -40 °C ... 85 °C Permissible humidity (operation) 5 % ... 95 % (non-condensing) Permissible humidity (storage/transport) 5 % ... 95 % (non-condensing) Air pressure (operation) 70 kPa ... 106 kPa (up to 3000 m above sea level) Air pressure (storage/transport) 70 kPa ... 106 kPa (up to 3000 m above sea level) Degree of protection IP20 Protection class III, IEC 61140, EN 61140, VDE 0140-1 Mounting position Any (observe temperature derating) Connection data Designation Axioline F connector Connection method Push-in technology Conductor cross section [AWG] 24 ... 16 Stripping length 8 mm Interface EtherCAT® Number 2 Connection method RJ45 socket, auto negotiation and autocrossing Transmission speed 100 MBit/s (Full duplex) Cycle Time 100 µs Transmission physics Ethernet in RJ45 twisted pair Transmission length max. 100 m
8479_en_07 PHOENIX CONTACT 5 Interface Axioline F local bus Connection method Bus base module Transmission speed 100 MBit/s Interface Service Number 1 Connection method Micro USB type B System limits Amount of process data 1024 Byte (for each data direction) Number of supported devices max. 63 (per station) NOTE: Electronics may be damaged when overloaded Observe the logic current consumption of each device when configuring an Axioline F station. It is specified in every module-specific data sheet. The current consumption can differ depending on the individu al module. The permissible number of devices that can be connected therefore depends on the specific station structure. EtherCAT® Mailbox protocols CAN application layer over EtherCAT ®, File access over EtherCAT® Type of addressing Auto-increment addressing Fixed position addressing Logical addressing Explicit device ID Specification ETG.1000 V1.02 Supply of the bus coupler Supply of communications power UL 24 V DC Maximum permissible voltage range 19.2 V DC ... 30 V DC (including all tolerances, including ripple) Current supply at UBus 2 A Current consumption from UL typ. 105 mA (without I/Os and UL = 24 V) max. 570 mA (with 2 A at UBus for the I/Os and UL = 24 V) Power consumption at UL typ. 2.5 W (without I/Os) max. 13.7 W (with 2 A load at UBus for the I/Os) NOTE: Electronics may be damaged when overloaded Provide external fuses for the 24 V UL area. The power supply unit must be able to supply four times the nominal current of the external fuse to ensure that it blows in the event of an error. Error messages to the higher level control or computer system Emergency messages Messages via object 10F3hex Diagnosis history Mechanical tests Vibration resistance in acc. with EN 60068-2-6/IEC 60068-2-6 5g Shock in acc. with EN 60068-2-27/IEC 60068-2-27 30g Continuous shock according to EN 60068-2-27/IEC 60068-2-27 10g Conformance with EMC Directive 2004/108/EC Noise immunity test in accordance with EN 61000-6-2 Electrostatic discharge (ESD) EN 61000-4-2/IEC 61000-4-2 Criterion B; 6 kV contact discharge, 8 kV air discharge Electromagnetic fields EN 61000-4-3/IEC 61000-4-3 Criterion A; Field intensity: 10 V/m Fast transients (burst) EN 61000-4-4/IEC 61000-4-4 Criterion B, 2 kV Transient surge voltage (surge) EN 61000-4-5/IEC 61000-4-5 Criterion B; DC supply lines: ±0.5 kV/± 0.5 kV (symmetrical/asymmetrical); field- bus cable shield: ±1 kV
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5 Internal circuit diagram
Figure 1 Internal wiring of the terminal points Key: Conducted interference EN 61000-4-6/IEC 61000-4-6 Criterion A; Test voltage 10 V Noise emission test according to EN 61000-6-3 Radio interference properties EN 55022 Class B Conformance with EMC Directive 2004/108/EC Approvals For the latest approvals, please visit phoenixcontact.net/products. 24 V 3.3 V UBus UL U 24 V L Service Reset FE C/UNIf16d D E RDYRUN ERR UBus Local bus FE EtherCAT /UNIf0e2 3.3V RJ45 RJ45 FE Functional earth ground Service Service interface Reset Reset button Local bus Axioline F local bus (hereinafter referred to as local bus) RJ45 interface Power supply unit with electrical isolation Microcontroller Power supply unit LED Electrically isolated areas RJ45 µC XXX XXX
