Reference Manual: IPS Structure

The heart
of Robotics
Reference Manual
IPS Structure
3HNA013099-001 en Rev.02
IPS Version 4.30 -

Reference Manual
IPS Structure
IPS Version 4.30 -
3HNA013099-001 en Rev.02
First Edition: 15 April 2008

Last Revised: 27 October 2009
Reference Manual, IPS Structure

The information in this document is subject to change without notice and should not be
construed as a commitment by ABB. ABB assumes no responsibility for any errors that may
appear in this document.
Except as may be expressly stated anywhere in this document, nothing herein shall be
construed as any kind of guarantee or warranty by ABB for losses, damages to persons or
property, fitness for a specific purpose or the like.
In no event shall ABB be liable for incidental or consequential damages arising from use of
this document or of the software and hardware described in this document.
We reserve all rights in this document and in the information contained therein.
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Additional copies of this document may be obtained from ABB at its then current charge.
© Copyright 2008-2009 ABB All right reserved.

ABB AS Automation Technologies
Robotics
N-4341 Bryne
Norway
Reference Manual, IPS Structure Table of Contents
Table of Contents

1 Introduction 11
1.1 Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
1.2 General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
2 Description of Configuration Types 13

2.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
2.2 IIRCOEFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
2.3 IIRFILTER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
2.4 MEANFILTER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
2.5 LINEARCURVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
2.6 INDEXTABLE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
2.7 STROBEDEVICE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
2.8 SENSOR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
2.9 VENTURISENSOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
2.10 ACTUATOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
2.11 REGULATOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.12 BELLREGULATOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.13 HVDCONTROLLER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
2.14 FILTERASSIGN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
2.15 SELECTOR. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64
2.16 MIXER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68
2.17 POTLIFEALARM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
2.18 DEVIATIONALARM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
2.19 LIMITALARM. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
2.20 PEAKDETECTALARM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
2.21 APPLICATOR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
2.22 INTERLOCKER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
2.23 PARTLOGGER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
2.24 BRUSHDEVICE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
2.25 BATCHENGINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
2.26 MCENGINE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
2.27 VARIABLEDEVICE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
2.28 FILTERDEVICE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
2.29 PARAMETER . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
2.30 CONNECTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
2.31 Ppru1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
2.31.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
2.31.2 Ppru1/IP1..3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
2.31.3 Ppru1/PS1..3 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
2.31.4 Ppru1/DPS1..2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
2.31.5 PPRU Configuration Example . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123
2.32 PntOut. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
2.33 OnePhaseEnc, TwoPhaseEnc and IntDigin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
2.34 ANIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
2.35 Psib1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
2.35.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
2.35.2 Psib1/Anin1..8 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
2.36 DIGIN and CMIO/DIGIN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
2.37 DIPORT and CMIO/DIPORT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
2.38 ANOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
2.39 CMAO/ANOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
2.40 DIGOUT, CMIO/DIGOUT and VLC/DIGOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
2.41 DOPORT, CMIO/DOPORT and VLC/DOPORT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
2.42 MCCC1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
2.42.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
2.42.2 MCCC1/Digin . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
2.42.3 MCCC1/Digout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
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Table of Contents Reference Manual, IPS Structure
2.43 iDrive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
3 Configuration Guidelines 153

3.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
3.2 Calibration of Actuator Curve (Actuator Characteristic) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
3.2.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
3.2.2 Example 1 - Calibration of Dynamic Curve for Atom or Shape . . . . . . . . . . . . . . . . . . . . . . . 155
3.2.3 Example 2 - Calibration of Dynamic Curves for Fluid. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
3.3 Calibration of Curves Used in Open Loop Mode for a Bell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
3.3.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
3.3.2 Example 1 - Calibration of Curves for a Bell. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
3.4 Calibration/Scaling of an Air Flow Sensor (Venturi Sensor) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
3.4.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
3.4.2 Example 1 - Calibration/Scaling of an Air Flow Sensor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 158
3.5 Scaling/Linearization of Sensor or Actuator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
3.5.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 159
3.5.2 Example 1 - Scaling of a Pressure Sensor. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
3.5.3 Example 2 - Scaling of a Fluid Gearflow Meter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162
3.5.4 Example 3 - Scaling of an I/P Transducer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
3.6 Changing Pump Sizes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
3.6.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
3.6.2 Example 1 - SDI pump control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
3.6.3 Example 2 - Table for Pump Sizes and Gearbox . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 167
3.7 Connection of IPS Signals to Physical Outputs (Mirroring). . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
3.7.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
3.7.2 Example 1 - Mirroring of Needle Signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
3.8 Tuning of Compensation Delays in a Fluid Application System . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
3.8.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169
3.8.2 Procedure - Preparation for Compensation Parameters Tuning . . . . . . . . . . . . . . . . . . . . . . 170
3.8.3 Procedure - Establishing Gun Needle Delay Compensation Parameters . . . . . . . . . . . . . . . 172
3.8.4 Procedure - Establish Fluid Delay Compensation Parameters . . . . . . . . . . . . . . . . . . . . . . . 174
3.8.5 Procedure - Establish Air Delay Compensation Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 175
3.9 Supervision Functions for a Bell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
3.9.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
3.9.2 Example 1 - Supervision Functions for Bell . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
3.10 Consumption. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
3.11 Linear Delay Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
3.12 Supervision Functions for Pumps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
3.12.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
3.12.2 Example 1 - Supervision Functions for a Pump . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
3.13 ‘Cascade’ Function for Color Valves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
3.13.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
3.13.2 Example 1 - Cascade Function . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
3.14 Automatic Needle Delay Compensation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
3.14.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 185
3.14.2 Example 1 - Configuration of Needle Delay Compensation . . . . . . . . . . . . . . . . . . . . . . . . . 185
3.14.3 Example 2 - Calibration of needle delay times . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
4 Configuration Examples 187
4.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
5 I/O Overview 189
5.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 189
5.2 PIO Board . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190
5.3 Valve Control Driver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
5.4 AMCM Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 192
6 IPS System and Error Messages 195

6.1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
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6.2 Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196

Table of Contents Reference Manual, IPS Structure

This manual provides information on the IPS configuration types/parameters which
are used with a control cabinet system.
WARNING! Before performing any work described in this manual, the Safety
Manual must be read and understood. Work must only be performed by skilled
personnel with the proper training.
The Safety Manual is included in the Software and Documentation DVD following
each robot, and is also shipped with the robot as paper copy, included in the control
cabinet.

1 Introduction
1.1 Overview
1 Introduction
1.1 Overview
About This Manual This manual contains information about IPS configuration types/parameters.
Usage This manual should be used during:
• Installation/startup
• Commissioning
Who Should Read This This manual is intended for:

Manual?
• Installation personnel
• Robot programmers
• Robot production operators
• Service personnel
Prerequisites The reader should:
• Be a trained installation engineer, programmer or operator.

• Have the required knowledge of operating the robot during installation,
commissioning and production.
• Read the Safety Manual and follow directions at all times.
Organization of The manual is organized in the following chapters.

