I/O Connectivity IOWorks Board Drivers Supports more than 60 I/O products from GE Fanuc C and C++ libraries enable you to choose your programming language Support for multiple operating systems, I/O buses, and single board computer (SBC) platforms enable you to choose the hardware and software that best fit your project requirements Libraries relieve you from low-level board register programming Functions available to program every feature on supported I/O boards You only need to learn a single API for all GE Fanuc I/O boards Graphical interfaces such as GE Fanuc s Visual IOWorks and National Instruments LabVIEW are available for IOWorks board drivers You can develop your own interface using ActiveX, OPC, and many other standard networking technologies Error logging capabilities enable you to set the size of your error log and allocate an external error log for multiple board objects Quick-start programs serve as templates for your own applications Online Help provides you with quick answers to all your IOWorks board driver questions Support for GE Fanuc s IOWorks component software enables you to expand your system for a variety of software solutions GE Fanuc s software maintenance agreement enables you to receive product updates and GE Fanuc customer service Hardware support for GE Fanuc processors and the Motorola 68 K/ PowerPC SBCs Operating system support for Windows NT /Windows 2000, VxWorks, Linux, QNX 4 and QNX 6.x Functional Characteristics Overview: IOWorks board drivers are GE Fanuc Embedded Systems IOWorks data acquisition and control (DAQC) software driver. It is a hardware and operating system-independent driver designed to support the widest variety of I/O in the industry. The driver operates with many operating systems such as Windows 2000, QNX, VxWorks, and Linux, and delivers high performance and flexibility across multiple platforms such as CompactPCI, VME and PCI. IOWorks board drivers take advantage of all the key benefits and features of each product, and new products are being added constantly. Ordering Information To order IOWorks board drivers requires two model numbers: VMISFT-9450 VMILIC-9450 The SFT number is the IOWorks board drivers product. It includes all of the tools you need to use IOWorks board drivers in your applications as well as one run-time license. The LIC number is the IOWorks board drivers run-time license. You can purchase additional licenses using this number. Please note that one run-time license is automatically included in the purchase of the IOWorks board drivers product. Ordering Options Sept. 24, 2004 820-009450-000 K A B C D E F VMISFT-9450 0 1 3 A = 0 (Option reserved for future use.) BC = Media 13 = CD-ROM DEF = Operating System 037 = VxWorks/Intel Version 038 = VxWorks/Motorola 68 K Version 039 = VxWorks/Motorola PowerPC Version 070 = QNX 4 002 = QNX 6.x 450 = Linux (Note 1) 910 = Windows 2000 911 = Reserved Note 1. Support for GE Fanuc VMEbus I/O boards only. Run-Time License A B C D E F VMILIC-9450 0 0 A = License Type 1 = Paper License 2 = Node Locked 3 = Installation Security Key BC = 00 (Options reserved for future use.) DEF = Operating System 037 = VxWorks/Intel Version 038 = VxWorks/Motorola 68 K Version 039 = VxWorks/Motorola PowerPC Version 070 = QNX 4 002 = QNX 6.x 450 = Linux (Note 1) 910 = Windows 2000 911 = Reserved For Ordering Information, Call: 1-800-322-3616 or 1-256-880-0444 FAX (256) 882-0859 Email: info.embeddedsystems@gefanuc.com Web Address: www.gefanuc.com/embedded Copyright 2004 by VMIC Specifications subject to change without notice. GE Fanuc Automation, Inc. 12090 South Memorial Parkway, Huntsville, Alabama 35803-3308 1