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6 Connecting EtherCAT ® and supply
6.1 Connecting EtherCAT ®
Connect EtherCAT® to the bus coupler via an 8-pos. RJ45 connector. The EtherCAT® connections are directional. Figure 2 Pin assignment of the Ethernet socket (RJ45) For the pin assignment, please refer to the following table:
6.2 Connecting the supply voltage - terminal point
Figure 3 Terminal point assignment Designation Direction Note X1 IN Connecting the cable from the master. X2 OUT Pin Assignment 1T x D + ( t r a n s m i t d a t a +)
2 TxD - (transmit data -)
3R x D + ( r e c e i v e d a t a + )
4 Reserved
5 Reserved
6 RxD- (receive data -)
7 Reserved
8 Reserved
Both Ethernet interfaces are provided with the auto crossover function. Shielding The shielding ground of the connected twist- ed pair cables is electrically connected with the socket. When connecting network seg- ments, avoid ground loops, potential trans- fers, and voltage equalization currents via the braided shield. RJ45 Pin 1 Pin 2 Pin 3 Pin 4 Pin 5 Pin 6 Pin 7 Pin 8 Observe bending radii The housing dimensions specified under "Di- mensions" refer to the bus coupler with I/O connectors without Ethernet connection. When installing the bus coupler in a control box, observe the bending radii of the Ethernet cables and the connectors used (e.g., FL CAT5 FLEX: 30 mm for fixed installation and FL CAT5 HEAVY: 30 mm without outer sheath and 45 mm with outer sheath). If re- quired, use angled RJ45 connectors to main- tain these bending radii. Terminal point Color Assignment Supply voltage input a1, a2 Red 24 V DC (UL) Supply of the logic voltage (internally jumpered) b1, b2 Blue GND Reference potential of the supply voltage (internally jumpered)
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7 Connection example
Figure 4 Connection of the cables
8 Configuration via rotary encoding
You can configure the address assignment using the rotary coding switch. After modifying the switch position, restart the bus coupler, as the modification to the switch position does not take ef- fect during operation. Figure 5 Rotary encoding switch The code results from the sum of S1 x 10 plus S2 x 1. The image shows code 77 (7 x 10 + 7).
8.1 Device identification value
Switch position 01 ... 159 The devices are automatically assigned addresses as stan- dard. Set the EtherCAT ® explicit device identification manually with this switch position.
8.2 Reserved/invalid switch position
The device starts with the previous settings, e.g., with the settings that were valid before the device was restarted. UL
24 V DC
(U )L RUN ERR RDY D E EtherCAT 0 214 681012 0 24 689 X10 S1 S2 Code Function Other Reserved 810 x10
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9 Local status and diagnostic indicators
Figure 6 Local status and diagnostic indicators UL RUN ERR RDY D E L/A L/A Designation Color Meaning State Description UL Green ULogic ON Communications power supply present. OFF Communications power supply not present. RUN Green RUN OFF Bus coup ler in Init state Flashing slowly (2.5 Hz) Bus coupler in Pre-Operational state Single pulse 200 ms on, 1000 ms off; bus coupler in Safe-Operational state ON Bus coupler in Operational state Flashing (10 Hz) Bus coupler in Bootstrap state ERR Red Error OFF No error Flashing slowly (2.5 Hz) Configuration error; a state transition initiated by the master cannot be executed Single pulse 200 ms on, 1000 ms off; local application error Double pulse 200 ms on, 200 ms off, 200 ms on, 1000 ms off; watchdog timeout ON Critical internal error RDY Green/ yellow/ red Ready Green ON Device is ready for operation. Flashing green/yellow Communications power undervoltage or surge voltage Overtemperature Yellow ON Firmware/bus coupler is booting Yellow flash- ing Firmware update is being performed. Yellow/red Firmware update has failed. Red ON Rotary encoding switches are set to an invalid/reserved position OFF Device is not ready to operate.