Chapters
Chapter Description
1. Introduction This chapter
2. Description of Configuration Types Description of each type/parameter for the IPS, with
some examples.
3. Configuration Guidelines Configuration hints.
4. Configuration Examples Examples on how to configure the IPS with the most
common system application setup.
5. I/O Overview I/O overview of the different existing IPS boards.
6. IPS System and Error Messages Messages generated from the IPS software.
References Following manuals are referred to in this manual.:

Unit Description, Paint Extended information for troubleshooting.
3HNA012856-001

1 Introduction
1.2 General Information
1.2 General Information
Description The information in this manual applies for IPS software version 4.30 and later.
This manual applies for control cabinet of type IRC5P.
Some of the signals/parameters described in this manual may not be available for a
specific IPS software version.

2 Description of Configuration Types
2.1 Introduction

2.1 Introduction
General This chapter describes the different types which a configuration file on an IPS board
can contain. Most of the configuration files will be located on the master IPS board,
which is called the PIB board. Following figure shows a common configuration file
structure that will be used on the PIB board:
Figure 1 IPS file structure
/tffs0_ntfy
autoexec.bat
config
a_physical
<ips file name >.cfg
b_devices
c_applicator
d_brush
param
<param file name >.par
<brush device name> (e.g. A1Brush)
Table<number>.bt
calib
<curve file name> (e.g. A1Atom.c32)
<calib file name> (e.g. A1HV.cpa)
<calib file name> (e.g. A1HV.log)
index
<index file name>.ndx (e.g. A1Btab.ndx)
Note: The use of folders calib and index are dependent on the IPS software version
running on the PIB board.
The autoexec.bat file (located on root) will typically contain following:

cfg load config
!call param
Note: The cfg load command will load all configuration files located in the config
folder (including subfolders and subfiles). The call command will call all parameter
files located in param folder.

2.1 Introduction
There are four different types; data item types, alarm types, device types and fixed
device types. For each type, there will be examples on how to make instances of the
specific type. For each instance, which is configured under an alarm type, device
type or fixed device type, the properties for the instances will be separated under
two sections; a signal section and a parameter section. Signal section is used to set
and get different signals for the specific instance. Parameter section is used to set
and get different parameters used for the specific instance. The signal section can be
accessed via analog and digital inputs/outputs from the control cabinet, or from a
terminal connected to an IPS node. The parameter section can be set in the different
configuration files (under section PARAMETER), in parameter files located under
directory PARAM, or ‘on the fly’ from a terminal connected to an IPS node.
When RobView is installed on a computer and connected to PIB board, then there
are special menus for accessing different functions on the IPS:
configuration/parameter files operation editor, calibration of devices, parameter
editing, brush editor, etc. This will give a more user friendly interface between IPS
and robot controller.
The argument part in the different sections is used to describe what is needed or not
for a configuration job. Arguments enclosed with square brackets [ ] are optional.
In argument parts, these definitions will apply:
“<coeff name>” - refers to a coefficient set made in IIRCOEFF section.

“<filter name>” - refers to a filter made in IIRFILTER section.
“<curve name>” - refers to a curve made in LINEARCURVE section.
“<dev name>” - refers to an existing device or to a fixed device, e.g “Anout1”
“<type name>” - refers to a fixed type name.
“<signal name>” - refers to a specific signal name.
“<param name>” - refers to a specific parameter name.
“<file name>” - refers to a specific file name.
“<table name>” - refers to a specific table name made in INDEXTABLE section.
Note: Some of the signals/parameters described in this manual may not be available
for a specific IPS software version.

2.2 IIRCOEFF
2.2 IIRCOEFF
Description IIRCOEFF means Infinite Impulse Response COEFFicient. These coefficients are
used by IIRFILTER to give a filter a specific response/behaviour. The coefficient
values determine the filter response, and this can be a lowpass, highpass or regulator
filter, etc. These values can be positive or negative. This is a data item type, and has
the following configuration parameters:
• b0[Real]: b0 value in an iir filter

• a1[Real]: a1 value in an iir filter
• a2[Real]: a2 value in an iir filter
This type is not dependent on other types.
Example IIRCOEFF:
-name "A1AirCoeff" -b0 0.009758 -b1 -0.00854 -b2 0 -a1 1 -a2 0
-name "A1AtomCoeff" -b0 2 -b1 -1.94 -a1 1
-name "A1HVCoeff" -b0 0.9 -b1 -0.48 -b2 0 -a1 1 -a2 0
-name "Lp5Hz" -b0 0.046084 -b1 0.092168 -b2 0.046084 \
-a1 1.305927 -a2 -0.490263
Note: A1AirCoeff is typical coefficient value set for a closed loop air regulator for
a conventional spray gun. A1AtomCoeff is typical coefficient value set for a closed
loop bell speed regulator for a bell applicator. A1HVCoeff is typical coefficient
value set for a closed loop high voltage regulator for a G1 water based bell
applicator. LP5Hz is typical coefficient value set for a lowpass filter, and is used to
filtrate the fluid pressure ripple in and out of a gear pump. Changing these
coefficient values can cause the different regulators to be unstable, or the lowpass
filter response will be changed. It is important that only skilled personnel is
changing these coefficients!
Arguments IIRCOEFF:
-name "<string>" -b0 <num> [-b1 <num>] [-b2 <num>] [-a1 <num>] [-a2 <num>]

2.3 IIRFILTER
2.3 IIRFILTER
Description IIRFILTER means Infinite Impulse Response FILTER. The IIRFILTER type
connects the specified coefficients to a filter name. A standard IIR filter is shown in
Figure 2.
This is a data item type and is dependent on IIRCOEFF. Several instances of

IIRFILTER may use the same instance of an IIRCOEFF.
Figure 2 IIRfilter
u y
b0
-1 -1
Z Z
b1 a1
-1 -1
Z Z
b2 a2
Example IIRCOEFF:
-name "A1AirCoeff" -b0 0.009758 -b1 -0.00854 -b2 0 -a1 1 -a2 0
IIRFILTER:
-name "A1AtomReg" -use_coeff "A1AirCoeff"
-name "A1ShapeReg" -use_coeff "A1AirCoeff"
Arguments IIRFILTER:
-name "<string>" -use_coeff "<coeff name>"

2.4 MEANFILTER
2.4 MEANFILTER
Description MEANFILTER is used to configure that a parameter shall be filtered with a mean
value. In the MEANFILTER section, a filter size can be specified. This size is used
to specify the number of values in the filter to be used to calculate the mean value. If
a MEANFILTER is made with size 10, the mean value of 10 values is used for the
actual parameter that is filtered. Typical use of MEANFILTER is when a gun is used
with a needle feedback signal for automatic needle delay compensations. This is a
data item type, and has the following configuration parameter:
• size[Num]: Specifies the meanfilter size value used.