I/O Driver Software VME CompactPCI PCI Data Acquisition and Control Product Line CompactPCI Data Acquisition and Control Product Line QNX 6.x Your Application Development Simplified Windows 2000 Linux IOWorks Board Drivers VMISFT-9450 QNX 4 VxWorks ISA PCI IOWorks Software Component Expansion VMEbus Data Acquisition and Control Product Line IOWorks board drivers contain both a C++ class library and a C library that provide a common interface to GE Fanuc I/O products for reading, writing, and configuring. You do not need to know the details of how an individual board is programmed. For instance, you can use the SetAttributes on any supported GE Fanuc board; the WriteAnalog controls the output from any GE Fanuc analog output board; or the GetScanMode retrieves the scan mode for any GE Fanuc analog board. Introduction to IOWorks Board Drivers: GE Fanuc s IOWorks board drivers (VMISFT-9450) provide an object-oriented class library that operates independently of SBC type, operating system, and I/O bus architecture. IOWorks board drivers offer a common interface for programming a variety of GE Fanuc s I/O boards and supplies s to program every feature on these boards. Programmers who have experience with developing board drivers will find relief from low-level board register programming when using IOWorks board drivers. How to Use IOWorks Board Drivers: Using the s provided in IOWorks board drivers remove the need for you to write drivers for GE Fanuc I/O boards and allows you to focus on your applications software since a common application programming interface (API) for accessing the I/O is provided. You only need to learn a single API for all GE Fanuc I/O boards. IOWorks board driver libraries are the perfect solution for either custom software written for your control application in C++ or C, or for use in third-party human-machine interface (HMI) or control applications. If your application requires custom software to control your I/O, using GE Fanuc s IOWorks board drivers to tie your application code to your I/O will speed your development by using a common calling convention for similar features on all boards without the need to worry about programming the boards bit by bit. If your application makes use of a third-party HMI or control product, IOWorks board drivers provide a simple interface for quick and easy implementation. Using IOWorks board drivers in conjunction with other IOWorks components and GE Fanuc I/O products such as VMEbus Access and your favorite HMI product, you can quickly assemble a complete distributed control or monitoring system based upon GE Fanuc I/O. The IOWorks data acquisition and control driver is based upon open standards such as OPC and DDE. IOWorks components integrate easily and seamlessly with most popular HMI packages such as Wonderware, Citect, Intellution, and National Instruments test and measurement software products such as LabVIEW, BridgeVIEW, ComponentWorks, and Lookout. GE Fanuc s data acquisition and control products combined with the IOWorks DAQC driver products provide a flexible and powerful control and acquisition solution expandable to fit your application requirements. GE Fanuc Automation, Inc. 12090 South Memorial Parkway, Huntsville, Alabama 35803-3308 2
For those who prefer graphical programming languages, GE Fanuc provides graphical interfaces with its own Visual IOWorks (IEC 61131-3-compliant ladder logic and block programming) or National Instruments LabVIEW. However, you can also develop your own interface for IOWorks board drivers using ActiveX, OPC, and many other standard networking technologies. The IOWorks Board Drivers Product IOWorks board drivers are a library of C++ classes and C s that enable you to program a variety of GE Fanuc I/O boards using a common interface. The s and classes operate independently of the SBC, operating system, and bus you are using. This flexibility is achieved through abstraction layers. GE Fanuc has developed a variety of I/O boards for the VMEbus, PCI bus, CompactPCI bus, and others. However, when each of these boards has its own driver and, programming systems can be complicated. IOWorks board drivers provide a library of object-oriented classes and common s that you can use to program your boards. The same programs similar features for every board. For example, the GetScanMode can be used on all analog boards to retrieve the scan mode being used. Whatever the board s features, IOWorks board drivers have s to program it. Bus Abstraction: Translates IOWorks board driver to the appropriate bus platform. The abstraction consists of an object class with the generic bus objects and bus-specific objects. User Layer Bus Abstraction IOWorks Board Driver Objects OS Abstraction OS ( Windows 2000, VxWorks, etc.) Bus Abstraction