© Stäubli 2009 – D28070504A CS8C108 / 248
5.10.4. CONFIGURATION OF SYSTEM INPUTS/OUTPUTS
System Inputs/Outputs are configured in the /usr/configs/iomap.cf file. Each CS8C controller is supplied with an
example /usr/configs/iomapExample.cf in which the configurations are commented out. To activate a
configuration, it is necessary to:
• Rename the iomapExample.cf file as iomap.cf
• Remove the "//" comments in front of the key words to be configured and replace the description after
the "=" by the name of an Input/Output. For example: enablePower = usrIn0
• Restart the CS8C
Any configuration errors in the iomap.cf file are listed in the events logger on start-up.
Configuration of system inputs
Certain CS8C functions require a user signal for which the default wiring can be reprogrammed:
When the MCP is replaced by its shorting plug, it is possible to simulate pressing certain keys using inputs:
Key word Description Type Default wiring
estopAcknowledge Acknowledgement of the
emergency stop in manual
mode
Digital input Internal signal concerning
detection of the MCP on its
holder
The emergency stop is acknowledged if this signal is activated when the arm is
powered on.
DANGER:
Current standards require that power must be switched on from outside the cell
after an emergency stop. This digital input must thus be linked to an item of
equipment outside the cell.
enablePower Signal that the system has
been powered on in remote
mode (see chapter 6.6.3)
Digital input No wiring
Key word Description Type
remoteMonitorSpeed Monitor speed selection [0, 100] Analog input
remoteMoveHold Replacement of the Move/Hold button Digital input
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