Staubli CS8C, Instruction Manual

Page: 83 / 248

CS8C © Stäubli 2009 –
D28070504A
83 / 248
Chapter 5 - Integration
5.4. AS-I
DIGITAL INPUTS/OUTPUTS (
RS
ARMS)
Note:
The
AS-I
function doesn't exist on
ARMIO
board of second generation.
Description
The
RS
arms support additional digital inputs and outputs on the fore arm, through the use of the
AS-I
bus that is
present on the
CIO
board (see chapter
5.3.1.7
). This
AS-I
bus supports up to
13 AS-I
slave modules of
4
digital
inputs and
4
digital outputs.
Configuration
AS-I
Inputs/Outputs are configured in the
/usr/configs/asi.cfx
file. Each
CS8C
controller is supplied with an
example in which the configurations are commented out. To activate a configuration:
•
Rename the
/usr/configs/asiExample.cfx
file in
/usr/configs/asi.cfx
.
•
Remove the slave configurations that are not needed.
•
For each remaining slave configuration, remove the Inputs/Outputs configurations that are not needed.
•
If desired modify the default name of each
AS-I
Input/Output, and select its logical mode (inverted / notInverted).
•
Restart the
CS8C
.
It is possible to define analog Inputs/Outputs based on the digital Inputs/Outputs of an
AS-I
module (see provided
asiExample.cfx
file):
•
The "
channel
" and "
bitCount
"' parameters define the first and the number of digital signals to use to build the
analog signal.
•
The format of the analog signal is either "
signed
" or "
unsigned
".
•
The "
coefA
" and "
coefB
" parameters define the linear transformation to apply:
•
When writing on analog outputs, the linear transformation
y = a.x + b
is applied.
•
When reading an analog input or output, the linear transformation
x = (y-b) / a is
applied.
Any configuration errors in the
asi.cfx
file are listed in the events logger on start-up. You can check the status of
the
AS-I
Inputs/Outputs in the Control Panel display.
WARNING:
•
Only
4
slave modules are supported when they are powered by the
CIO
board. You need an
external power supply to support additional slave modules (up to
13
).
•
The
AS-I
bus of the
CIO
board supports the
AS-I 1
specification: Analog Inputs/Outputs and
AB
modules are not supported.
•
Each slave module must have an address on the
AS-I
bus (a value between
1
and
13
). This
address cannot be assigned with the
CS8C
controller. You need an external device to
configure it. Such
AS-I
configuration tools can be found by
AS-I
devices manufacturers.
•
The slave modules present on the
AS-I
bus cannot be detected automatically by the
CS8C
controller. You have to declare them to the controller (see Configuration hereafter).