Example ACTUATOR:
-name "A1Needle" -use_output "Digout1" -use_input "IntDigin3"
MEANFILTER:
-name "A1NeedleUp" -size 10
-name "A1NeedleDown" -size 10
FILTERASSIGN:
-path "A1Needle/DynDelayUp" -use_filter "A1NeedleUp"
-path "A1Needle/DynDelayDown" -use_filter "A1NeedleDown"
Arguments MEANFILTER:
-name "<string>" -size <num>

2.5 LINEARCURVE
2.5 LINEARCURVE
Description LINEARCURVE is used for scaling purposes of sensors, actuators, etc. The general
equation for a linear curve is y= ax+b, where a is factor and b is offset. This is a data
item type, and has the following configuration parameters:
• factor[Real]: Factor value for the linear curve

• offset[Real]: Offset value for the linear curve
Example LINEARCURVE:
-name "A1AtomPSCurve" -offset 0 -factor 1
-name "A1AtomDPSCurve" -offset 0 -factor 0.05
-name "A1AtomIPCurve" -offset 0 -factor 1.45
-name "A1SpeedCurve" -offset 0 -factor 0.04
-name "A1BlMCurve" -offset 0 -factor 0.641
-name "A1Pump1Curve" -offset 0 -factor 0.166
Arguments LINEARCURVE:
-name "<string>" -offset <num> -factor <num>

2.5 LINEARCURVE
Scaling of a Pressure The following example shows scaling of a pressure sensor.

Sensor
Pressure sensor specification:
Pressure range: 0->25 Bar

Signal range: 2-10 volt
The conversion from a voltage signal to a pressure signal can be scaled with a linear
curve, and the result is shown in Figure 3.
Configuration will be as follows:

LINEARCURVE:
-name "A1PSCurve" -offset -6.25 -factor 3.125
Figure 3 Linear curve
y [Bar]
30
25
A1PSCurve
20
[Volt] [Bar]
15
10
5 A1AirPSCurve
1 2 3 4 5 6 7 8 9 10 x [Volt]
-5
-10
-15

2.5 LINEARCURVE
Scaling of an Atomizing The following example shows scaling of an atomizing I/P transducer.
I/P transducer
I/P transducer specification:
Pressure output range: 0-6.9 Bar

Signal input range: 0-10 volt
The conversion from a pressure signal to a voltage signal can be scaled with a linear
curve, and the result is shown in Figure 4.

LINEARCURVE:
-name "A1AtomIPCurve" -offset 0-factor 1.45
Figure 4 Linear Curve for I/P transducer
y [Volt]
10
8 A1AtomIPCurve
6
[Bar] [Volt]
4
1 2 3 4 5 6 7 x [Bar]

2.5 LINEARCURVE
Scaling of Bell Rotation The following example shows scaling of different bell rotation sensors.
Sensors
The input signal from the rotation sensors is pulses/sec, and is scaled to a rotation
speed value of [kRpm].
Specification for rotation sensor1 (A1AtomRS1):
Signal range: One bell revolution gives 1 pulse on the used encoder input.
Signal output unit: [kRpm]
Assume that the bell cup is running with a speed of 1 rev/sec, which means that the
input to the encoder is 1 pulse/sec. 1 rev/sec is the same as 60 rev/min (0.06 kRpm),
and the input value of 1 pulse/sec must be scaled to a value of 0.06 [kRpm]. This
means that the number of 1 [pulse/sec] must be multiplied with a factor of 0.06 to
get the correct value of 0.06 [kRpm].
Specification for rotation sensor2 (A1AtomRS2):
Signal range: One bell revolution gives 4 pulses on the used encoder input.
Signal output unit: [kRpm]
Assume that the bell cup is running with a speed of 1 rev/sec, which means that the
input to the encoder is 4 pulses/sec. 1 rev/sec is the same as 60 rev/min (0.06
kRpm), and the input value of 4 pulses/sec must be scaled to a value of 0.06
[kRpm]. This means that the number of 4 [pulses/sec] must be multiplied with a
factor of 0.015 to get the correct value of 0.06 [kRpm].
The conversion from a pulses/sec signal to a rotation speed value in [kRpm] is

scaled with linear curves, and the results are shown in Figure 5.

LINEARCURVE:
-name "A1AtomRS1Curve" -offset 0 -factor 0.06
-name "A1AtomRS2Curve" -offset 0 -factor 0.015
Figure 5 Scaling of bell rotation sensors
[kRpm]
30
[Pulses/sec] [kRpm]
25 A1AtomRS1Curve
20
15
10
A1AtomRS2Curve
5
[Pulses/sec]
100 200 300 400 500 600 700 800 900 1000

2.6 INDEXTABLE
2.6 INDEXTABLE
Description INDEXTABLE is used to specify different index tables used in a system. These
index tables must be stored locally on the IPS board as files, and these files have a
defined table format. The format is two columns with numbers, and the numbers are
separated with a comma.
This is a data item type, and is normally used together with a stand alone IPS
system.
Example IPS:CFG_2.0::
INDEXTABLE:
-name "A1BrushTab" -use_file "A1BTab.ndx"
ACTUATOR:
-name "A1Material" -use_output "DoPort(1-4)"
-name "A1Brush" -use_output "DoPort(5-8)"
CONNECTION:
-from "A1Material" -to "A1Brush" -use_table "A1BrushTab"
CFG_END
Example of format for “A1BTab.ndx” file:

-------------- A1Material value
| ---------- A1Brush value
| |
0, 0
1, 1
2, 1
3, 2
4, 2
5, 2
Note: This is only an example on how indexing works, and the devices A1Material
and A1Brush are created as actuators only to simplify the configuration example
(normally these devices will be created as other types, e.g. STROBEDEVICE,
BRUSHDEVICE). The CONNECTION part is used to specify the index table to be
used between A1Material and A1Brush. The index file (named A1BTab.ndx) has
two columns with numbers, and the numbers are separated with a comma. Based on
the index file, the brush value will be set to a value based on material value. In this
case: If material value is set to 1 or 2, the brush value will be 1. If material value is
set to 3, 4 or 5, the brush value will be 2.
Arguments INDEXTABLE:
-name "<string>" -use_file "<file name>"

2.7 STROBEDEVICE
2.7 STROBEDEVICE
Description STROBEDEVICE is used as an input signal device with strobing/toggling. This is

normally used with external equipment that is setting a value to the device and then
strobes an input telling that the input value is ready to be read.
This is a device type, which is normally used together with a stand alone IPS
system, and may use an INDEXTABLE for indexing.
INDEXTABLE:
ACTUATOR:
-name "A1Brush" -use_output "DoPort(5-8)"
STROBEDEVICE:
-name "A1Material"
CONNECTION:
-from "A1Material" -to "A1Brush" -use_table "A1BrushTab"
CFG_END
Note: A1Material is created as a STROBEDEVICE and A1Brush as an

ACTUATOR. A1Material can be set up with a value, and this value can then be
‘strobed/toggled’ to A1Brush device.
Arguments STROBEDEVICE:
-name "<string>"
Signals and Parameters
STROBEDEVICE
Signals Parameters
Signal name Access Value Value Parameter name Access Value Value
type unit type unit
Value r/w num
RawVal r num
Toggle r/w bool 0/1
Value This signal is used to set the next input value for the strobedevice, but it will show
the ‘strobed/toggled’ value output for the strobedevice. If a new setpoint is set to
Value signal, the RawVal signal will show this new setpoint value. After a
‘strobe/toggle’ signal is given (setting Toggle signal from 0 to 1 and then back to 0),

2.7 STROBEDEVICE
Value and RawValue signal will be the same. The signal can be connected to a
digital output from the control cabinet or from an external output.
RawVal This signal shows the actual input value before it has been ‘strobed/toggled’ through
the strobedevice. This signal will be the same as the Value signal if a ‘strobe/toggle’
is given and no new value is set to signal Value.This signal can be connected to an
input in the control cabinet or to an external input.
Toggle This signal is used to ‘strobe/toggle’ value through the strobedevice, and this value
will be held on the Value signal until a new ‘strobe/toggle’ is set. ‘Strobe/Toggle’
means to set the Toggle signal from value 0 to 1 and then back to value 0. The signal
can be connected to a digital output from the control cabinet or from an external
output.