8479_en_07 PHOENIX CONTACT 10 D Green/ yellow/ red Diagnostics Green ON Run: Data exchange; status and data from the higher-level system is transmitted. Green flashing Active: configuration is acti ve, data exchange with invalid process data, PDI channel can be used. Yellow ON Ready: Device is ready to operate, no data is exchanged. Yellow flash- ing Access from Startup+ in I/O check mode Flashing yel- low/red Bus error during active I/O check Red flashing Local bus error on startup Red ON General local bus error Communication error Local bus device has been removed or configured device is missing. Reset at a local bus device Serious device error at a local bus device (local bus device can no longer be reached) EY e l - low/ red Error Yellow ON I/O warning at a local bus device Red ON I/O error at a local bus device L/A Green Link/Activ- ity Green ON Connection present at EC IN/EC OUT. Green flashing Transmission or reception of Ethernet telegrams at EC IN / EC OUT. OFF Connection not present at EC IN/EC OUT. Designation Color Meaning State Description
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10 Reset button
The reset button is located beneath the top marking label on the bus coupler. Figure 7 Reset button
1 Labeling field
2 Reset button
The reset button has the following functions: – Restarting the bus coupler – Resetting of the default settings
10.1 Restarting the bus coupler
The bus coupler is restarted when the button is pressed dur- ing operation. The outputs of the station are set to the parameterized sub- stitute values. The process image of the inputs is not re-read.
10.2 Restoring the default settings
If you wish to restore the default settings, proceed as fol- lows:
- Disconnect the power to the module.
- Press and hold the reset button.
- Switch on the power.
- When the RDY LED flashes red/green, release the but- ton. During the reset process the RDY LED lights up yellow. When the bus coupler is fully started and ready to operate, the RDY LED lights up green.
11 Service interface
The service interface is located beneath the top marking field on the bus coupler. The service interface is used for later applications. Figure 8 Service interface
2 Service interface
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12 Parameter data
The CAN application layer over EtherCAT® (CoE) mailbox protocol is the basis of the Modular Device Profile and en- ables parameterization of EtherCAT ® devices via the object dictionary. The object dictionary is accessed via COE using Service Data Object (SDO) services. Axioline F modules are parameterized via objects intended for this purpose in the CoE object dictionary. Each Axioline F module has two tunnel objects, via which the parameters can be set (object 20nn hex) and read (object 30nnhex). These tunnel objects can be used to parameterize the Axi- oline F modules in EtherCAT® system startup via the Ether- CAT® engineering functionality of the StartUp or Init com- mands. In the event of an error in the local bus, you can parameter- ize whether the local bus continues to run in the remaining system or whether it enters the stop state. The objects implemented on the bus coupler are described in the "Object dictionary" section.
13 Substitute value behavior
If EtherCAT® communication fails or an error occurs in the local bus, all Axioline F station outputs are set to the param- eterized substitute values.
14 Synchronizing the application
There are two modes for synchronizing the application which can be selected in the engineering system. 1. SM Synchronous 2. DC Synchronous
14.1 SM Synchronous
In this mode, the EtherCAT® communication system and the local bus operate asynchronously. The local bus is in Auto-Run mode and runs with the minimum possible cycle time for the current module configuration.
