View source for Adding Axis or IO Modules

Generally our robot controls come with as many modules as ordered but in some cases you may want to extend your robot. This article explains how to do it.

This article refers to robots with a dedicated control cabinet. [[ReBeL]] robots can only be extended if they were ordered with connector and electronics for a 7th axis. This electronics contains the same modules as the bigger control cabinets but may be restricted in available power.

= Warnings =
Turn off the power to the cabinet and unplug it from mains before changing any connections. Hot plugging modules or wires can cause damage!

If you add axis modules make sure they support the voltage of your cabinet. Your cabinet will always contain at least one 24V power supply for logic and motor power. If it also contains a 48V supply your motors likely run on 48V. Check the label of the motor module: Only if it says 48V or both 48V and 24V it is compatible to 48V. Modules that say 24V or nothing at all only support 24V controls. Non-axis modules, e.g. IO modules or inrush current limiter modules can be used with any motor voltage (use 24V for the digital inputs and outputs).

= Limitations =
There is a maximum number of modules supported by the robot control, besides space constraints in the cabinet.

* Up to 3 external axes
* Up to 5 digital IO modules (however the 5th can only use 4 out of 7 IOs due to software limitations)
* Up to 1 inrush current limiter module ("supply module")
* Up to 1 support module (old cabinets only)

= Adding a Module =
Each individual moduel comes with two parts: The module and a bus connector. The bus connector must be pushed onto the rail under the modules, then pushed to the side to connect to the other bus connectors. If in doubt of the orientation remove the outermost module (use a screw driver to pull the small metal tab under the module, then lift it off the rail).

Before connecting the module to the rail take a look at the sticker on it's side. It explains how to wire the connectors at the sides of the module. Note: If you add motors with different connector type (e.g. JST connector instead of screw connector) double check the data sheet since the wiring colors may differ from the standard motors.

Optional but highly recommended: Instead of simply adding new modules to the side you should add them in order: Robot axes, then external axes, then IO modules. Take modules from the rail and move them to a different spot if necessary. You shouldn't need to disconnect any wires or plugs.

After plugging the new module(s) to the rail and connecting the wires you will need to set the ID via the yellow wheel switch on top of the module. Within each type of module (axes, IOs, etc) start at 0 and count up 2 for each axis: A1 is 0, A2 is 2, A3 is 4, A4 is 6, A5 is 8, A6 is 9. For external axes you may choose any number that is not in use yet. For IO modules to the same: IO1 is 0, IO2 is 2, IO3 is 4, etc. Don't change the ID of any module that you did not add, if the numbering does not match up you probably did something wrong.

Double check all connections, then turn on the cabinet.

New IO modules will work out of the box, axis modules must be configured. First [[External_Axis|add the external axis to the configuration]], then configure the firmware parameters. The following articles should help:
* [[Firmware Parameter Configuration]]
* [[Troubleshooting Referencing Issues]]
* [[Referencing Configuration]]
* [[Motor Current Parameter]]

[[Category:Configuration]]