2.8 SENSOR
2.8 SENSOR
Description SENSOR is used to connect different sensors used in a fluid application system to
inputs on an IPS board. An input can be analog, digital or encoder input. The input
signal from the sensor can also be scaled with a linear curve. This type has the
following configuration parameter:
• Unit[num]: Specifies the unit for the sensor connected:

1= Bar
2=Psi
3=ml/min
4=Nl/min
5=rpm
6=krpm
7=Kv
8=µA
9=mV
10=°C
11=rad
12=°F
13=mm/sec
14=ml/sec
15=mBar
When no unit is specified: The unit is dependent on used input signal type.
This is a device type, and may use the type LINEARCURVE.
Example SENSOR:
-name "A1AtomPS" -use_input "Anin1" -unit 1 -use_curve "A1AtomPSCurve"
-name "A1AtomDPS" -use_input "Anin2" -unit 1 -use_curve "A1AtomDPSCurve"
-name "A1BearPS" -use_input "Digin1"
-name "A1M1Speed" -use_input "TwoPhaseEnc1" -unit 5 -use_curve "A1SpeedCurve"
Note: A1AtomPS and A1AtomDPS are connected to analog input 1 and 2 on the
used IPS board. A1BearPS is connected to digital input 1 on the used IPS board.
A1M1Speed is connected to two phase encoder input 1 on the used IPS board.
Arguments SENSOR:
-name "<string>" -use_input "<dev name>" [-unit <num>] [-use_curve "<curve name>"]

2.8 SENSOR
SENSOR
Signals Parameters
type unit type unit
Value r real *1 MinVal r real *1
Mean r real *1 MaxVal r real *1
Accu r/w real *1 Curve.Factor r/w real
RawVal r real *1 Curve.Offset r/w real
*1 Value unit dependent on sensor connected.
Value This signal shows the actual value for the sensor. The signal can be connected to a
digital or analog input in the control cabinet.
Mean This signal shows the mean value for the actual sensor. The signal can be connected
to an analog input in the control cabinet.
Accu This signal shows the accumulated sensor value over the time period the actual
sensor is used. The signal can be used as consumption data for the configured
device. If it is set with value 0, the accumulated signal for the actual sensor is reset.
The signal can be connected to an analog input or output in the control cabinet.
RawVal This signal shows the actual raw value for the sensor. It is basically the same as the
Value signal for a sensor, but there is a difference between these signals when a
filter function is added to the Value signal for the sensor; the Value signal will be the
filtered value and the RawVal signal will be the raw value for the actual sensor. This
signal can be connected to an analog input in the control cabinet.
MinVal This parameter shows the minimum value for the actual sensor.
Default value: Dependent on sensor connected
MaxVal This parameter shows the maximum value for the actual sensor.
Default value: Dependent on sensor connected
Curve.Factor This parameter is used to show or set the linearcurve factor value for the actual
sensor input. The parameter can be set under type PARAMETER or be a part of a
parameter file used in the system to be able to scale the sensor input ‘on the fly’.
Default value: 1.0

2.8 SENSOR
Curve.Offset This parameter is used to show or set the linearcurve offset value for the actual
sensor input. The parameter can be set under type PARAMETER or be a part of a
parameter file used in the system to be able to scale the sensor input ‘on the fly’.
Default value: 0.0

2.9 VENTURISENSOR
2.9 VENTURISENSOR
Description VENTURISENSOR is used to specify the venturi air flow sensor used for the IPS.
The input for this type is a pressure sensor and a delta pressure sensor. This type has
the following configuration parameters:
• orifice_diam[real]: Specifies the orifice diameter of the venturi flow sensor. The
diameter must be specified in millimeters.
• tube_diam[real]: Specifies the tube diameter of the venturi flow sensor. The
diameter must be specified in millimeters.
• scale_fac[real]: Used to scale the output value for the venturi flow sensor
• out_side[bool]: Specifies if the pressure sensor is located before or after the
restriction (venturi) in the venturi sensor. Setting this parameter to FALSE means
that the pressure sensor is located before the restriction.
This is a device type and is dependent on sensors defined under type SENSOR.
Example VENTURISENSOR:
-name "A1AtomFS" -use_prsens "A1AtomPS" -use_dpsens "A1AtomDPS" -orif_diam 5 \
-tube_diam 8 -scale_fac 295
Note: A1AtomFS uses pressure sensor A1AtomPS and delta pressure sensor
A1AtomDPS.
Arguments VENTURISENSOR:
-name "<string>" -use_prsens "<dev name>" -use_dpsens "<dev name>" -orif_diam <num>
-tube_diam <num> -scale_fac <num> [-out_side <bool>]
VENTURISENSOR
Signals Parameters
type unit type unit
Value r real *1 MinVal r real *1
RawVal r real *1 MaxVal r real *1
OrifDiam r/w real [mm]
TubeDiam r/w real [mm]
ScaleFac r/w real
PsOutSide r/w bool 0/1
Value This signal shows the actual value for the venturi sensor. The signal can be
connected to an analog input in the control cabinet.

