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Staubli CS8C User Manual

Staubli CS8C
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CS8C © Stäubli 2009 – D28070504A
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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).

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Staubli CS8C Specifications

General IconGeneral
BrandStaubli
ModelCS8C
CategoryController
LanguageEnglish