;==========================================================
; IOSYS.INI - Configuration file for the IO-System
;==========================================================
; For configuration help go to the end of this file.
;----------------------------------------------------------
[CONFIG]
VERSION=2.00
[DRIVERS]
MFC=0,mfcEntry,mfcdrv.o
;INTERBUS=1,ibusInit,ibusdrv.o
;DEVNET=2,dnInit,dndrv.o
;BOSCH=3,boschInit,boschdrv.o
;PERCEPTRON=4,percInit,percdrv.o
;SBIP=5,sbipInit,sbipdrv.o
;FIPIO=6,fipioInit,fipiodrv.o
;PROFISL=7,pbslInit,pfbsldrv.o
;PROFIMA=8,pbmaInit,pfbmadrv.o
;RIO=9,rioInit,riodrv.o
;LIBO=10,liboInit,libodrv.o
;PBMASL=11,pbmsInit,pfbmsdrv.o
;DNSC1=12,dnsc1Init,dnsc1drv.o
;DNSC2=13,dnsc2Init,dnsc2drv.o
;DSEIO=14,dseIoInit,dseiodrv.o
;INTERBUSPCI=15,ibsCPPciInit,ibpcidrv.o
;CNKE1=16,cnke1CPInit,cnke1drv.o
;DNSC3=17,dnsc3Init,dnsc3drv.o
;DNSC4=18,dnsc4Init,dnsc4drv.o
;DNSC5=19,dnsc5Init,dnsc5drv.o
;DNSC6=20,dnsc6Init,dnsc6drv.o
;CNKE2=21,cnke2CPInit,cnke2drv.o
[MFC]
INW0=0 ;$IN[1-16]
OUTW0=0 ;$OUT[1-16]
OUTW2=2 ;$OUT[17-32]
[INTERBUS]
;------- Inputs ---------
;Slave Inputs
INW50=896 ;$IN[401-416]
INW52=898 ;$IN[417-432]
INW54=900 ;$IN[433-448]
INW56=902 ;$IN[449-464]
;------- Outputs --------
;Slave Outputs
OUTW50=896 ;$OUT[401-416]
OUTW52=898 ;$OUT[417-432]
OUTW54=900 ;$OUT[433-448]
OUTW56=902 ;$OUT[449-464]
[DEVNET]
[BOSCH]
;------- Inputs ---------
INW64=0 ;$IN[513-528]
;------- Outputs --------
OUTW64=0 ;$OUT[513-528]
OUTW66=2 ;$OUT[529-544]
[PERCEPTRON]
;------- Inputs ---------
INW68=0 ;$IN[545-560] X
INW70=2 ;$IN[561-576] X
INW72=4 ;$IN[577-592] Y
INW74=6 ;$IN[593-608] Y
INW76=8 ;$IN[609-624] Z
INW78=10 ;$IN[625-640] Z
INW80=12 ;$IN[641-656] A
INW82=14 ;$IN[657-672] B
INW84=16 ;$IN[673-688] C
INW86=18 ;$IN[689-704] ERG
;------- Outputs --------
OUTW68=0 ;$OUT[545-560] model, partner
OUTW70=2 ;$OUT[561-576] color, pointnr
OUTW72=4 ;$OUT[577-592] phase, fixture, command
OUTW74=6 ;$OUT[593-608] wrist angle roll
OUTW76=8 ;$OUT[609-624] wrist angle roll
OUTW78=10 ;$OUT[625-640] wrist angle pitch
OUTW80=12 ;$OUT[641-656] wrist angle pitch
OUTW82=14 ;$OUT[657-672] wrist angle yaw
OUTW84=16 ;$OUT[673-688] wrist angle yaw
[SBIP]
;------- Inputs ---------
INW0=0 ;TASK READ : $IN[1-16]
INW2=2 ;MMI READ : $IN[17-32]
INW4=100 ;KEY READ : $IN[33-48]
INW6=4 ;RESULT1 : $IN[49-64]
INW8=6 ;RESULT2 : $IN[65-80]
INW10=8 ;RESULT3 : $IN[81-96]
INW12=10 ;RESULT4 : $IN[97-112]
INW14=12 ;RESULT5 : $IN[113-128]
INW16=14 ;RESULT6 : $IN[129-144]
INW18=16 ;RESULT7 : $IN[145-160]
INW20=18 ;RESULT8 : $IN[161-176]
INW22=20 ;RESULT9 : $IN[177-192]
INW24=22 ;RESULT0 : $IN[193-208]
;------- Outputs --------
OUTW0=0 ;TASK WRITE : $OUT[1-16]
OUTW2=2 ;MMI WRITE : $OUT[17-32]
OUTW4=100 ;KEY WRITE : $OUT[33-48]
OUTW6=102 ;PARAM1 : $OUT[49-64]
OUTW8=104 ;PARAM2 : $OUT[65-80]
OUTW10=106 ;PARAM3 : $OUT[81-96]
OUTW12=108 ;PARAM4 : $OUT[97-112]
OUTW14=110 ;PARAM5 : $OUT[113-128]
OUTW16=112 ;PARAM6 : $OUT[129-144]
OUTW18=114 ;PARAM7 : $OUT[145-160]