14.2 DC Synchronous
In this mode, the bus cycle of the local bus is synchronized to the EtherCAT® cycle. The implemented distributed clock unit is used to synchro- nize the processes in a temporal manner. If you set DC Synchronous mode and there is no module in the Axioline F station that supports local bus synchroniza- tion, the bus coupler refuses the change in state from PRE- OP to SAFE-OP with AL status code 0028hex (SyncMode not supported). The LEDs indicate this state: If you want to use the DC Synchronous mode of the bus coupler, make sure that there is at least one module in the Axioline F station that supports local bus synchronization. LED State Meaning Bus coupler RUN Flashing slowly (2.5 Hz) Bus coupler in Pre-Operational state ERR Flashing slowly (2.5 Hz) Configuration error; a state transition initiated by the master cannot be exe- cuted D Green flashing Active: configuration is active, data exchange with invalid process data, PDI channel can be used. Local bus device D Green flashing Active
8479_en_07 PHOENIX CONTACT 13 Implementing DC Synchronous mode In synchronous operation, the time points for outputting and reading process data from the individual I/O modules of the Axioline F station are synchronized with the higher-level net- work. This synchronization is by means of EtherCAT® Dis- tributed Clocks (DC). A requirement for this is that bus-synchronous operation is supported by the module. All modules that do not support bus-synchronous operation continue running asynchro- nously, as in SM Synchronous mode. For information on which modules support bus-synchronous operation and the minimum cycle time that is possible, please refer to the module-specific documentation. In general, with a preselected DC cycle time, only the I/O modules whose update rate (plus local bus cycle time) is less than the DC cycle time are operated synchronously. Only then do these I/O modules supply a new value in every DC cycle. Figure 9 Synchronization model The figure shows the synchronization model of the Axi- oline F bus coupler for EtherCAT The so-called “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). The delay times depend on the Axioline F modules used as well as the size of the Axioline F station. They are calculated by the bus coupler during startup and are then constant. Please observe the following when parame- terizing the bus coupler for operation in DC Synchronous mode: Select “Sync shift time”, i.e., the interval be- tween “SM event” and “Sync0 event”, be- tween 10% and 30% of the cycle time as far as possible. The shortest EtherCAT® bus cycle must not be shorter than the maximum synchronization time of the modules located in the local bus that can be synchronized. SM event Sync0 event DC cycle time Frame SM event Sync shift time Input delay time Output delay time Outputs valid Input latch Input calc and copy Frame Object F102hex can be used to specify which modules of the local bus operate bus-syn- chronously (see “Objects for the status of bus- synchronous operation”).
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15 Object dictionary
The bus coupler object dictionary contains objects which can be addressed via SDO services. These are defined in the ETG standards. Objects with a module-specific design are subsequently described in detail. The objects are addressed using a combination of index and subindex. Subindex 0 lists the number of subindices. The following applies for the tables below:
15.1 CoE standard objects
Length Length of the elements in bytes Rights Access rights RR e a d WW r i t e nn Module number in an Axioline F station, be- ginning with 01 Index (hex) Name Defined in standard 1000 Device type ETG.1000.6 1008 Device name ETG.1000.6 1009 HardwareVersion ETG.1000.6 100A Software Version ETG.1000.6 1018 Identify ETG.1000.6 10F1 Error settings ETG.1020 10F3 Diagnosis history ETG.1020 10F8 Timestamp ETG.1020 1C00 SyncManager type ETG.1000.6 1C12 RxPDO assign ETG.1000.6 1C13 TxPDO assign ETG.1000.6 1C32 SM output parameter ETG.1020 1C33 SM input parameter ETG.1020 F000 Modular device profile ETG.5000.1 F030 Configured module ident list ETG.5000.1 F050 Detected module ident list ETG.5000.1 ETG.1000.6 Application Layer protocol specification ETG.1020 EtherCAT ® Protocol Enhancements ETG.5000.1 Modular Device Profile Part 1
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15.2 Module-specific CoE objects
In the table below, nn is the number of the module that is to be addressed. The numbering starts with 01. Index (hex) Sub- index Object name Data type Length Rights Meaning 6nn0 01 Inputs Octet string Depending on module R nn module input process data 7nn0 01 Outputs Octet string Depending on module R nn module output process data 16nn 01 RxPDO mapping 4 R Bit 31 ... 16 Index of the associated input data object (e.g., 6010hex) Bit 15 ... 8 Subindex of the associated input data object Bit 7 ... 0 Subindex length of the associated input data object 1Ann 01 TxPDO mapping 4 R Bit 31 ... 16 Index of the associated output data object (e.g., 7010hex) Bit 15 ... 8 Subindex of the associated output data object Bit 7 ... 0 Subindex length of the associated output data object 9nn0 Module nn identifi- cation Record Identification of module nn E.g., module 1: 9010hex, module 2: 9020hex etc. 0A Module ident Unsigned 32 4 R Unique number for module identification (connec- tion to device description) 0B Slot Unsigned 16 2 R Location of the module in the Axioline F station, beginning with 1 Ann0 DiagState Record Diagnostics Read access to PDI object 0018hex in the Axioline F nn mod- ule via the PDI channel 01 No Unsigned 16 2 R Error number See data sheet on the module. 02 Prio Unsigned 8 1 R Priority See data sheet on the module.
