;-------------------------------------------------------------------
; AnxAbRioDrvCfg.txt is the top-level configuration file and must always
; exist in the configuration zip file.
; Options, RIO Baud, Racks and mappings.
; Template links to:
; - EthDev Ethernet/IP device parameters (may be included in EthDef)
; - EthDef Ethernet/IP mapping tags, may include device parameters
; - RioDef RIO Rack mappings to Ethernet/IP tags
; *** Note: Although Template files have a csv extension, they MUST be
;           edited with a text editor and commas are not required!
;-------------------------------------------------------------------

; Anything after a semicolon is considered a comment and is ignored

; Template files are simple "Include" files.
; Configuration commands can all be in the top level AnxAbRioDrvCfg.txt
; file, but repetitive and device specific commands and mappings may
; be moved to Template files and included several times in the top level

; Configuration Commands are not case sensitive.
; The following Configuration Commands are supported:

; FaultRioRacks ; inhibit racks if Ethernet/IP Target is not active
; UnschMsgDebug ; log unscheduled messages

; LedIgnNoise   ; inhibit NS LED for RIO Noise Errors
; LedIgnAbort   ; inhibit NS LED for RIO Abort Errors
; LedIgnCrc     ; inhibit NS LED for RIO CRC Errors
; LedIgnTout    ; inhibit NS LED for RIO Timeout Errors
; LedIgnPrcl    ; inhibit NS LED for RIO Protocol Errors

; RackStsPoll 100 ; Poll period for rack run status (10-44000 ms def 250)
                  ; Between 1 to 2 poll periods to clear the status bits.

; --- Specify the Baud Rate of the connected RIO Network.
Baud <baud>
    <baud> is 57k, 115k or 230k
    Example:
    Baud 230k

; --- Include Template File (optional)
Template <TplFile>
    <TplFile>       Template file to be included in-line - '.csv' is added
    Example:
    Template EthDef_PowerFlex_40   ; include file that defines drive Ethernet tags

; --- Begin Rack Configuration
Rack <rack> <startqtr> <endqtr>
    <rack>          00-76 octal
    <startqtr>      Start Quarter (1 to 4)
    <endqtr>        End   Quarter (1 to 4)

    Example:
Rack    0o10 1 2      ; Rack 10 octal, half rack starting at the first quarter

; --- Scheduled Connection Name
; Must be defined before rack
; If not defined a default will be filled in by the Rack command
Name "<Name>"
    <name>          User defined name shown on 'Monitor Ethernet/IP' web page
    Example:
    Name "ACS880_198"

; --- Ethernet/IP Target Device IP Address
IpAddr <IPAdress>
    Example:
    IpAddr 10.10.0.198

; --- Requested Packet Interval for Ethernet/IP Scheduled Connection
RPI <Time>
    <Time>          1 to 750ms
    Example:
    RPI 10

; --- Minimum Requested Packet Interval supported by Ethernet/IP Target Device
MinRPI <Time>
    <Time>          1 to 750ms Usually defined in EthDev file to limit RPI value in
                               top level configuration file. Device manufacturer my
                               specify this. Default is 1.
    Example:
    MinRPI 1

; --- Ethernet/IP Target Device Product Key Definition
Key <VendID> <ProdType> <ProdCode> <MajorRev> <MinorRev>
    <VendID>        Vendor ID - 0x0001 for Rockwell
    <ProdType>      Product Type
    <ProdCode>      Product Code
    <MajorRev>      Major Rev - prefix with 'c' for compatible mode
    <MinorRev>      Minor Rev
    ; Product Key information may be provided by the Device manufacturer.
    ; It can also be obtained from RSLinx or a *.eds file.
    ; If not defined, no Product Key is sent and Target Device may or
    ; may not accept the connection.
    Example:
    Key 0x0001 0x007B 0x490 c3 2

; --- Ethernet/IP Assembly Instance
AssemIns <Instance>
    <Instance>      1 to 65535 - Usually 4 or 6, defined by Device manufacturer
    Example:
    AssemIns 6

; --- Ethernet/IP Output or Originator to Target Connection Point
OutConnPt  <ConnPnt>
O_T_ConnPt <ConnPnt>
    <ConnPnt>       1 to 65535 - defined by Device manufacturer
    Example:
    OutConnPt 2

; --- Ethernet/IP Input or Target to Originator Connection Point
InpConnPt  <ConnPnt>
T_O_ConnPt <ConnPnt>
    <ConnPnt>       1 to 65535 - defined by Device manufacturer
    Example:
    InpConnPt 1

; --- CIP Path to Ethernet/IP Device
CipPath <CipPath>
    <CipPath>       Path to Ethernet/IP Target - Usually not needed since device is
                    on the local Ethernet network.
    Example:
    CipPath  0x01  0    ; Port 1 (Backplane), Slot 0

; Configuration Integer value(s) sent with Forward Open
CfgInt  <CfgVal>
CfgDint <CfgVal> ...
    <CfgVal>        Int/Dint Val, 0x for hex
    Examples:
    CfgInt  0x0023 0x0054 0x0000 1 2 -3 -4 0x1234
    CfgDint 0x0x12345678 -1000 1000 0x00000000

; --- Begin Inputs Configuration - Optional Ethernet/IP Input/T_O Length
Inputs [EIP_InpLen]
    [EIP_InpLen]    2 to 502 - Ethernet/IP Input Length in bytes
    ; Inputs/EndInputs can occur many times per device
    ; [EIP_InpLen] Specified once per device
    ; Len includes 2 byte CIP Sequence Number
    Example:
    Inputs 10   ; ByteLen: 'Seq'2 + 'StsHdr'4 + 'Payload'4 (2 int)