2.9 VENTURISENSOR
RawVal This signal shows the actual raw value for the sensor. It is basically the same as the
Value signal for a sensor, but there is a difference between these signals when a
filter function is added to the Value signal for the sensor; the Value signal will be the
filtered value and the RawVal signal will be the raw value for the actual sensor. This
MinVal This parameter shows the minimum value for the actual venturi sensor.
Default value: Dependent on venturi sensor connected
MaxVal This parameter shows the maximum value for the actual venturi sensor.
Default value: Dependent on venturi sensor connected
OrifDiam This parameter is used to set the orifice diameter for a Venturi sensor type. The
parameter can be set as a part of the VENTURISENSOR argument or in the
PARAMETER type section.
Default value: 1
TubeDiam This parameter is used to set the tube diameter for a Venturi sensor type. The
Default value: 2
ScaleFac This parameter is used to set the scaling factor value for a Venturi sensor type. The
Default value: 1
PsOutSide This parameter is used to specify if the pressure sensor is located before or after the
restriction (venturi) in the venturi sensor. Setting this parameter to FALSE means
that the pressure sensor is located before the restriction. The parameter can be set as
a part of the VENTURISENSOR argument or in the PARAMETER type section.
Default value: false

2.10 ACTUATOR
2.10 ACTUATOR
Description ACTUATOR is used to connect different actuators used in a fluid application

system to outputs on an IPS board. An output will typically be analog, digital or a
motor driver output. The motor output can be a step motor or a servo motor output.
This type has the following configuration parameter:
• Unit[num]: Specifies the unit for the actuator connected:

1= Bar
2=Psi
3=ml/min
4=Nl/min
5=rpm
6=krpm
7=Kv
8=µA
9=mV
10=°C
11=rad
12=°F
13=mm/sec
14=ml/sec
15=mBar
When no unit is specified: The unit is dependent on used output signal type.
This is a device type and may use the type SENSOR for sensor connections and
LINEARCURVE for scaling purposes.
Example ACTUATOR:
-name "A1AtomIP" -use_output "Anout3" -unit 1 -use_curve "A1AtomIPCurve"
-name "A1M1" -use_output "ApMb/Driver1" -use_input "A1M1Speed" -unit 5 \
-use_curve "A1BlMCurve"
-name "A1Pump1" -use_output "A1M1" -unit 3 -use_curve "A1Pump1Curve"
Note: A1M1 uses a Berger Lahr motor driver output (ApMb/Driver1) and is
connected with a rotation speed feedback sensor A1M1Speed. A1M1Speed uses a
curve A1SpeedCurve which converts encoder pulses to an rpm value. The
command for A1M1 will be set in rpm and the curve A1BlMCurve converts rpm to
% set values for the Berger Lahr motor driver. A1Pump1 uses A1M1, where the
command for A1Pump1 will be set in ml/min, and the curve A1Pump1Curve will
convert ml/min to an rpm value for A1M1. A1Needle uses an interrupted digital
signal input and is used with automatic needle delay compensation.

2.10 ACTUATOR
Arguments ACTUATOR:
-name "<string>" -use_output "<dev name>" [-unit <num>] [-use_curve "<curve name>"]
[-use_input "<dev name>"]
ACTUATOR
Signals Parameters
type unit type unit
Enable r/w bool 0/1 MinVal r real *1
Connect r/w bool 0/1 MaxVal r real *1
SetPoint r/w real *1 DelayUp r/w num [ms]
Mean r real *1 DelayDown r/w num [ms]
Accu r/w real *1 DynOffsUp *3 r/w num [ms]
Actual *2 r real *1 DynOffsDown *3 r/w num [ms]
UseDynDelay *3 r/w bool 0/1 LinearDelay r/w bool 0/1
DynDelayUp *3 r num [ms] ZeroOutput r/w real *1
DynDelayDown *3 r num [ms] DynFbInvert *3 r/w bool 0/1
DynFbPulse *3 r/w bool 0/1
StepResponse r/w num %
StepInterval *4 r/w num ms
StepFullTime *4 r/w num ms
*1 Value unit dependent on actuator connected.

*2 Available if a sensor is connected.
*3 These signals and parameters are only available when an actuator with an interrupted
digital input (IntDigin) signal is configured. (See A1Needle in example)
*4 These parameters will only be available when StepResponse parameter <> default value.
Enable This signal is used to enable or disable the actual actuator. The signal can be
connected to a digital input/output signal in the control cabinet.
Connect This signal is used to connect or disconnect all the resources owned by the
configured actuator. The signal can be connected to a digital input/output in the
control cabinet.
SetPoint This signal is used as setpoint value for the actual actuator. The signal can be
connected to a digital or analog input/output in the control cabinet.
Mean This signal shows the mean value for the actual actuator. The signal can be

2.10 ACTUATOR
Accu This signal shows the accumulated actuator value over the time period the actuator
is used. The signal can be used as consumption data for the configured device.If it is
set with value 0, the accumulated signal for the actual actuator is reset. The signal
can be connected to an analog input or output in the control cabinet.
Actual This signal shows the actual sensor value if used for the actual actuator. The signal
can be connected to an analog input in the control cabinet.
UseDynDelay This signal is used to set if the configured device shall use the calculated dynamic
compensation delays (DynDelayUp and DynDelayDown delay), or the DelayUp
and DelayDown compensation parameter values. When UseDynDelay signal is set
to True, the dynamic delay values are used. The signal can be connected to a digital
output in the control cabinet.
DynDelayUp This signal is used to show the calculated dynamic up compensation delay for the
configured device. This value is normally filtered with a meanfilter (see
’MEANFILTER’ on page 17). The signal can be connected to an analog input in the
control cabinet.
DynDelayDown This signal is used to show the calculated dynamic down compensation delay for the
configured device. This value is normally filtered with a meanfilter (see
’MEANFILTER’ on page 17). The signal can be connected to an analog input in the
control cabinet.
MinVal This parameter shows the minimum value for the actual actuator.
Default value: Dependent on actuator connected
MaxVal This parameter shows the maximum value for the actual actuator.
Default value: Dependent on actuator connected
DelayUp This is the delay time (positive or negative) to compensate the actuator signal output
in relation to the trigger event, and is used with a brush change to a brush with a
higher setpoint value. DelayUp value can be fixed or linear, dependent on the
setpoint change size, see ’Linear Delay Compensation’ on page 180 for details. This
can be decided with the LinearDelay parameter described below. The parameter can
be set under type PARAMETER.
Default value: 0 [ms]

2.10 ACTUATOR
DelayDown This is the delay time (positive or negative) to compensate the actuator signal output
lower setpoint value. DelayDown value can be fixed or linear, dependent on the
DynOffsUp This is the dynamic offset up time (positive or negative) that will be added to the
already calculated DynDelayUp time. This is used to determine if the actuator
signal shall turn on with an offset time included. The parameter can be set under
type PARAMETER.
DynOffsDown This is the dynamic offset down time (positive or negative) that will be added to the
already calculated DynDelayDown time. This is used to determine if the actuator
signal shall turn off with an offset time included. The parameter can be set under
type PARAMETER.
LinearDelay This parameter is used to specify if DelayUp and DelayDown compensation values
shall be fixed or linear, dependent on the setpoint change. Default value is False,
which means that the delay up and down values will be fixed. The parameter can be
set under type PARAMETER.
Default value: False
ZeroOutput This parameter is used to predefine which value the actuator shall output when
setpoint value 0 is set to the actuator. This value is dependent on the output used for
the actual actuator. If an actuator is configured as an IP-transducer, controlled by an
analog output, the ZeroOutput value is set in a voltage or current value. Setting
ZeroOutput to -1 enables a special feature ‘keep last value’, where the actuator will
output the last used analog value when setpoint value 0 is set. This means that when
the actuator outputs e.g 2 volts to the analog output, this value will be kept when the
setpoint value to the actuator is set to 0. The parameter can be set under type
PARAMETER.
Default value: 0

