RP-2

• ARM Cortex A9 Dual core microprocessor
• Number of controlled axes:
  • up to 32 interpolated axes, driven through Ethercat fieldbus
• Memory:
  • Micro SD flash memory
  • 1GB DRAM
  • 512 Kbytes retentive ram for parameters and alarm history storage
• Expansion - AXIOLINE IOs
  • Compatible with remote I/O boards (with no need for AXL-F-BK-C coupler)
• Communication:
  • 2 EtherCAT master channel (CoE - Can Over EtherCAT, SoE - Servodrive Over EtherCAT, EoE - Ethernet over EtherCAT)
  • 2 Ethernet channels dedicated for slave fieldbus (EtherCAT/ProfiNET)
  • 2 Ethernet channels with internal switch for general purposes (OPC-UA, TCP/IP, UDP, TFTP, Robox BCC/31/TCP)
  • Axioline master for communication with Axioline peripherals (Phoenix Ios)
  • 1 Canbus channel (DS301, DS401 and DS402 protocols, Robox Cnet) for axes control and/or remote I/O
  • 1 USB-B-UART serial channel for general purposes (Robox BCC/31, DF1)
  • 1 RS232 serial channel for general purposes (Robox BCC/31, DF1)
  • 1 Wi-Fi channel for remote diagnostics (internal Web Server)
  • O.P.C. Server, ActiveX, .Net Library, rLibQt, rLibJava e rLibC++ available for communication in Windows environment
• RTE Firmware
  • It is installed in the removable Micro SD and allows the correct execution of the different tasks exploiting at best the multicore architecture.
  • The available tasks are the following:
  • On event (capture)............................................priority 1
  • Programmed frequency (motion)......................priority 2
  • Programmed frequency (auxiliary functions).....priority 3,4,5,6
  • Background......................................................priority 7
  • OB hooked.......................................................priority 2
  • OB hooked.......................................................priority 5
• The user develops the application software using RDE (Robox Development Environment) and the following languages: R3 (structured text), LD (Ladder diagram), RPL (Robot Programming Language), G-CODE (Machine tools), R++ and C++.