03 Channel/group/
See data sheet on the module. 04 Code Unsigned 16 2 R Error code See data sheet on the module. 05 MoreFollows Unsigned 8 1 R More follo ws See data sheet on the module. 06 Text Visible String 51 R Text See data sheet on the module.
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15.3 CoE objects for identifica tion (device rating plate)
PDI objects are stored on each Axioline F module for identification purposes. They contain information about the manufac- turer and module and make up the device rating plate. This information can be accessed using the bus coupler via EtherCAT®. The following tables describe the detail on the device rating plate on objects in EtherCAT®. Detail of manufacturer-specific information Detail of module-specific information Index (hex) Sub- index Object name Data type Length Rights Meaning (code in hex) 9nn1 Manufacturer in- formation Detail of manufacturer-specific information from the PDI objects for identification (device rating plate)
01 VendorName Visible String 15 R 0001 Vendor name
02 Vendor ID Visible String 6 R 0002 Vendor ID
03 VendorText Visible String 48 R 0003 Vendor text
04 VendorURL Visible String 29 R 0012 Vendor URL
(hex) Sub- index Object name Data type Length Rights Meaning (code in hex) 9nn2 Information on module Detail of module-specific information from the PDI objects for identification (device rating plate) 01 ProductName Visible String Max. 58 R 0007 Product name
02 Serial number Visible String 11 R 0008 Serial number
03 ProductText Visible String Max. 58 R 0009 Product text 04 OrderNumber Visible String 8 R 000A Order No. 05 HW BuildDate Visible String 10 R 000B.1 Hardware version, date of ver- sion 06 HW Version Visible String Max. 40 R 000B.2 Hardware version, version ID 07 FW BuildDate Visible String 10 R 000C. 1 Firmware version, date of ver- sion 08 FW Version Visible String Max. 40 R 000C.2 Firmware version, version ID 09 PDI BuildDate Visible String 10 R 000 D.1 Parameter channel version, date of version 0A PDI Version Visible String Max. 40 R 0 00D.2 Parameter channel version, ver- sion ID 0B DeviceType Octet string 8 R 0037 Module identification
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15.4 Objects for access to PDI objects (tunnel objects)
Parameter and diagnostic data as well as other information is transmitted via the PDI channel of the Axioline F station. You can access the PDI objects of the modules of a station via EtherCAT®. Objects 20nnhex and 30nnhex are used, with which a tunnel method can be implemented. Index (hex) Sub- index Object name Data type Length Rights Meaning 20nn Axioline F module nn PDI write tun- nel object Record Write access to the PDI objects in Axioline F mod- ule nn via the PDI channel Mapping to PDI write service (service code 01hex) at slot nn
01 Command Octet string 250 R/W Dat a for the PDI write request
Byte 1, 2 PDI object index Byte 3 PDI object subindex Byte 4 Length of the data to be written Byte 5 ... n User data (max. 245 bytes)
02 Status Unsigned 8 1 R Status of the last write access
hex Last access completed success- fully (positive confirmation re- ceived) 03hex Last access not completed suc- cessfully (negative confirmation received)
03 Response Octet string 9 R Result of the last write access
Data for PDI write response Byte 0 Subslot Byte 1, 2 PDI object index Byte 3 PDI object subindex Byte 4 Length (= 0) Positive confirmation Byte 5 ... 8 0 Negative confirmation Byte 5 Error class Byte 6 Error code Byte 7, 8 Additional error code
8479_en_07 PHOENIX CONTACT 18 Index (hex) Sub- index Object name Data type Length Rights Meaning 30nn Axioline F module nn PDI read tunnel Record Read access to PDI objects in Axioline F module nn via the PDI channel Mapping to PDI read service (service code 00hex) at slot nn
01 Command Octet string 4 R/W Data for PDI read request
Byte 1, 2 PDI object index Byte 3 PDI object subindex