Bus Platforms (VME, PCI, CPCI, etc.) SBC/Machine Abstraction SBCs (Intel, Motorola, etc.) VMEbus Access used for the VMEbus PCI-specific CPCI-specific GE Fanuc I/O Boards IOWorks board drivers are hardware and operating system-independent through the use of abstraction layers or wrappers that provide greater flexibility in developing your applications for a variety of systems. Using IOWorks board drivers enable you to choose the I/O boards, bus, operating system, and SBC that best fit your project requirements. The following sections describe in more detail each of the layers that comprise IOWorks board drivers. VME PCI CPCI TBD IOWorks board drivers support a variety of buses. To use the different buses, the software must supply certain parameters to reach the intended I/O boards. IOWorks board drivers contain an abstraction layer that consists of object-oriented classes which understand these parameters, translate the user, and access the appropriate bus. GE Fanuc I/O Boards: The IOWorks board driver package already supports a wide range of GE Fanuc I/O boards. Use the driver to program features specific to the supported board. Analog (Input, Output, Input/Output) Digital (Input, Output, Input/Output) Signal Conditioning Synchro/Resolver GE Fanuc I/O Board Categories GE Fanuc Automation, Inc. 12090 South Memorial Parkway, Huntsville, Alabama 35803-3308 3
Operating System Abstraction: Windows 2000- specific Linux-specific OS Abstraction VxWorksspecific Translates IOWorks board driver to the appropriate OS. This enables the IOWorks board driver to be ported to a variety of operating systems without significant design changes. QNX-specific Windows 2000 Linux VxWorks QNX TBD IOWorks board drivers support multiple operating systems. Part of IOWorks board driver code includes a al interface that manipulates the operating system information as needed and ensures the same user application will perform as expected regardless of what operating system is used. For example, when sharing critical resources, you must be able to establish and release resource locks. Each operating system requires different s and procedures to perform this operation. However, with IOWorks board drivers al interface, this operation is handled internally and is invisible to the user. SBC/Machine Abstraction: Fixed data types and byte swapping comprise the SBC abstraction so that IOWorks board driver objects run on a variety of machines. SBC/Machine Abstraction and recompile your code for the new machine. IOWorks board drivers use standard data types such as INT8, INT16, FLOAT32, etc. IOWorks board drivers also allow you to change the byte-swapping scheme by simply defining your target SBC as big-endian or little-endian. IOWorks Board Driver Functions: IOWorks Board Driver Classes IOWorks board drivers provide a library of C++ object-oriented classes and C s that you include in your application code. It supports a variety of GE Fanuc I/O boards, and s are provided to program every feature of the boards it supports. IOWorks board drivers provide s for: Analog I/O Digital I/O Analog Calibration Counter/Timer Operations Sequence-of-Events Change-of-State Board Control and Status Board Diagnostics Error Logging and Retrieval User Layer: If you prefer not to use the C/C++ programming interface, you can add one of GE Fanuc s other interfaces. User Layer Today Mapping for Intel-specific data types Mapping for Motorolaspecific data types LabVIEW C++ Function Blocks User-Defined API Intel Motorola TBD ActiveX Controls Tomorrow OPC Industrial Automation When programming for multiple SBC types, the most common problems are differences in data type size and byte swapping. IOWorks board drivers provide devices that enable you to quickly alter this information GE Fanuc Automation, Inc. 12090 South Memorial Parkway, Huntsville, Alabama 35803-3308 4
