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;========================================================== |
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; IOSYS.INI - Configuration file for the IO-System |
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;========================================================== |
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; For configuration help go to the end of this file. |
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;---------------------------------------------------------- |
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; ATTENTION !!!! Since V5.0 Build13 we have removed the DeviceNet |
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; driver "dndrv.o". Now you have to use the driver |
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; "dn2drv.o" and the appropriate syntax (form 2) |
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[CONFIG] |
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VERSION=2.00 |
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[DRIVERS] |
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;CNKE2=21,cnke2CPInit,cnke2drv.o |
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;DNSC6=20,dnsc6Init,dnsc6drv.o |
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;DNSC5=19,dnsc5Init,dnsc5drv.o |
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;DNSC4=18,dnsc4Init,dnsc4drv.o |
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;DNSC3=17,dnsc3Init,dnsc3drv.o |
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;CNKE1=16,cnke1CPInit,cnke1drv.o |
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;INTERBUSPCI=15,ibsCPPciInit,ibpcidrv.o |
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;DSEIO=14,dseIoInit,dseiodrv.o |
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;DNSC2=13,dnsc2Init,dnsc2drv.o |
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;DNSC1=12,dnsc1Init,dnsc1drv.o |
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;PBMASL=11,pbmsInit,pfbmsdrv.o |
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DEVNET=2,dnInit,dn2drv.o |
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;INTERBUS=1,ibusInit,ibusdrv.o |
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;MFC=0,mfcEntry,mfcdrv.o |
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[MFC] |
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INW0=0 ;$IN[1-16] |
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OUTW0=0 ;$OUT[1-16] |
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OUTW2=2 ;$OUT[17-32] |
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[INTERBUS] |
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INW50=896 ;$IN[401-416] |
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INW52=898 ;$IN[417-432] |
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INW54=900 ;$IN[433-448] |
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INW56=902 ;$IN[449-464] |
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OUTW50=896 ;$OUT[401-416] |
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OUTW52=898 ;$OUT[417-432] |
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OUTW54=900 ;$OUT[433-448] |
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OUTW56=902 ;$OUT[449-464] |
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[DEVNET] |
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;BECKHOFF KL5250 I/O MODULES (MAC_ID 5) |
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ANOUT2=5,0,12,3 ;$ANOUT[02] - KL4002 #1 (WORD is 2-Byte, 16-Bits, 1 ANALOG (12 bits), 1/2 KL modules) |
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ANOUT3=5,2,12,3 ;$ANOUT[03] - KL4002 #1 (WORD is 2-Byte, 16-Bits, 1 ANALOG (12 bits), 1/2 KL modules) |
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ANIN2=5,0,12,3 ;$ANIN[02] - KL3064 #1 (WORD is 2-Byte, 16-Bits, 1 ANALOG (12 bits), 1/4 KL modules) |
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ANIN3=5,2,12,3 ;$ANIN[03] - KL3064 #1 (WORD is 2-Byte, 16-Bits, 1 ANALOG (12 bits), 1/4 KL modules) |
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ANIN4=5,4,12,3 ;$ANIN[04] - KL3064 #1 (WORD is 2-Byte, 16-Bits, 1 ANALOG (12 bits), 1/4 KL modules) |
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ANIN5=5,6,12,3 ;$ANIN[05] - KL3064 #1 (WORD is 2-Byte, 16-Bits, 1 ANALOG (12 bits), 1/4 KL modules) |
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INW0=5,0 ;$IN[01-16] - KL1408 #1 - KL1408 #2 (WORD is 2-Byte, 16-Bits, 16 I/O, 2 KL modules) |
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INW2=5,2 ;$IN[17-33] - KL1408 #3 - KL1408 #4 (WORD is 2-Byte, 16-Bits, 16 I/O, 2 KL modules) |
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OUTW0=5,4 ;$OUT[01-16] - KL2408 #1 - KL2408 #2 (WORD is 2-Byte, 16-Bits, 16 I/O, 2 KL modules) |
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OUTB2=5,6 ;$OUT[17-24] - KL2408 #3 (BYTE is 1-Byte, 8-Bits, 8 I/O, 1 KL modules) |
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;EMERSON SPINDLE CONTROLLER (MAC_ID 9) |
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INW20=9,0 |
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INW22=9,2 |
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INW24=9,4 |
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INW26=9,6 |
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INW28=9,8 |
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INW30=9,10 |
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INW32=9,12 |
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INW34=9,14 |
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OUTW20=9,0 |
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OUTW22=9,2 |
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OUTW24=9,4 |
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OUTW26=9,6 |
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OUTW28=9,8 |
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OUTW30=9,10 |
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OUTW32=9,12 |
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OUTW34=9,14 |
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[PBMASL] |
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[DNSC1] |
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[DNSC2] |
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[DNSC3] |
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[DNSC4] |
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[DNSC5] |
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[DNSC6] |
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[DSEIO] |
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INDW0=0 ;$IN[1-32] |
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OUTDW0=0 ;$OUT[1-32] |
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[INTERBUSPCI] |
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INW50=896 ;$IN[401-416] |
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INW52=898 ;$IN[417-432] |
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INW54=900 ;$IN[433-448] |
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INW56=902 ;$IN[449-464] |
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OUTW50=896 ;$OUT[401-416] |
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OUTW52=898 ;$OUT[417-432] |
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OUTW54=900 ;$OUT[433-448] |
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OUTW56=902 ;$OUT[449-464] |
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[CNKE1] |
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; =ConNo, additional offset,xSize |
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[CNKE2] |
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; =ConNo, additional offset,xSize |
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[VIO] |
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;INW0=0 ;$IN[1-16] |
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;INW8=2 ;$IN[65-80] |
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;OUTW0=0 ;$OUT[1-16] |
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;OUTW2=2 ;$OUT[17-32] |
