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I/O system
CALL-P
MFC Interbus DeviceNet
Periphery management
Soft PLC Robot system
Profibus
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Structure of IOSYS.INI
[CONFIG]
VERSION=1.00 [DRIVERS]
;MFC=0,mfcEntry,mfcdrv.o
INTERBUS=1,ibusInit,ibusdrv.o
;INTERBUSPCI =15,ibsCPPciInit,ibpcidrv.o [MFC]
; I/O assignments of the MFC [INTERBUS]
; I/O assignments of Interbus IOSYS.INI
Only for ISA cards
Only for PCI cards
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Activating the Interbus driver for ISA cards
[CONFIG]
VERSION=1.00 [DRIVERS]
;MFC=0,mfcEntry,mfcdrv.o
INTERBUS=1,ibusInit,ibusdrv.o
[MFC]
; I/O assignments of the MFC [INTERBUS]
; I/O assignments of Interbus [END SECTION]
Interbus section ISA Activate
IOSYS.INI
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Activating the Interbus driver for PCI cards
[CONFIG]
VERSION=1.00 [DRIVERS]
;MFC=0,mfcEntry,mfcdrv.o
INTERBUSPCI =15,ibsCPPciInit,ibpcidrv.o
[MFC]
; I/O assignments of the MFC [INTERBUSPCI]
; I/O assignments of Interbus [END SECTION]
Interbus section PCI Activate
IOSYS.INI
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+24V=TRUE, 0V=FALSE OUTPUTS
$OUT[1]
$OUT[2]
$OUT[3]
$OUT[4]
$OUT[5]
. . .
$OUT[1024]
INPUTS
$IN[1]
$IN[2]
$IN[3]
$IN[4]
$IN[5]
. . .
$IN[1024]
$IN[1025]=TRUE
$IN[1026]=FALSE
From the periphery
To the periphery Inputs/outputs of the KRC controller
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I/O assignment, digital I/Os (1)
Example: INB2=2,x2
OUTW6=32,x1
Byte offset , xMultiplier
=
Interbus side IN
OUT
B W
DW
Byte offset Robot side
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Configuration of digital I/Os (2)
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DI DO
DI DO
Configuration of digital I/Os (3)
If data from the slave interface are to be accessed, then the offset 896 or larger must be used on the Interbus side.
Example:
INB20=896,x8 OUTB20=896,x8
-An output on the PLC is an input on the robot.
-An input on the PLC is an output on the robot.
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© Copyright by KUKA Roboter GmbH College
ANALOG OUTPUTS
$ANOUT[1]
. . .
$ANOUT[32]
ANALOG INPUTS
$ANIN[1]
. . .
$ANIN[16]
From the periphery
To the periphery Analog inputs/outputs of the KRC controller
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Configuration of analog I/Os (1)
Type : Justification, sign
Byte offset , Exponent 2 , Type Interbus side
= ANIN
ANOUT
Index Robot side
Cal factor ,
CAL factor: Limitation of the value range This entry is optional.
For the analog module, the specified value in digits corresponds to the nominal value (e.g. 10V).
2 : left, without sign 3 : left, with sign 0 : right, without sign 1 : right, with sign
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Configuration of analog I/Os (2)
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Configuration of analog I/Os (3)
ANIN1=4,16,3,CAL30000 Example: Phoenix IB IL AI 2/SF: IOSYS.INI:
From the manual:
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Configuration of analog I/Os (4)
ANOUT1=4,16,2 or
ANOUT1=4,16,2,CAL65535 Example: Phoenix IB IL AO 1/SF: IOSYS.INI:
From the manual:
FFFFHex = 65535Dec
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Configuration of analog I/Os (5)
ANIN1=4,13,3 or
ANIN1=4,13,3,CAL4095 Example: Phoenix ST modules: IOSYS.INI:
From the manual:
Note: 7FF8Hex = 1111 1111 1111 1000Bin
1111 1111 1111 1Bin = 8191Dec (13 bits) With positive and negative range from – 4096 to + 4095
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© Copyright by KUKA Roboter GmbH College
Example of a bus configuration
• Slave ring: 16 DI, 16 DO
• Master ring:
Bus terminal 1: 16 DI, 16 DI, 16 DO Bus terminal 2: 2 AI, 2 AO, 8 DI Bus terminal 3: 16 DI, 8 DO
Sl: 16 DI Sl: 16 DO
KRC Master
BT 16 DI
16 DI
16 DO
BT 2
AI 2 AO
8 DI
BT 16 DI
8 DO
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Configuration of the inputs and outputs (1)
[INTERBUSPCI]
; Inputs of the master ring
INW0=0,x1 ; $IN[1-16]
INB2=2,x2 ; $IN[17-32]
ANIN1=4,16,3,CAL30000 ; $ANIN[1]
ANIN2=6,16,3,CALl30000 ; $ANIN[2]
INB4=8,x1 ; $IN[33-40]
INW5=9,x1 ; $IN[41-56]
; Outputs of the master ring
OUTW0=0,x1 ; $OUT[1-16]
ANOUT1=2,16,3,CAL30000 ; $ANOUT[1]
ANOUT2=4,16,3,CAL30000 ; $ANOUT[2]
OUTB2=6,x1 ; $OUT[17-24]
IOSYS.INI
Sl: 16 DI Sl: 16 DO
KRC Master
BT 16 DI
16 DI
16 DO
BT 2
AI 2 AO
8 DI
BT 16 DI
8 DO
0-1 2-3 0-1
9-10 6
4-7 2-5 8
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© Copyright by KUKA Roboter GmbH College
[INTERBUSPCI]
; Inputs of the master ring
INW0=0,x1 ; $IN[1-16]
INB2= ...