GE Fanuc provides two user interfaces for IOWorks board drivers: C++ Function Library for Visual IOWorks LabVIEW virtual instruments (Vis) Visual IOWorks is a graphical programming tool that enables you to write programs with IEC 61131-3-compliant ladder logic or block programming languages. The C++ Function Library for Visual IOWorks includes blocks for all IOWorks board drivers C++ s. With a simple drag-and-drop operation, you can program your GE Fanuc I/O boards. National Instruments LabVIEW product provides an interactive front panel to control your system and report the results. IOWorks board drivers provide LabVIEW VIs that enable you to control your GE Fanuc I/O boards from a LabVIEW environment. However, you are not limited to these interfaces. You can develop your own interfaces for the IOWorks board driver s using ActiveX, OPC, and other standard technologies. Using IOWorks Board Drivers IOWorks board drivers support all features of GE Fanuc I/O boards as shown in Table 1. The following sections discuss some of the features GE Fanuc I/O boards provide and how IOWorks board drivers enable you to easily program them for your needs. Buffers: IOWorks board drivers allow you to take advantage of some of GE Fanuc s analog input boards, which allow you to gather several scans-worth of data for processing. These boards use very large single buffers or double buffers. Single Buffers: GE Fanuc s VMIVME-3123 analog input board contains a very large single buffer that can store data from several scans. The buffer fills with data as it is gathered. Once the buffer is full, it starts over. A register contains the location of where the data is being stored. IOWorks board drivers provide s to make it easier for you to gather the buffered data. Use the SetBufferSizeInBytes or SetBufferSizeInSamples s to program the board to only use a certain amount of the buffer. The SetBoardInterruptSource sets the board to interrupt when the buffer is half-full or full. The ReadAnalogBuffer reads the register to know where the buffered data is stored and begins reading the data. Double Buffers: A board that supplies two buffers, such as GE Fanuc s VMIVME-3124, can also gather large amounts of data. After one is filled, it begins filling the second, enabling you to gather data from the first before it starts overwriting the data. With double-buffering, you don t have to worry about your code being out of sync and reading a section of the buffer that contains no data. IOWorks board drivers SetDoubleBuffer enables you to take advantage of this feature. Calibration: Many of GE Fanuc s I/O boards have self-calibration features. IOWorks board drivers provide several s that exercise this capability. GE Fanuc also has a test and calibration board, the VMIVME-4125A, that is supported by IOWorks board drivers. The board has an internal voltage source that it uses to test a board s signals. You can then adjust the gains and offsets to ensure you re getting the best possible signal from your board. IOWorks board drivers have a variety of s that enable you to use all the calibration features of the VMIVME-4125A. Waveforms: The VMIVME-4145 analog output board enables you to specify a sequence of voltages to output. You can use s from the IOWorks board drivers to program different waveforms into the VMIVME-4145 buffer. Then you can output these waveforms in the order they were entered, or specify a different order. Timers: IOWorks board driver s enable you to use timer features of your boards to control scans. You can program a timer to a value, and once that value counts down to zero, the board runs its scan. Triggers: Triggers are another way of capturing data. Using IOWorks board drivers, you can trigger a scan with a signal from external source, such as a signal from pin 1 going high, or use the software trigger to specify your own event. Thermocouple and RTD: GE Fanuc s thermocouple and RTD boards are fully supported by IOWorks board drivers. You can specify the type of resistor or thermocouple you are using, and then retrieve the results as a temperature or a voltage. Sequence-of-Events: Sequence-of-Events boards like GE Fanuc s VMIVME-1182 monitor incoming signals for any change of state (signals going from high to low or low to high). Any time a signal changes state, the board records an entry in a table. The entry includes the channel GE Fanuc Automation, Inc. 12090 South Memorial Parkway, Huntsville, Alabama 35803-3308 5