2.10 ACTUATOR
DynFbInvert This parameter is used to specify if the feedback signal (typically a needle sensor
feedback) is inverted (or not) compared to the setpoint value. The parameter can be
DynFbPulse This parameter is used to specify if the feedback signal is of a pulse type signal
(typically a needle sensor feedback). The parameter can be set under type
PARAMETER.
StepResponse This parameter is used to make “a boost” function for the configured output of the
actuator. Default value is 100%, which means that the output will be as normal
(giving a one to one output response). In some special cases (e.g for the voltage
block), there is a need for “a boost” on the output to give a better performance of the
process. The relative step change in the output value will be multiplied with
StepResponse parameter and then added to the output. The shape/length of this
“boosted” output is decided with parameters: StepInterval and StepFullTime. The
parameter can be set under type PARAMETER.
Default value: 100 [%]
StepInterval This parameter is used to make a specified shape of “the boost” function for the
configured output of the actuator. This parameter is not available, when
StepResponse is set to the default value. When StepInterval is set to the special
value -1, the output will be set with the “boosted” value for a time given by
StepFullTime. Example: StepResponse = 150%, StepInterval=-1 and
StepFullTime=200ms. If a new setpoint for the actuator is 2 volt (going from the
value 0, and the relative step change is 2 volt), then the output will be set to the
value of 3 volt for a period of time of 200 ms, and then set back to 2 volt. This will
give a “boost” on the output of 1 volt (for this step change example) for a period of
200 ms. When StepInterval is set with a value, then the “boosted” output will be
ramped, with an interval specified by StepInterval and length specified with
StepFullTime. The parameter can be set under type PARAMETER.
StepFullTime This parameter is used to make a specified length of “the boost” function for the
configured output of the actuator. This parameter is not available, when
StepResponse is set to the default value. StepFullTime value is Example:
StepResponse = 150%, StepInterval=16 and StepFullTime=200ms. If a new setpoint
for the actuator is 2 volt (going from the value 0, and the relative step change is 2

2.10 ACTUATOR
volt), then the output will be set to the value of 3 volt and ramped down to 2 volts
with an interval of 16 ms. The parameter can be set under type PARAMETER.

2.11 REGULATOR
2.11 REGULATOR
Description REGULATOR is used to connect an actuator and a sensor to make a closed loop
system. The closed loop software regulator used for the specific regulator instance
is configured under type FILTERASSIGN. The software regulator must first be
created with IIRCOEFF and IIRFILTER to a wanted regulator function (P- PI- PID-
regulator), and then the regulator instance must be assigned to this regulator
function with FILTERASSIGN. This is a device type and is dependent on SENSOR
or VENTURISENSOR, ACTUATOR and FILTERASSIGN.
Example REGULATOR:
-name "A1Atom" -use_output "A1AtomIP" -use_input "A1AtomFS"
FILTERASSIGN:
-path "A1Atom/RegGain" -use_filter "A1AtomReg"
Arguments REGULATOR:
-name "<string>" -use_output "<dev name>" -use_input "<dev name>"
[-use_toggle "<dev name>"]
REGULATOR
Signals Parameters
type unit type unit
Accu r/w real *1 Interval r/w num [ms]
Actual r real *1 ZeroOutput r/w real *3
RegGain r/w real % CurveSize r/w num -
CurveNo r/w num HoldOffUp r/w num [ms]
RegEnable r/w bool 0/1 HoldOffDn r/w num [ms]
CompCheck r/w bool 0/1 CompHoldUp r/w num [ms]
CompError r bool 0/1 CompHoldDn r/w num [ms]
CompTooHi r bool 0/1 CompAbsLim r/w real *3
CompTooLo r bool 0/1 CompRelLim r/w real %
CompWarnLim r/w real %
CompCutReg r/w bool 0/1
CrvEnable r/w num 0/1/2
LinearDelay r/w bool 0/1
CrvFilter r/w num 1,3..7,9

2.11 REGULATOR
*2 Value unit and if signal is available are dependent on sensor type connected.
*3 Value unit dependent on actuator used.
Enable This signal is used to enable or disable the actual regulator. The signal can be
configured regulator. The signal can be connected to a digital input/output in the
control cabinet.
SetPoint This signal is used as setpoint value for the actual regulator. The signal can be
connected to an analog input/output in the control cabinet.
Mean This signal shows the mean value for the actual regulator. The signal can be
Accu This signal shows the accumulated regulator value over the time period the
regulator is used. The signal can be used as consumption data for the configured
device. If it is set with value 0, the accumulated signal for the actual regulator is
reset. The signal can be connected to an analog input or output in the control
cabinet.
Actual This signal shows the actual sensor value for the actual regulator. The signal can be
RegGain This signal is used as a gain factor after the closed loop regulator. This means that
the value calculated from the regulation loop will be multiplied with this factor.
When RegGain is set to 100%, the gain=1. This signal can be connected to an
analog output or a digital group.
CurveNo This signal is used to show the dynamic curve number or to set a dynamic curve for
the regulator. It is possible to set maximum 32 curves (value 0-31 for CurveNo
signal). When a regulator is created, the IPS software will automatically initiate the
regulator with a dynamic curve numbered 0. IPS will create both a calibrated curve
and a dynamic curve, which are initially the same. All these curves will be saved as
text files on the flash ram, and the IPS software will automatically save all the
calibrated and dynamic curves that have been changed every fifth minute. These
text files can be loaded up in the system as files and viewed/changed. The signal can
be connected to an analog output/input or a digital group.

2.11 REGULATOR
RegEnable This signal is used to set if the actual regulator shall perform a closed loop control or
not. When the signal is set to 0, the regulator will run in an open loop mode; The
output from the regulator to the actuator device will then be based on using dynamic
curves, calibrated curves or none curves at all, dependent on the value set in the
parameter CrvEnable. When the signal is set to 1, the system will run in a closed
loop mode, with an interval time set by the parameter Interval. The signal can be
CompCheck This signal enables or disables the compensation supervision function. The signal
can be connected to a digital input/output signal in the control cabinet.
CompError This signal shows when the compensation high or low value is reached, based on
the parameters CompRelLim and CompAbsLim. The signal can be connected to a
digital input signal in the control cabinet.
CompTooHi This signal shows when the compensation high limit value is reached, based on the
parameters CompRelLim and CompAbsLim. The signal can be connected to a
CompTooLo This signal shows when the compensation low limit value is reached, based on the
parameters CompRelLim and CompAbsLim. The signal can be connected to a
MinVal This parameter shows the minimum value for the actual regulator.
Default value: Dependent on minimum value for used sensor
MaxVal This parameter shows the maximum value for the actual regulator.
Default value: Dependent on maximum value for used sensor
DelayUp This is the delay time (positive or negative) to compensate the regulator signal
output in relation to the trigger event, and is used with a brush change to a brush
with a higher setpoint value. DelayUp value can be fixed or linear, dependent on the

