Hi you all, I have this KRC1 with KSS4.1, I would like to work with the analog module inside the cabinet (picture 1), it has 16 analog outputs and 16 analog inputs and correspond to the x11 configuration in the manual (picture 2). But the problem is that I can't configure these IO's, I have read that should be configured in the IOSYS file before to call them in a program, but I'm not sure how to do the configuration.
My IOSYS is showing too.
If anybody knows how to do it, please let me know .
Regards, Caleb.
;-----------------------------------------------------------------
; IOSYS.INI - Configuration file for the IO-System
;
; Driver entries must have the following format:
; <TYPE><SYSOFS>=<P1>,<P2>,<P3>
;
; Left side=Robot IO parameters
;
; TYPE=INB, INW, INDW, OUTB, OUTW, OUTDW, ANIN, ANOUT
; SYSOFS=is the byte offset in the robot IO-Image (0..x)
; or the analog port number (1..x)
;
; Right side=Driver Parameters (digital)
;
; P1=driver specific parameter (required), usually
; a byte offset the the drivers IO-Image
; P2=a second driver specific parameter (optional)
; or a multiplier (e.g. x4)
; P3=if P2 exists, (optional) a multiplier
;
; Right side=Driver Parameters (analog)
;
; P1=driver specific parameter (required), usually
; a byte offset the the drivers IO-Image
; P2=number of bits (8..16)
; P3=type of analog port
; 0 : right justified without sign
; 1 : right justified with sign
; 2 : left justified without sign
; 3 : left justified with sign
;
;-----------------------------------------------------------------
[CONFIG]
VERSION=1.00
[DRIVERS]
MFC=0,mfcEntry,mfcdrv.o
;DEVNET=2,dnInit,dndrv.o
;DN2=2,dnInit,dn2drv.o
;ESR=33,esrInit,esr0drv.o
[ESR]
INB50=5,0,x8
OUTB50=5,0,x16
[MFC]
INW0=0
OUTW0=0
;OUTW2=2
[INTERBUS]
;$IN/OUT[n_1]=(n+1)*8-7
;$IN/OUT[n_8]=(n+1)*8
; ------- 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]
;INB50=0,x8
;OUTB50=0,x8
[DN2]
;INB50=5,0,x8
;OUTB50=5,0,x8
[DNSC1]
;device net scanner channel 1
[DNSC2]
;device net scanner channel 2
[LIBO]
[RIO]
[FIPIO]
[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 ;$OUT[657-672] wrist angle pitch
OUTW84=16 ;$OUT[673-688] wrist angle yaw
[SBIP]
;Portnr.=COMBUFIndex+1
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]
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]
[PROFISL]
; ------- Outputs --------
OUTW0=0 ; $OUT[1-16]
OUTW2=2 ; $OUT[17-32]
OUTW10=4 ; $OUT[81-96]
OUTW12=6 ; $OUT[97-112]
; ------- Inputs ---------
INW0=0 ; $IN[1-16]
INW2=2 ; $IN[17-32]
INW10=4 ; $IN[81-96]
INW12=6 ; $IN[97-112]
[PROFIMA]
[PBMASL]
; ProfiBus MAsterSLave
; Remark: different right side parameters
; Examples:
; INW8=127,4,x1 slave modul (DP-Address 127), 4 bytes offset, data lenght 1 word
; OUTB10=10,0,x2 master slave (DP-Address 1-122), 0 bytes offset, data length 2 bytes
; ANIN1=4,2,12,0 DP-Address 4, 2 bytes offset, data length 12 bits, right justified without sign
[END SECTION]