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[O2I] |
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;INW4=0 ;$IN[33-48] |
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;INW6=2 ;$IN[49-64] |
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;OUTW4=0 ;$OUT[33-48] |
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;OUTW6=2 ;$OUT[49-64] |
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[IOLINKING] |
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;========================================================== |
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;Valid entries have the following formats. |
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;Arguments in squared brackets are optional. |
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;If nothing else is mentioned, arguments are decimal. |
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;Digital Inputs and Outputs: |
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; |
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; Form 1: |
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; {token}{offset}={byte}[,{multip}] |
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; |
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; {token} INB (byte), INW (word), INDW (double word) |
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; OUTB, OUTW, OUTDW |
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; {offset} byte offset of robot IO System (0..m) |
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; {byte} byte offset over all peripheral devices (0..m) |
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; Offset starts with 0 at the first device and |
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; ends with m at the end of the last device. |
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; {multip} creats n dataobjects of {token} |
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; Example: |
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; OUTW4=2,x3 |
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; Three words of the periphery, starting at byte 2, |
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; are mapped to the outputs 33-80. |
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; |
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; Form 2: |
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; {token}{offset}={address},{byte}[,{multip}] |
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; |
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; {token} INB, INW, INDW, OUTB, OUTW, OUTDW |
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; {offset} byte offset of robot IO System |
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; {address} address of a peripheral device (0..m) |
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; driver specific information, see descr. below |
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; {byte} byte offset at this peripheral device (0..m) |
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; Offset starts with 0 at the every device |
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; driver specific information, see descr. below |
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; {multip} creats n dataobjects of {token} |
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; Example: |
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; INW4=10,0,x2 |
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; Two words of the peripheral device with address 10 and |
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; up from byte 0 are mapped to the inputs 33-80. |
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;Analog Inputs and Outputs: |
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; |
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; Form 1: |
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; {token}{num}={byte},{res},{type}[,CAL{factor}] |
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; |
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; {token} ANIN or ANOUT |
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; {num} number of the analog channel (1..i) |
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; {byte} byte offset over all peripheral devices (0..m) |
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; Offset starts with 0 at the first device and |
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; ends with m at the end of the last device. |
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; {res} resolution of the analog value (number of bits) |
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; {type} type of analog value |
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; 0 : right justified without sign |
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; 1 : right justified with sign |
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; 2 : left justified without sign |
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; 3 : left justified with sign |
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; {factor} maximum analog value, decimal without prefix, |
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; hexadec. with prefix 0x or octal with prefix 0 |
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; "CAL 0" or no entry sets factor to its maximum |
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; Example: |
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; ANIN1=10,12,3 |
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; The analog input No.1 is used. The byte offset on |
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; peripheral side is 10, the resolution is 12 bit and the |
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; type of analog value is 3 (left justified with sign). |
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; The maximum binary analog value is 2047. |
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; |
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; Form 2: |
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; {token}{num}={address},{byte},{res},{type}[,CAL{factor}] |
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; |
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; {token} ANIN or ANOUT |
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; {num} number of the analog channel (1..i) |
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; {address} address of a peripheral device (0..m) |
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; driver specific information, see descr. below |
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; {byte} byte offset at this peripheral device (0..m) |
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; Offset starts with 0 at the every device |
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; driver specific information, see descr. below |
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; {res} resolution of the analog value (number of bits) |
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; {type} type of analog value |
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; 0 : right justified without sign |
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; 1 : right justified with sign |
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; 2 : left justified without sign |
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; 3 : left justified with sign |
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; {factor} maximum analog value, decimal without prefix, |
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; hexadec. with prefix 0x or octal with prefix 0 |
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; "CAL 0" or no entry sets factor to its maximum |
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; Example: |
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; ANIN3=30,0,16,2,CAL 0x6C00 |
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; The analog input No.3 is used. The device address is 30, |
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; the byte offset at this device is 0, the resolution is |