2.11 REGULATOR
DelayDown This is the delay time (positive or negative) to compensate the regulator signal
with a lower setpoint value. DelayDown value can be fixed or linear, dependent on
the setpoint change size, see ’Linear Delay Compensation’ on page 180 for details.
This can be decided with the LinearDelay parameter described below. The
Interval This parameter is used to set the closed loop regulation time interval for the actual
regulator. The parameter can be set under type PARAMETER.
ZeroOutput This parameter is used to predefine which value the regulator shall output when
setpoint value 0 is set to the regulator. This value is dependent on the actuator used
with the regulator. If a regulator is configured with an IP-transducer, and the output
to the transducer is in bar, the ZeroOutput value will be set in bar. Setting
ZeroOutput to -1 enables a special feature ‘keep last value’, where the regulator will
output the last used value when setpoint value 0 is set. This means that when the
regulator outputs e.g 2.3 bar to the IP transducer, this pressure value will be kept
when the setpoint value to the regulator is set to 0. The parameter can be set under
type PARAMETER.
Default value: 0
CurveSize This parameter is used to set number of points in the dynamic curve used for the
actual regulator. See Figure 6, where CurveSize is set to 10. The parameter can be
Default value: 10
HoldOffUp This parameter is used to set the time between a given command for a positive step
(from a brush to a higher brush) and when IPS starts to regulate. The value will be
set in the signal Interval steps. If a HoldOffUp time is set to 200 ms and Interval
time is set to 16 ms, the IPS will set the value to the closest minimum value divisible
with Interval time, which is 192 ms. The parameter can be set under type
PARAMETER.
HoldOffDn This parameter is used to set the time between a given command for a negative step
(from a brush to a lower brush) and when IPS starts to regulate. The value will be
set in the signal Interval steps. If a HoldOffUp time is set to 200 ms and Interval

2.11 REGULATOR
time is set to 16 ms, the IPS will set the value to the closest minimum value divisible
with Interval time, which is 192 ms. The parameter can be set under type
PARAMETER.
CompHoldUp This parameter is used to set the time between a given command for a positive step
(from a brush to a higher brush) and when IPS starts the compensation supervision
function. The parameter can be set under type PARAMETER.
CompHoldDn This parameter is used to set the time between a given command for a negative step
(from a brush to a lower brush) and when IPS starts the compensation supervision
function. The parameter can be set under type PARAMETER.
CompAbsLim This parameter is used to set the absolute compensation limit of the dynamic curve
for the actual regulator. The absolute limit value is dependent on the actuator used
with the regulator. If an I/P transducer (with signal range in Bar) is used, this limit
will be in value of Bar. The compensation limit can then vary within this range (±
the value of CompAbsLim). See Figure 7. The actual compensation limit is given
by CompAbsLim and CompRelLim, where the widest limit applies. The parameter
can be set under type PARAMETER.
Default value: Dependent on maximum value for the actuator
CompRelLim This parameter is used to set the relative compensation limit of the dynamic curve
for the actual regulator. The limit is calculated in % of the setpoint on the calibrated
curve. If this limit is set to 50% and the setpoint (according to calibrated curve) is 2
Bar, the relative compensation limit for this setpoint will be ± 1 Bar. If the setpoint
reaches 1 Bar or 3 Bar, the IPS will output a compensation error. The actual
compensation limit is given by CompAbsLim and CompRelLim, where the widest
limit applies. See Figure 7. The parameter can be set under type PARAMETER.
CompWarnLim This parameter is used to set a warning limit for the compensation supervision
function. The limit is calculated in % of the widest limit from CompAbsLim or
CompRelLim, and the IPS will output a warning message when this limit is reached.
The parameter can be set under type PARAMETER.

2.11 REGULATOR
CompCutReg This parameter is used to set if the actual regulator shall regulate the output to
compensation limit or to MaxVal/MinVal of used actuator. The parameter can be set
under type PARAMETER.
False - The regulator will regulate to the max. output on the actuator
True - The regulator will regulate the output on the actuator to the compensation
limits
CrvEnable This parameter is used to set if the actual regulator shall use dynamic curve,
calibrated curve or none curve at all. The parameter can be set under type
PARAMETER.
Following values can be used:
0 - none curves used

1 - dynamic curves used
2 - calibrated curves used
Default value: 1
CrvFilter This parameter is used to specify the number of value elements for each curve point
in the dynamic curve. It is only possible to set an odd value between 1 and 9 to this
parameter (‘good values’ : 1, 3, 5, 7, 9). The system will always use the ‘centre’
value in the element group as the value in the dynamic curve (IPS software is
performing median filtering of the value elements for each curve point). The
Default value: 3 (value elements)

2.11 REGULATOR
Figure 6 CurveSize
y [Bar]
10
6
Dynamic Curve
5
Calibrated Curve
4
50 100 150 200 250 300 350 400 450 500 x [Nl/min]
Figure 7 Compensation limits
y [Bar]
10
CompRelLim
9
8
CompAbsLim
6
Dynamic Curve
5
Calibrated Curve
4
50 100 150 200 250 300 350 400 450 500 x [Nl/min]

2.12 BELLREGULATOR
2.12 BELLREGULATOR
Description BELLREGULATOR is a specialized regulator type and is used to connect an

actuator and a rotation speed sensor to make a closed loop bell rotation control on a
bell. The special feature with using a bell brake for bell is implemented under this
type. The bell regulator model used for the specific bell regulator instance is
configured under type FILTERASSIGN.
Important: When a bell is used, it is important to add some supervision functions

for the rotation speed and the bearing pressure for the bell robot. Refer to
’Supervision Functions for a Bell’ on page 176.
It is a device type and is dependent on SENSOR and ACTUATOR.
-name "A1AtomRSCurve" -offset 0 -factor 0.06
SENSOR:
-name "A1AtomRS" -use_input "OnePhaseEnc3" -unit 6 -use_curve "A1AtomRSCurve"
ACTUATOR:
-name "A1AtomIP" -use_output "Anout2" -unit 1 -use_curve "A1AtomIPCurve"
-name "A1Brake" -use_output "Digout2"
BELLREGULATOR:
-name "A1Atom" -use_output "A1AtomIP" -use_input "A1AtomRS" \
-use_brake "A1Brake"
Arguments BELLREGULATOR:
-name "<string>" -use_output "<dev name>" -use_input "<dev name>"
[-use_brake "<dev name>"] [-use_toggle "<dev name>"]

2.12 BELLREGULATOR
BELLREGULATOR
Signals Parameters
type unit type unit
Accu r/w real *1 Interval r/w num [ms]
Actual r real *1 ZeroOutput r/w real *2
RegGain r/w real % CurveSize r/w num -
RegEnable r/w bool 0/1 PntCrvLevel r/w real *3
CurveNo r/w num LinearDelay r/w bool 0/1
BrakeOnLim r/w real [krpm]
BrakeOffLim r/w real [krpm]
BrakePosLim r/w real [krpm]

*2 Value unit dependent on actuator used.
*3 Value unit dependent on configured fluid device.
Enable This signal is used to enable or disable the actual bell regulator. From a specific
software version, the speed of the bell cup will also be braked down to ‘almost zero’
(to the BrakeOffLim value), when the bell regulator is disabled. The signal can be
configured bell regulator. The signal can be connected to a digital input/output in
the control cabinet.
SetPoint This signal is used as setpoint value for the actual bell regulator. The signal can be
connected to an analog input/output in the control cabinet.
Mean This signal shows the mean value for the actual bell regulator. The signal can be
Accu This signal shows the accumulated bell regulator value over the time period the bell
regulator is used. The signal can be used as consumption data for the configured
device. If it is set with value 0, the accumulated signal for the actual bell regulator is
cabinet.