; --- End Inputs Configuration
EndInputs

; --- Begin Outputs Configuration - Optional Ethernet/IP Output/O_T Length
Outputs [EIP_OutLen]
    [EIP_OutLen]    6 to 502 - Ethernet/IP Output Length in bytes
    ; Outputs/EndOutputs can occur many times per device
    ; [EIP_OutLen] Specified once per device
    ; Len includes 2 byte CIP Sequence Number + 4 byte Run/Idle Header
    Example:
    Outputs 10  ; ByteLen: 'Seq'2 + 'Run/IdlHdr'4 + 'Payload'4 (2 int)

; --- End Outputs Configuration
EndOutputs

; --- End Rack and Ethernet/IP Device configuration
EndRack

; Mappings
----------

; --- Define Ethernet/IP I/O Tag - Optional
EthTag <TagName> <EthAddr>
    <TagName>   Unique for Device, separate for Inputs and Outputs
                Up to 63 chars long
                Alpha Numeric plus '_'
                Not case sensitive
                Max 256 tags for Inputs and 256 tags for Outputs per Device
    <EthAddr>   Int[Ofs]    Map 16-bit integer
                Dint[Ofs]   Map 32-bit integer
                Real[Ofs]   Map 32-bit real value (IEEE 754)
        [Ofs]   Int (16-bit) offset within Ethernet Frame, after 2 byte Sequence and 4 byte Header
                Int must be 16-bit aligned
                Dint/Real must be 32-bit aligned (even words)
                Modifiers:
                Header Start before Status Header (Inputs) or Run/Idle header (Outputs)
                Byte   Offset is in bytes
                Int    Offset is in Ints  (16-bit) Default
                Dint   Offset is in Dints (32-bit)
                Real   Offset is in Reals (32-bit)
        .<bit>  Bit number 0 to 15 for Int, 0 to 31 for Dint

    Ethernet/IP Output data always includes a 32-bit Run/Idle header, so Output data cannot be mapped there.
    Ethernet/IP Input data may include a 32-bit Status header, many devices don't map data there.
    The 'Header' modifier allows mapping to the header areas.

    Examples:
    EthTag Drive_Ready  int[Header 0].0     ; Byte ofs 0 + (0*'Int'2)
    EthTag Drive_Over   int[Header 1].0     ; Byte ofs 2 + (1*'Int'2)
    EthTag Drive_Under  int[Header 2].0     ; Byte ofs 4 + (2*'Int'2) same as int[0] below
    EthTag Drive_Active int[       0].0     ; Byte ofs 4 'Header'4 + (0*'Int'2) Same as int[Header 2] above

    EthTag Drive_Speed  real[Real  2].0     ; Byte ofs 12 'Header'4 + (2*'Real'4)
    EthTag Drive_Accel  int[Byte   8].0     ; Byte ofs 12 'Header'4 + (8*'Byte'1)
    EthTag Drive_Decel  Dint[Int   4].0     ; Byte ofs 12 'Header'4 + (4*'Int'2)
    EthTag Drive_Under  int[Dint   2].0     ; Byte ofs 12 'Header'4 + (2*'Dint'4)

    [Header x]: 0 1 2 3 4...
           [x]:     0 1 2...

; --- Map RIO Input Data
I:[Ofs] <AsignOper> <EthTag> or <EipAddr> [Mult] [Div]
    [Ofs]       Int Offset from Rack start quarter (0-7)
    <AsignOper> <- Direct Data
                <~ or {~  Invert (Bits only)
    <EthTag>    As defined above
    <EthAddr>   As defined above
    [Mult]      Int/Dint - 32-bit integer, Real
    [Div]       Int/Dint only, 1 to 65535

    Supports:
    Int  from Int  with dint Mlt & Div
    Int  from Dint with dint Mlt & Div
    Int  from Real with real Mlt
    *** No Out Of Bounds checking

    Examples:
    I:0.03   <- Drive_Ready   ; Ethernet Tag
    I:0.04   <~ dint[0].28    ; Ethernet Address, Invert
    I:1      <- OutputFreq   *32767/600  ; Int from Int  with Dint Mult Div
    I:2      <- dint[8]  *1000           ; Int from Dint with Dint mult
    I:4      <- real[10] *0.01           ; Int from Real with Real Mult

; --- Map RIO Output Data
O:[Ofs] <AsignOper> <EthTag> or <EipAddr> [Mult] [Div]
    [Ofs]       Int Offset from Rack start quarter (0-7)
    <AsignOper> -> Direct Data
                ~> or ~}  Invert (Bits only)
    <EthTag>    As defined above
    <EthAddr>   As defined above
    [Mult]      Int/Dint - 32-bit integer, Real
    [Div]       Int/Dint only, 1 to 65535

    Supports:
    Int  to Int     with dint Mlt & Div
    Int  to Dint    with dint Mlt & Div - Sign Extended
    Int  to Real    with real Mlt
    *** No Out Of Bounds checking

    Examples:
    O:0.03   -> Drive_Ready         ; Ethernet Tag
    O:0.04   ~> dint[0].28          ; Ethernet Address, Swap & Invert
    O:1  *32767/600 -> OutputFreq   ; Int to Int  with Dint Mult Div
    O:3  *1000      -> dint[8]      ; Int to Dint with Dint Mult Div - Sign Extended
    O:4  *0.25      -> real[10]     ; Int to Real with Real Mult