OUTW20=116 ;PARAM8 : $OUT[161-176]
OUTW22=118 ;PARAM9 : $OUT[177-192]
OUTW24=120 ;PARAM0 : $OUT[193-208]
[FIPIO]
[PROFISL]
;------- Inputs ---------
INW0=0 ;$IN[1-16]
INW2=2 ;$IN[17-32]
INW10=4 ;$IN[81-96]
INW12=6 ;$IN[97-112]
;------- Outputs --------
OUTW0=0 ;$OUT[1-16]
OUTW2=2 ;$OUT[17-32]
OUTW10=4 ;$OUT[81-96]
OUTW12=6 ;$OUT[97-112]
[PROFIMA]
[RIO]
[LIBO]
[PBMASL]
[DNSC1]
[DNSC2]
[DNSC3]
[DNSC4]
[DNSC5]
[DNSC6]
[DSEIO]
INDW0=0 ;$IN[1-32]
OUTDW0=0 ;$OUT[1-32]
[INTERBUSPCI]
;------- Inputs ---------
;Slave Inputs
INW50=896 ;$IN[401-416]
INW52=898 ;$IN[417-432]
INW54=900 ;$IN[433-448]
INW56=902 ;$IN[449-464]
;------- Outputs --------
;Slave Outputs
OUTW50=896 ;$OUT[401-416]
OUTW52=898 ;$OUT[417-432]
OUTW54=900 ;$OUT[433-448]
OUTW56=902 ;$OUT[449-464]
[CNKE1]
;=ConNo, additional offset,xSize
[CNKE2]
;=ConNo, additional offset,xSize
[END SECTION]
;==========================================================
;Valid entries have the following formats.
;Arguments in squared brackets are optional.
;If nothing else is mentioned, arguments are decimal.
;Digital Inputs and Outputs:
;
; Form 1:
; {token}{offset}={byte}[,{multip}]
;
; {token} INB (byte), INW (word), INDW (double word)
; OUTB, OUTW, OUTDW
; {offset} byte offset of robot IO System (0..m)
; {byte} byte offset over all peripheral devices (0..m)
; Offset starts with 0 at the first device and
; ends with m at the end of the last device.
; {multip} creats n dataobjects of {token}
; Example:
; OUTW4=2,x3
; Three words of the periphery, starting at byte 2,
; are mapped to the outputs 33-80.
;
; Form 2:
; {token}{offset}={address},{byte}[,{multip}]
;
; {token} INB, INW, INDW, OUTB, OUTW, OUTDW
; {offset} byte offset of robot IO System
; {address} address of a peripheral device (0..m)
; driver specific information, see descr. below
; {byte} byte offset at this peripheral device (0..m)
; Offset starts with 0 at the every device
; driver specific information, see descr. below
; {multip} creats n dataobjects of {token}
; Example:
; INW4=10,0,x2
; Two words of the peripheral device with address 10 and
; up from byte 0 are mapped to the inputs 33-80.
;Analog Inputs and Outputs:
;
; Form 1:
; {token}{num}={byte},{res},{type}[,CAL{factor}]
;
; {token} ANIN or ANOUT
; {num} number of the analog channel (1..i)
; {byte} byte offset over all peripheral devices (0..m)
; Offset starts with 0 at the first device and
; ends with m at the end of the last device.
; {res} resolution of the analog value (number of bits)
; {type} type of analog value
; 0 : right justified without sign
; 1 : right justified with sign
; 2 : left justified without sign
; 3 : left justified with sign
; {factor} maximum analog value, decimal without prefix,
; hexadec. with prefix 0x or octal with prefix 0
; "CAL 0" or no entry sets factor to its maximum
; Example:
; ANIN1=10,12,3
; The analog input No.1 is used. The byte offset on
; peripheral side is 10, the resolution is 12 bit and the
; type of analog value is 3 (left justified with sign).