number and the time the change occurred. IOWorks board drivers include s to read the Sequence-of-Events table. Diagnostics: Many of GE Fanuc s I/O boards are equipped with diagnostic capabilities. The diagnostics routine puts the board in loopback mode it writes values out and reads them back after they have passed through the hardware. You can use IOWorks board driver s to easily initiate a board s diagnostic routine. Offline Diagnostics: Use the IOWorks board driver s RunOfflineDiagnostics to initiate offline diagnostics. With offline diagnostics, the board is not actually writing data. There is no need to worry about the board sending signals to any attached equipment. Online Diagnostics: Using the RunOnlineDiagnostics, you can initiate the online diagnostics feature some I/O boards provide. Online diagnostics provide a more thorough test of the board, but also send signals to attached equipment. Using IOWorks Board Drivers with the IOWorks Product Suite IOWorks board drivers are just one of the products from the IOWorks product suite. Combining it with other IOWorks products, you can enhance your applications. VMEbus Access : VMEbus Access provides the VMEbus support for IOWorks board drivers s. It consists of a driver and dynamic link library interface that provide you with the tools necessary to make accessing the VMEbus a simple task. VMEbus Access even provides utility programs to monitor and debug your accesses on the VMEbus. IOWorks Generic Device Driver: IOWorks generic device driver provides a set of s and utilities that make it possible to easily develop, debug, and run a standard Windows 2000, VxWorks, QNX 4, QNX 6.x, or Linux application that accesses any device whether it be a VME, PCI, or CompactPCI device. It is a PC hardwareindependent generic driver designed to support the widest variety of PC I/O in the industry. VMEbus users will require VMISFT-9420. PCI and CompactPCI bus users will require VMISFT-9421. Visual IOWorks: Visual IOWorks is a graphical programming tool that enables you to write programs with IEC 61131-3-compliant programming languages. The C++ Function Library (Controls Toolkit) for Visual IOWorks includes blocks for all IOWorks board drivers C++ s. With a simple drag-and-drop operation, you can program your GE Fanuc I/O boards. Soft Logic Link : GE Fanuc s Soft Logic Link provides the capability to load and control run-time source code for a Soft Logic controller. Soft Logic Link provides a graphical interface for connecting to a target, compiling executable source code, and loading the executable to the target. When you add IOWorks board drivers, you can add a variety of I/O boards to your Soft Logic control system. IOWorks Manager : Use IOWorks Manager to create and maintain your entire IOWorks environment including the IOWorks database. This database contains all of the symbols in your IOWorks modules enabling you to add, edit, and monitor the symbols, as well as share information among different applications. Symbols from code created using IOWorks board drivers can also be monitored and shared using the IOWorks Manager. System Requirements Hardware: To use IOWorks board drivers on your system, you need: 486 or higher processor - or - Motorola 68 K or PowerPC-based systems At least 10 Mbyte of free hard disk space per version. For example, if you choose to install both the VxWorks version for Intel and VxWorks version for Motorola, you will need 20 Mbyte of hard disk space. Software: Microsoft Windows NT 4.0/Windows 2000, QNX 4, QNX 6.x, VxWorks, Linux, or UNIX Microsoft Visual C++ 6.0 (any version that supports templates) - or - GNU compiler, VxWorks, and Linux Watcom C++ 10.1 - QNX GE Fanuc Automation, Inc. 12090 South Memorial Parkway, Huntsville, Alabama 35803-3308 6