...
; Outputs of the master ring
OUTW0=0,1 ; $OUT[1-16]
ANOUT1= ...
...
; Inputs of the slave ring
INW12=896,x1 ; $IN[97-112]
; Outputs of the slave ring
OUTW12=896,x1 ; $OUT[97-112]
Configuration of the inputs and outputs (2)
IOSYS.INI
Sl: 16 DI Sl: 16 DO
KRC Master
BT 16 DI
16 DI
16 DO
BT 2
AI 2 AO
8 DI
BT 16 DI
8 DO
0-1 2-3 0-1
9-10 6
4-7 2-5 8
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Complete I/O configuration
[INTERBUSPCI]
; Inputs of the master ring
INW0=0,x1 ; $IN[1-16]
INB2=2,x2 ; $IN[17-32]
ANIN1=4,16,3,CAL30000 ; $ANIN[1]
ANIN2=6,16,3,CAL30000 ; $ANIN[2]
INB4=8,x1 ; $IN[33-40]
INW5=9,x1 ; $IN[41-56]
; Outputs of the master ring
OUTW0=0,x1 ; $OUT[1-16]
ANOUT1=2,16,3,CAL30000 ; $ANOUT[1]
ANOUT2=4,16,3,CAL30000 ; $ANOUT[2]
OUTB2=6,x1 ; $OUT[17-24]
; Inputs of the slave ring
INW12=896,x1 ; $IN[97-112]
; Outputs of the slave ring
OUTW12=896,x1 ; $OUT[97-112]
IOSYS.INI
Sl: 16 DI Sl: 16 DO
KRC Master
BT 16 DI
16 DI
16 DO
BT 2
AI 2 AO
8 DI
BT 16 DI
8 DO
0-1 2-3 0-1
9-10 6
4-7 2-5 8
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Memory allocation, taking the digital inputs as an example (1)
Robot controller - dig. inputs Interbus input memory
Interbus side Robot side
- :
- :
- :
- 8
- 7
6
INW5 5
INB4 4
INB3 3
INB2 2
1
INW0 0
Contents Byte offset
16 9
- 11
DI 10
8 DI 8
7
AI 6
2 5
4
DI 3
16 2
DI 1
16 0
Contents Byte offset
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Memory allocation, taking the digital inputs as an example (2)
Robot controller - dig. inputs Interbus input memory
Interbus side Robot side
- :
- :
- :
- :
- :
- :
13
INW12 12
- :
- :
- :
- :
Contents Byte offset
- -
- -
- -
- -
- -
- -
DI 897
16 896
- :
- :
- :
- :
Contents Byte offset
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Memory allocation, taking the analog inputs as an example (3)
Robot controller – analog inputs Interbus input memory
Interbus side Robot side
: :
ANIN5 5
- ANIN4 4
ANIN3 3
- ANIN2 2
- ANIN1 1
Contents INDEX
16 9
- 11
DI 10
8 DI 8
7
AI2 6
5
AI1 4
DI 3
16 2
DI 1
16 0
Contents Byte offset
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Memory allocation, taking the digital outputs as an example (1)
Robot controller - dig. outputs Interbus output memory
Interbus side Robot side
13
- :
OUTW12 12
- :
- :
- :
- :
- 4,...
- 3
OUTB2 2
1
OUT0 0
Contents Byte offset
16 896
- 898,...
DO 897
- :
- 7,...
8DO 6
5
AO 4
2 3
2
DO 1
16 0
Contents Byte offset
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Memory allocation, taking the analog outputs as an example (2)
Robot controller – analog outputs Interbus output memory
Interbus side Robot side
: :
ANOUT5 5
- ANOUT4 4
ANOUT3 3
- ANOUT2 2
- ANOUT1 1
Contents INDEX
- :
- :
- :
- :
- :
8DO 6
5
AO2 4
3
AO1 2
DO 1
16 0
Contents Byte offset
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Particular features (1) Intel/Motorola format (1)
Intel format
Byte 1 Byte 0
1 Word
Bit 8 value 256 (2exp8)
In the Motorola format, the bytes within a word are interchanged.
Bit 0 value 1 (2exp0)
Motorola format
Byte 0 Byte 1
1 Word
Bit 0 value 256 (2exp8)
Bit 8 value 1 (2exp0)
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Particular features (1) Intel/Motorola format (2)
PC-based controllers use the Intel formal. (KUKA KRC)
Depending on the module, it may be necessary to swap the bytes within a word!
Phoenix and Siemens use the Motorola format.
Example:
INB0=1,x1 ;Word 0 INB1=0,x1 ;Word 0 INB2=3,x1 ;Word 2 INB3=2,x1 ;Word 2
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Particular features (2) Control signals
•There are modules (e.g. analog inputs) which can be configured by means of control signals (outputs on the robot).
•These control signals can be configured if necessary.
•Control signals can be used to specify the analog format, for example.
•There exist modules with 8 inputs, for example. These module occupy 1 work on the Interbus memory (Interbus memory), however. The unused byte has no function.
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Particular features (3) Even-numbered offset control signals
There are modules (e.g. analog inputs and outputs) which always start at an even-numbered Interbus offset byte. The bytes in between are not used.
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