The following Bosch Rexroth manual is aimed at configuring the IOs (Inputs and Outputs) of the ctrlX.
Modbus has been used for the communication of the XM21/22 with the ctrlX (since its inputs are in Ethercat and the XM must be used as a Sercos master for the Motion issue)
GOALS:
- Configuration of the I/O Modules (Digital Inputs / Outputs)
- Modbus communication for input control and output activation from the XM
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