You will require the following additional software depending upon the operating system and platform you are using. Operating System Windows 2000 VxWorks QNX 4 QNX 6.x Linux Prerequisite Software for GE Fanuc SBCs* VMEbus Access for Windows 2000 (VMISFT-9420 or -9421) VxWorks Board Support Package (VMISFT-7418) QNX Board Support Package (VMISFT-7417) (VME only) QNX Board Support Package (VMISFT-7435) Prerequisite Software for Standard Platforms VMISFT-9420 or -9421 N/A N/A N/A N/A * For the VxWorks operating system (using the Motorola 68 K or PowerPC), the appropriate Board Support Package is required. Software Maintenance A software service agreement is included with your software shipment. The agreement enables you to receive product updates and GE Fanuc customer service. To purchase maintenance/service for your software product, send GE Fanuc the completed form using the address indicated. You receive 30 days free maintenance with your purchase. After that time you must purchase a maintenance agreement in order to receive customer service. The policies are good for one year and are renewable each year. GE Fanuc will notify you when your agreement is about to expire. When you call the 800 customer service phone number, you must give your service representative the product serial number to receive customer support. You can find this serial number on the back of the CD jewel case, or on the invoice. To order annual maintenance for IOWorks products, use the prefix VMISWM- followed by the same ten digits as the product model number. For example, the part number for annual maintenance for VMISFT-9450-013-910, IOWorks board drivers is VMISWM-9450-013-910. To assist you in your Data Acquisition development, GE Fanuc has developed a wide variety of IOWorks software components to facilitate the solution to your I/O systems problems and simplify your development task while enhancing your time-to-market. Trademarks ActiveX, Microsoft, Visual C++, Windows, and Windows NT are registered trademarks of Microsoft Corporation. Intel is a registered trademark of Intel Corporation. CompactPCI is a registered trademark of PCI Industrial Computer Manufacturers Group. Other registered trademarks are the property of their respective owners. Table 1. IOWorks Board Drivers Supported Boards Supported Buses Supported Operating Systems Supported Boards VME PCI CPCI Linux Windows 2000 VxWorks QNX 4 QNX 6.x VMIVME-1111 X X X X X VMIVME-1128 X X X X X X VMIVME-1129 X X X X X VMIVME-1150 X X X X X VMIVME-1160A X X X X X VMIVME-1182 X X X X X VMIVME-1330 X X X X X VMIVME-2120 X X X X X X VMIVME-2127 X X X X X VMIVME-2128 X X X X X VMIVME-2131 X X X X X VMIVME-2170A X X X X X VMIVME-2200 X X X X X VMIVME-2210 X X X X X VMIVME-2232 X X X X X VMIVME-2330 X X X X X VMIVME-2510B X X X X X GE Fanuc Automation, Inc. 12090 South Memorial Parkway, Huntsville, Alabama 35803-3308 7
Table 1. IOWorks Board Drivers Supported Boards (continued) Supported Supported Buses Boards VME PCI CPCI Linux Windows 2000 Supported Operating Systems VxWorks QNX 4 QNX 6.x VMIVME-2528 X X X X X VMIVME-2532A X X X X X VMIVME-2534 X X X X X VMIVME-2536 X X X X X VMIVME-2540 X X X X X VMIVME-2700 X X X X X VMIVME-3111 X X X X X VMIVME-3113A X X X X X X VMIVME-3119 X X X X X VMIVME-3120 X X X X X VMIVME-3122 X X X X X VMIVME-3123 X X X X X VMIVME-3124 X X X X X VMIVME-3125 X X X X X VMIVME-3126A X X X X X VMIVME-3128 X X X X X VMIVME-3230 X X X X X VMIVME-3800 X X X X X VMIVME-3801 X X X X X VMIVME-4116 X X X X X VMIVME-4120 X X X X X VMIVME-4121 X X X X X VMIVME-4125A X X X X X VMIVME-4132 X X X X X VMIVME-4140 X X X X X VMIVME-4145 X X X X X VMIVME-4150 X X X X X VMIVME-4514A X X X X X VMIVME-4800 X X X X X VMIVME-4900 X X X X X VMIVME-4905 X X X X X VMIVME-4911 X X X X X VMIVME-4920 X X X X X VMIVME-4941 X X X X X VMIPCI-1335 X X (Note 1) X X (Note 2) X VMIPCI-2335 X X (Note 1) X X (Note 2) X VMIPCI-3322 X X (Note 1) X X (Note 2) X VMIPCI-4320 X X (Note 1) X X (Note 2) X VMICPCI-1120 X X (Note 1) X X (Note 2) X VMICPCI-1335 X X (Note 1) X X (Note 2) X VMICPCI-2140 X X (Note 1) X X (Note 2) X VMICPCI-2335 X X (Note 1) X X (Note 2) X VMICPCI-3322 X X (Note 1) X X (Note 2) X VMICPCI-4320 X X (Note 1) X X (Note 2) X Note 1. Linux support for CompactPCI and PCI boards is planned. Note 2. Intel platforms only. Motorola 68 K and PowerPC versions of the VMISFT-9450 do not support PCI or CompactPCI Boards. GE Fanuc Embedded Systems Information Centers USA and the Americas: Europe, Middle East and Africa: Huntsville, AL 1 800 322-3616 Edinburgh, UK 44 (131) 561-3520 1 (256) 880-0444 Paris, France 33 (1) 4324 6007 Ventura, CA 1 (805) 650-2111 Greenville, SC 1 (864) 627-8800 Additional Resources For more information, please visit the GE Fanuc Embedded Systems web site at: www.gefanuc.com/embedded