Posts by Johneg1

;==========================================================
; 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]

[DEVNET]
INB0=5,0,x1  ;$IN[1-8]
OUTB0=5,0,x1 ;$OUT[1-8]


[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