02 Status Unsigned 8 1 R Status of the last read access
hex Last access completed success- fully (positive confirmation re- ceived) 03hex Last access not completed suc- cessfully (negative confirmation received)
03 Response Octet string 250 R Result of the last read access
Data for PDI read response Byte 0 Subslot Byte 1, 2 PDI object index Byte 3 PDI object subindex Byte 4 Length Positive confirmation Byte 5, 6 0 Byte 7 ... n Data for PDI read response Negative confirmation Byte 5 Error class Byte 6 Error code Byte 7, 8 Additional error code
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15.5 Objects for Axioline F bus diagnostics
CoE object F100hex can be used to request the status information of the Axioline F master. “Axioline Bus State” mirrors the diagnostic status register. For more detailed information on this, please refer to the UM EN AXL F SYS DIAG user manual. “Axioline Error_Code” indicates the error code of module errors. For the meaning of the error code, please refer to the data sheet for the module in question or the UM EN AXL F SYS DIAG user manual. “Axioline Add_Error Info” indicates the position of the module in question. The data for object F100hex is additionally provided in the cyclic input data of the Axioline F station (see also “Process data of the bus coupler”).
15.6 Objects for the status of bus-synchronous operation
This object contains information about which local bus modules operate bus-synchronously. Index (hex) Sub- index Object name Data type Length Rights Meaning F100 Axioline Bus Cou- pler Diag Info Record Read access to diagnostic information of the Axi- oline F master
01 Axioline Bus State Unsigned 16 2 R Current state of the Axioline F local bus
02 Axioline
Error_Code Unsigned 16 2 R Error code accord ing to the current bus state
03 Axioline
Add_Error Info Unsigned 16 2 R Additional error information Index (hex) Sub- index Object name Data type Length Rights Meaning F102 Axioline modules used for synchro- nization Record During operation in DC Synchronous mode, indi- cates which Axioline F modules are operated bus-synchronously
01 Unsigned 8 1 R Position of the mo dules that are operated bus-
synchronously in the local bus starting with 1; n ≤ 63 ... Unsigned 8 1 R n Unsigned 8 1 R
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15.7 Objects for bus coupler configuration
The bus coupler has objects which are used for the configuration of the bus coupler. Write access to these objects is only possible in the PREOP state. The contents of the objects are stored retentively in the bus coupler and are therefore still available after the bus coupler is restarted. When reset to the default settings, these objects return to their default values. Object F800hex can be used to configure the byte sequence of the transmitted process data. Object F801hex can be used to specify the bus coupler response in the event of a bus error. Index (hex) Sub- index Object name Data type Length Rights Meaning F800 Endian settings Record Byte sequence setting for a process data length of 16, 32 or 64 bits. The EtherCAT® standard specifies Little Endian format, Axioline F uses Big Endian.
01 Swap Word Bit 1 R Byte sequence for a process data length of
True Little endian (default) False Big endian
02 Swap DWord Bit 2 R Byte sequence for a process data length of
True Little endian (default) False Big endian
03 Swap LWord Bit 2 R Byte sequence for a process data length of
True Little endian (default) False Big endian Index (hex) Sub- index Object name Data type Length Rights Meaning F801 Leave OP on Axi- oline busfail Record Parameterization of the response to an Axioline F bus error 00 Bit 0.1 W True In the event of an Axioline F bus er- ror, the bus coupler switches to the SAFEOP ERR state, in addition a di- agnosis is entered. False (default) In the event of an Axioline F bus er- ror, the bus coupler remains in the OP state, only a diagnosis is entered.
