;==========================================================

; IOSYS.INI - Configuration file for the IO-System

;==========================================================
; For configuration help go to the end of this file.
;----------------------------------------------------------

; ATTENTION !!!! Since V5.0 Build13 we have removed the DeviceNet

; driver "dndrv.o". Now you have to use the driver
; "dn2drv.o" and the appropriate syntax (form 2)

[CONFIG]
VERSION=2.00

[DRIVERS]
DEVNET=2,dnInit,dn2drv.o
;CNKE2=21,cnke2CPInit,cnke2drv.o
;DNSC6=20,dnsc6Init,dnsc6drv.o
;DNSC5=19,dnsc5Init,dnsc5drv.o
;DNSC4=18,dnsc4Init,dnsc4drv.o
;DNSC3=17,dnsc3Init,dnsc3drv.o
;CNKE1=16,cnke1CPInit,cnke1drv.o
;INTERBUSPCI=15,ibsCPPciInit,ibpcidrv.o
;DSEIO=14,dseIoInit,dseiodrv.o
;DNSC2=13,dnsc2Init,dnsc2drv.o
;DNSC1=12,dnsc1Init,dnsc1drv.o
;PBMASL=11,pbmsInit,pfbmsdrv.o
;INTERBUS=1,ibusInit,ibusdrv.o
;MFC=0,mfcEntry,mfcdrv.o

[MFC]
INW0=0 ;$IN[1-16]
OUTW0=0 ;$OUT[1-16]
OUTW2=2 ;$OUT[17-32]

[INTERBUS]
INW50=896 ;$IN[401-416]
INW52=898 ;$IN[417-432]
INW54=900 ;$IN[433-448]
INW56=902 ;$IN[449-464]
OUTW50=896 ;$OUT[401-416]
OUTW52=898 ;$OUT[417-432]
OUTW54=900 ;$OUT[433-448]
OUTW56=902 ;$OUT[449-464]

[DEVNET]
;Devicenet MACID 3
INW0=3,0,x1
OUTB0=3,0,x1
OUTB1=3,1,X1
ANIN1=3,0,16,3, CAL32768
ANIN2=3,2,16,3, CaL32768
;Devicenet MACID 6
INB4=6,0,x1
INB5=6,1,X1
INB6=6,2,X2
INB7=6,3,X2
OUTB2=6,0,X1
OUTB3=6,1,X1
;Devicenet MACID 9
INB8=9,0,x1
INB9=9,1,X1
INB10=9,2,X2
INB11=9,3,X2
INB12=9,4,X3
INB13=9,5,X3
OUTB4=9,2,x1
OUTB5=9,0,X1
OUTB6=9,1,X2
OUTB7=9,2,X2
OUTB8=9,3,X3
OUTB9=9,4,X3
OUTB10=9,5,X4
OUTB11=9,6,X4
;Devicenet MACID 12
INB14=12,0,X1
INB15=12,1,X1
INB16=12,2,X2
INB17=12,3,X2
OUTB12=12,0,X1
OUTB13=12,1,X1
OUTB14=12,2,X2
OUTB15=12,3,X2
[PBMASL]

[DNSC1]

[DNSC2]

[DNSC3]

[DNSC4]

[DNSC5]

[DNSC6]

[DSEIO]
INDW0=0 ;$IN[1-32]
OUTDW0=0 ;$OUT[1-32]

[INTERBUSPCI]
INW50=896 ;$IN[401-416]
INW52=898 ;$IN[417-432]
INW54=900 ;$IN[433-448]
INW56=902 ;$IN[449-464]
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

[VIO]
;INW0=0 ;$IN[1-16]
;INW8=2 ;$IN[65-80]
;OUTW0=0 ;$OUT[1-16]
;OUTW2=2 ;$OUT[17-32]

[O2I]
;INW4=0 ;$IN[33-48]
;INW6=2 ;$IN[49-64]
;OUTW4=0 ;$OUT[33-48]
;OUTW6=2 ;$OUT[49-64]

[IOLINKING]

;==========================================================
;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 2 for driver dn2drv.o
; {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
;
;[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
;
;[VIO] inputs/outputs for Virtual IO driver over TCP/IP
; Entries in form 1
;
;VIO=30,vioInit,vio_drv.o
;
;[O2I] inputs/outputs for 'output to input for software developers'
; Entries in form 1
;
;O2I=31,o2iInit,o2i_drv.o
;
;[IOLINKING] Outputs follow inputs
; Special form:
; $OUT[{bitoffset}]=$IN[{bitoffset}]
;
; {bitoffset} Bit(!)offset in the robot I/O-System,
; starting with 1 (1..MAXIO)
;
; Example: $OUT[512]=$IN[401]
; In this case output nr. 512 (bit 8 of byte 63)
; is linked to input nr. 401 (bit 1 of byte 50)
;
; Notes:
; IOLINKING means outputs follow inputs in the robot
; I/O-system (within ipo-cycle), regardless if they
; are mapped to drivers.
; Port ranges cannot be specified, each bit must be
; linked by itself.
; Only a maximum of MAX_IOLINKS can be configured (set
; in progress.ini, if this value is increased, robot
; functionality cannot be guaranteed!).
;----------------------------------------------------------
; 04/02/02 section [IOLINKING] added
[END SECTION]