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; 16 bit and the type of analog value is 2 (left justified |
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; without sign). The maximum binary analog value is 27648. |
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; The CAL-factor is especially required in case of using |
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; Profibus analog modules. |
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;particularities: |
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;[MFC] MFC-IO with KRC1 / CAN-IO-Modul with KRC2 |
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; Entries in form 1 |
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; |
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;[INTERBUS/INTERBUSPCI] Interbus Phoenix Mast./Slave Cu/LWL |
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; Entries in form 1 |
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; $IN/OUT[n_1]=(n+1)*8-7 |
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; $IN/OUT[n_8]=(n+1)*8 |
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;[DEVNET] DeviceNet on the KUKA MFC |
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; Entries in form 2 for driver dn2drv.o |
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; {address}=DeviceNet MACID |
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;[DNSC1] DeviceNet LPDN scanner channel 1 |
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; Entries in form 2 |
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; {address} = DeviceNet slave MACID |
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; {address} = MACID of CH1 ==> Slave part of LPDN CH1 |
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; |
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;[DNSC2] DeviceNet LPDN scanner channel 2 |
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; Entries in form 2 |
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; {address} = DeviceNet slave MACID |
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; {address} = MACID of CH2 ==> Slave part of LPDN CH2 |
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; |
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;[DNSC3] DeviceNet LPDN scanner channel 1 |
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; Entries in form 2 |
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; {address} = DeviceNet slave MACID |
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; {address} = MACID of CH1 ==> Slave part of LPDN CH1 |
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; |
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;[DNSC4] DeviceNet LPDN scanner channel 2 |
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; Entries in form 2 |
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; {address} = DeviceNet slave MACID |
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; {address} = MACID of CH2 ==> Slave part of LPDN CH2 |
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; |
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;[DNSC5] DeviceNet LPDN scanner channel 1 |
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; Entries in form 2 |
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; {address} = DeviceNet slave MACID |
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; {address} = MACID of CH1 ==> Slave part of LPDN CH1 |
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; |
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;[DNSC6] DeviceNet LPDN scanner channel 2 |
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; Entries in form 2 |
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; {address} = DeviceNet slave MACID |
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; {address} = MACID of CH2 ==> Slave part of LPDN CH2 |
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; |
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;[PBMASL] ProfiBus Siemens Master/Slave CP5614 |
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; Entries in form 2 |
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; {address} = Slave DP-address |
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; {address} = 127 ==> Slave part of CP5614 |
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; |
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;[DSEIO] Digital inputs/outputs for KR C3A |
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; Entries in form 1 |
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; |
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;[CNKE1] ControlNet 1784PCIC LP-Elektronik |
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; Entries in form 2 |
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; {address} = ConNo |
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; {byte} = additional offset |
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; |
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;[CNKE2] ControlNet 1784PCIC LP-Elektronik |
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; Entries in form 2 |
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; {address} = ConNo |
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; {byte} = additional offset |
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; |
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;[VIO] inputs/outputs for Virtual IO driver over TCP/IP |
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; Entries in form 1 |
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; |
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;VIO=30,vioInit,vio_drv.o |
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; |
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;[O2I] inputs/outputs for 'output to input for software developers' |
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; Entries in form 1 |
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; |
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;O2I=31,o2iInit,o2i_drv.o |
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; |
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;[IOLINKING] Outputs follow inputs |
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; Special form: |
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; $OUT[{bitoffset}]=$IN[{bitoffset}] |
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; |
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; {bitoffset} Bit(!)offset in the robot I/O-System, |
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; starting with 1 (1..MAXIO) |
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; |
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; Example: $OUT[512]=$IN[401] |
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; In this case output nr. 512 (bit 8 of byte 63) |
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; is linked to input nr. 401 (bit 1 of byte 50) |
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; |
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; Notes: |
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; IOLINKING means outputs follow inputs in the robot |
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; I/O-system (within ipo-cycle), regardless if they |
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; are mapped to drivers. |
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; Port ranges cannot be specified, each bit must be |
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; linked by itself. |
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; Only a maximum of MAX_IOLINKS can be configured (set |
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; in progress.ini, if this value is increased, robot |
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; functionality cannot be guaranteed!). |
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;---------------------------------------------------------- |
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; 04/02/02 section [IOLINKING] added |
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[END SECTION] |