8479_en_07 PHOENIX CONTACT 21 Object F802hex can be used to check the connected module configuration. In order for the module configuration to be checked, the master must write object F030hex with the expected module config- uration during the state transition from PREOP to SAFEOP. If this is not done, validation is not carried out. When the object is written, it must be done so correctly and consistently. The contents of object F030 are reset on a state transition from SA- FEOP to PREOP. By writing to object F803hex, the cycle time of the Axioline F local bus can be changed. Index (hex) Sub- index Object name Data type Length Rights Meaning F802 Validate module configuration Record Validation of the module configuration 00 Bit 0.1 W True (default) During the transition from PREOP to SAFEOP, the bus coupler checks the module configuration. False The bus coupler does not check the module configuration.Index (hex) Sub- index Object name Data type Length Rights Meaning F803 Axioline F bus cycle time Record Current Axioline F bus cycle time in nanoseconds
00 Unsigned 32 4 R Current bus cycle time in nanoseconds
W Changing the bus cycle time 0: sets the minimum possible cycle time
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16 Process data
16.1 Process data of the bus coupler
In addition to the cyclic IN and OUT process data, which is defined by the connected Axioline F modules, the bus cou- pler itself has data which is inserted in the cyclic process im- age. This data has a total length of 8 bytes. In accordance with the EtherCAT® standard, this data ap- pears before the IN process data of the first Axioline F mod- ule in the process image (SyncManager 3 bytes 0 ... 8). The objects for the corresponding PDO mapping can be found in 1AFFhex. Process data byte 0 and 1 (word 0) are assigned the “New diag massage bit” (index 10F3hex, subindex 04) of the “Diag- nosis history” object. Process data words 1 ... 3 contain status and diagnostic in- formation for the Axioline F bus coupler and can also be called via acyclic services using CoE. They appear in the form of object F100 hex. “Axioline Bus State” mirrors the diagnostic status register. For more detailed information on this, please refer to the UM EN AXL F SYS DIAG user manual. “Axioline Error_Code” indicates the error code of module er- rors. For the meaning of the error code, please refer to the data sheet for the module in question or the UM EN AXL F SYS DIAG user manual. “Axioline Add_Error Info” indicates the position of the mod- ule in question.
16.2 Process data of the local bus modules
The IN and OUT process data of the modules appear ac- cording to their process data description (PDI objects 003B hex and 003Chex on the module). For mapping, object F800hex can be used to configure whether process data with a length of 16, 32, and 64 bits is to be transmitted in Big Endian format (Axioline F standard) or in Little Endian format. The configuration is stored reten- tively in the bus coupler. Word 0, byte 0 7654321 0 New Diagnosis Message Word 0, byte 1 76543210 Word 1 Byte 3 Byte 2 Axioline bus state Word 2 Byte 5 Byte 4 Axioline Error_Code Word 3 Byte 7 Byte 6 Axioline Add_Error Info
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17 Diagnostics strategy
17.1 Mechanisms
Different mechanisms are used to diagnose the bus coupler.
17.2 EtherCAT ® state machine
An error is indicated as follows: – Error bit in the “AL status” register is set. – An error code is written in the “AL status code” register by the slave. The following codes are implemented on the bus coupler: Mechanism Diagnostics EtherCAT® state machine EtherCAT ® system diag- nosticsEtherCAT® hardware watchdog Emergency messages Errors are indicated to the master Diagnostic objects in the CoE object dictionary Advanced diagnostics, e.g., of I/O errors 10F1 Error settings F100 Axioline Bus Coupler Diag Info F101 Axioline bus error counters F102 Axioline modules used for synchronization F802 Validate module configura- tion Diagnosis history object 16 diagnostic messages could not be stored 10F3 Diagnosis history AL Status Code [hex] Meaning
0000 No error:
There is no error.
0011 Invalid requested state change:
The state change requested is invalid.
0012 Unknown requested state:
The state requested does not exist.
0016 Invalid mailbox configuration:
Error when configuring the SyncManager for mailbox communication. 001B SyncManager watchdog: The hardware watchdog which monitors the SyncManager process data has expired. 001D Invalid output configuration: Error in the SyncManager configuration for output process data. 001E Invalid input configuration: Error in the SyncManager configuration for input process data.