; The maximum binary analog value is 2047.
;
; Form 2:
; {token}{num}={address},{byte},{res},{type}[,CAL{factor}]
;
; {token} ANIN or ANOUT
; {num} number of the analog channel (1..i)
; {address} address of a peripheral device (0..m)
; driver specific information, see descr. below
; {byte} byte offset at this peripheral device (0..m)
; Offset starts with 0 at the every device
; driver specific information, see descr. below
; {res} resolution of the analog value (number of bits)
; {type} type of analog value
; 0 : right justified without sign
; 1 : right justified with sign
; 2 : left justified without sign
; 3 : left justified with sign
; {factor} maximum analog value, decimal without prefix,
; hexadec. with prefix 0x or octal with prefix 0
; "CAL 0" or no entry sets factor to its maximum
; Example:
; ANIN3=30,0,16,2,CAL 0x6C00
; The analog input No.3 is used. The device address is 30,
; the byte offset at this device is 0, the resolution is
; 16 bit and the type of analog value is 2 (left justified
; without sign). The maximum binary analog value is 27648.
; The CAL-factor is especially required in case of using
; Profibus analog modules.
;particularities:
;[MFC] MFC-IO with KRC1 / CAN-IO-Modul with KRC2
; Entries in form 1
;
;[INTERBUS/INTERBUSPCI] Interbus Phoenix Mast./Slave Cu/LWL
; Entries in form 1
; $IN/OUT[n_1]=(n+1)*8-7
; $IN/OUT[n_8]=(n+1)*8
;[DEVNET] DeviceNet on the KUKA MFC
; Entries in form 1 for driver dndrv.o
; Entries in form 2 for driver dn2drv.o
; If using dn2drv, be carefully when doing a Release Update,
; because the setup program will replace dn2drv with dndrv
; {address}=DeviceNet MACID
;[DNSC1] DeviceNet LPDN scanner channel 1
; Entries in form 2
; {address}=DeviceNet slave MACID
; {address}=MACID of CH1 ==> Slave part of LPDN CH1
;
;[DNSC2] DeviceNet LPDN scanner channel 2
; Entries in form 2
; {address}=DeviceNet slave MACID
; {address}=MACID of CH2 ==> Slave part of LPDN CH2
;
;[DNSC3] DeviceNet LPDN scanner channel 1
; Entries in form 2
; {address}=DeviceNet slave MACID
; {address}=MACID of CH1 ==> Slave part of LPDN CH1
;
;[DNSC4] DeviceNet LPDN scanner channel 2
; Entries in form 2
; {address}=DeviceNet slave MACID
; {address}=MACID of CH2 ==> Slave part of LPDN CH2
;
;[DNSC5] DeviceNet LPDN scanner channel 1
; Entries in form 2
; {address}=DeviceNet slave MACID
; {address}=MACID of CH1 ==> Slave part of LPDN CH1
;
;[DNSC6] DeviceNet LPDN scanner channel 2
; Entries in form 2
; {address}=DeviceNet slave MACID
; {address}=MACID of CH2 ==> Slave part of LPDN CH2
;
;[LIBO] Welding sensor LP-Elektronik
; Entries in form 1
;[RIO] Remote IO LP-Elektronik
; Entries in form 1
;[FIPIO] FIP IO Schneider automation
; Entries in form 1
;[BOSCH] Spot weld timer Bosch
; Entries in form 1
;[PERCEPTRON] Laser measurement system
; Entries in form 1
;[SBIP] Single board image processor KUKA
; Entries in form 1
; Portnr.=COMBUFIndex+1
;[PROFISL] Profibus Siemens Slave IM182
; Entries in form 2
;[PROFIMA] Profibus Siemens Master IM180/181
; Entries in form 1
;[PBMASL] ProfiBus Siemens Master/Slave CP5614
; Entries in form 2
; {address}=Slave DP-address
; {address}=127 ==> Slave part of CP5614
;[DSEIO] Digital inputs/outputs for KR C3A
; Entries in form 1
;[CNKE1] ControlNet 1784PCIC LP-Elektronik
; Entries in form 2
; {address}=ConNo
; {byte}=additional offset
;[CNKE2] ControlNet 1784PCIC LP-Elektronik
; Entries in form 2
; {address}=ConNo
; {byte}=additional offset