0028 SyncMode not supported:
There is no module in the Axioline F station that supports local bus synchronization.
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17.3 Emergency messages
Emergency messages are an unverified service based on CoE. As such, all errors can be indicated to the master by the slave, taking the form of messages which are specified in ETG.1000.6. Detail of Axioline F bus and I/O errors on a CoE emergency message: CoE emergency message CoE emergency message 2 bytes 1 byte 5 bytes Error code Error reg Data Axioline F bus errors 2 bytes 1 byte 2 bytes 2 bytes 1 byte 1000hex 80hex Slot number Error code 0 Axioline F I/O errors 2 bytes 1 byte 2 bytes 1 byte 1 byte 1 byte Error code 80 hex Slot number Location Priority 0 Error code (hex) Meaning 00xx Error reset or no error 10xx Generic error 20xx Current 21xx Current, device input side 22xx Current inside the device 23xx Current, device output side 30xx Voltage 31xx Mains voltage 32xx Voltage inside the device 33xx Output voltage 40xx Temperature 41xx Ambient temperature 42xx Device temperature 50xx Device hardware 60xx Device software 61xx Internal software 62xx User software 63xx Data set 70xx Additional modules 80xx Monitoring 81xx Communication 82xx Protocol error
8210 PDO not processed due to length
8220 PDO length exceeded
8479_en_07 PHOENIX CONTACT 25 The errors which could occur in the Axioline F system are separated into two groups with different message designs. Axioline F I/O errors For the error codes for Axioline F I/O errors, please refer to the data sheets for the I/O modules. Axioline F bus errors The error codes for Axioline F bus errors have the emergency error code 1000hex (generic error) as standard. The Axioline F error code is displayed in the “Emergency message” data area.
17.4 Diagnosis history 10F3 hex
The object 10F3hex is implemented as a ring memory in Overwrite mode. The last 16 diagnostic messages are always stored; older messages are deleted. The error codes of the Axioline F bus and I/O errors are stored in the object's diagnostic messages. The following table shows the design of a diagnostic message from the Axioline F bus coupler for EtherCAT® as well as de- tailing specific Axioline F information.
17.5 Diagnostic objects in the CoE object dictionary
The Diagnosis History Object enables a diagnosis station-wide. For module-specific diagnostics, the module diagnostics objects (PDI object 0018hex) are displayed in the CoE object dic- tionary of the bus coupler (CoE objects A000hex to A3F0hex). For the meaning of the error codes for the Ax- ioline F bus errors and Axioline F I/O errors, please refer to the AXL F SYS DIAG user manual. Index (hex) Sub- index Object name Data type Lengt h Rights Meaning 10F3 Diagnosis history Record Diagnostic statistics
01 Maximum messages Unsigned 8 1 R Maximum number of messages
02 Newest message Unsigned 8 1 R Newest message
03 Newest acknowledged message Unsigned 8 1 R/W Newest acknowledged message
04 New message available Bit 0.1 R New message present 05 Flags Unsigned 16 2 R/W Setting for the behavior of the object. See ETG.1020
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18 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 Twin- CAT®, please refer to application note AH EN FIRM- WARE UPDATE AXL F BK EC. The application note can be downloaded at phoenixcon- tact.net/products. Changes in the firmware versions Firmware 1.10 The data for object F100 hex is additionally provided in the cyclic input data of the Axioline F station (see also “Process data of the bus coupler”). Full implementation of DC Synchronous mode Addition of the following CoE objects (hex): 10F1 Error settings 10F8 Timestamp F100 Axioline Bus Coupler Diag Info F101 Axioline bus error counters F102 Axioline modules used for synchroniza- tion F800 Endian settings F801 Leave OP on Axioline busfail F802 Validate module configuration F803 Axioline F bus cycle time Modified object 10F3 Diagnosis history NOTE: Access to incorrect data when us- ing a project that has not been adapted The data of object F100 hex is mapped in the process image before the IN process data of the first Axioline F module. If an existing project is used without adapting it, you will access incorrect data due to the shift of the IN process data. Therefore, adapt an existing project accord- ingly.