2.12 BELLREGULATOR
Actual This signal shows the actual sensor value for the actual bell regulator. The signal
RegGain This signal is used as a gain factor after the closed loop bell regulator. This means
that the value calculated from the regulation loop will be multiplied with this factor.
When RegGain is set to 100%, the gain=1. The signal can be connected to an analog
output or a digital group.
RegEnable This signal is used to set if the actual bell regulator shall perform a closed loop
control or not. When signal is set to 0, the output from the bell regulator to the
actuator device will be based on the dynamic curves for the bell (see description for
parameter PntCrvLevel below), and the system will run in an open loop mode.
When signal is set to 1, the system will run in closed loop mode, with an interval
time set by the parameter Interval. The signal can be connected to a digital
input/output signal in the control cabinet.
CurveNo This signal is used to show the dynamic curve number or to set a no-load/load curve
for the bell regulator. It is possible to create maximum 32 no-load curves and 32
load curves (value 0-31 for CurveNo signal). When a bell regulator is created, the
IPS software will automatically initiate the bell regulator with a dynamic curve
numbered 0. IPS will create both a curve with no paint load and a curve with paint
load, which are initially the same. All the curves will be saved as text files on the
flash ram. These text files can be loaded up in the system as files and
viewed/changed. The signal can be connected to an analog output/input or a digital
group.
MinVal This parameter shows the minimum value for the actual bell regulator.
Default value: Dependent on minimum value for used rotation sensor
MaxVal This parameter shows the maximum value for the actual bell regulator.
Default value: Dependent on maximum value for used rotation sensor
DelayUp This is the delay time (positive or negative) to compensate the bell regulator signal

2.12 BELLREGULATOR
DelayDown This is the delay time (positive or negative) to compensate the bell regulator signal
Interval This parameter is used to set the closed loop regulation time interval for the actual
bell regulator. The parameter can be set under type PARAMETER.
ZeroOutput This parameter is used to predefine which value the bell regulator shall output when
brush 0 is set. The value is dependent on the actuator which is used with the bell
regulator. Setting ZeroOutput to -1 enables a special feature that the bell regulator
shall output the last used value when brush 0 is set. The parameter can be set under
type PARAMETER.
Default value: 0
CurveSize This parameter is used to set number of points in the dynamic curve used for the
actual bell regulator. The parameter can be set under type PARAMETER.
Default value: 10
PntCrvLevel This parameter is used to set the fluid flow curve level that is wanted when
calibrating dynamic curves for a bell. Calibration must be done in closed loop mode
for the rotation of the bell. The dynamic curves will be used in open loop mode, and
that will be the case when the rotation feedback on the bell is not used, or the
rotation feedback is lost. The IPS software will generate two different curves after a
calibration: one curve (Curve no-load) with no fluid load applied on the bell cup,
and one curve (Curve load) with the fluid load value specified by the parameter
PntCrvLevel. This means that in open loop mode, the IPS software uses two
dynamic curves to calculate the control signal value for the rotation. One of the
curves is used when no fluid is applied to the bell, and the other curve is used to
calculate the control value for a specific fluid value with the following formula:
control value = lookup(curve no-load) + (lookup(curve load)-lookup(curve no-
load)) x fluid value/PntCrvLevel. This formula is shown in Figure 8. The parameter
Default value: 400 [ml/min]

2.12 BELLREGULATOR
BrakeOnLim This parameter is used to set the value when rotation brake shall turn on. This is
when actual rotation speed exceeds the setpoint speed plus BrakeOnLim value. The
Default value: Dependent on maximum value for used rotation sensor
BrakeOffLim This parameter is used to set the value when rotation brake shall turn off. This is
when actual rotation speed is below the setpoint speed plus BrakeOffLim value. The
Default value: 0
BrakePosLim This parameter is used to set the maximum value the rotation can increase, during
braking of the bell. It is important that this value is not set too low, because it can
influence normal bell brake situations. The intention for this parameter is to avoid
that bell braking makes the bell rotates in opposite direction. The parameter can be
Default value: 2 [krpm]

2.12 BELLREGULATOR
Figure 8 Dynamic curves for bell
[Bar]
5
Curve load
PntCrvLevel = 400
4
Lookup (curve load)
3
Fluid value = 200 Curve no-load
2
1.5
1
Lookup (curve no-load)
10 20 30 40 50 [ kRpm]
Example with rotation = 20 kRpm

200
Control value [Bar] = 1 + (2 - 1) x = 1.5
400

2.13 HVDCONTROLLER
2.13 HVDCONTROLLER
Description HVDCONTROLLER is used to connect IPS software to the high voltage cascade
driver manufactured by ABB. Some analog and digital inputs/outputs are used to set
different commands for this driver. One analog output is used to set a voltage level
and two of the outputs are used to set safety limits. An analog output is used to set
the resonance frequency for the cascade transformer in such a way that it can be
tuned to get the best performance. Two digital output signals on the IPS board are
used. One of them is used as an enable signal. This signal will be turned on when a
setpoint value to the high voltage driver is higher than 0. The other digital signal is
changing voltage level (between 0 and 24 volt) every 16 ms (the period time for this
signal is 32 ms) and is used as a watch dog signal for the driver. This means that if
IPS turns into a failure state, this changing of voltage level will stop and the driver
will shut down. Some analog inputs on the IPS board are also connected. These
signals are used for high voltage feedback, actual current feedback and transformer
current feedback. Two digital feedback signals from the high voltage driver are used
to indicate in the IPS software that a current limit or a current slope limit is reached.
See ‘Unit Description, Paint’ manual for more details about the high voltage driver
board (HVD). This type has following configuration parameter:
• Type[text]: Specifies the type of applicator the high voltage is controlled with.
Based on this, the IPS software generates some default parameter values (see
Table 1 on page 61.
This is a device type.
Example IIRCOEFF:
-name "A1HVCoeff" -b0 0.64 -b1 -0.48 -b2 0 -a1 1 -a2 0
IIRFILTER:
-name "A1HVReg" -use_coeff "A1HVCoeff"
HVDCONTROLLER:
-name "A1HV" -type "G1CopesWater" -use_output "Anout1" \
-use_input "Anin1" -use_curlim "Anout2" -use_slplim "Anout3" \
-use_frqcmd "Anout4" -use_curact "Anin2" -use_curtrf "Anin3" \
-use_enable "Digout1" -use_toggle "Digout2" -use_curint "IntDigin1" \
-use_slpint "IntDigin2"
FILTERASSIGN:
-path "A1HV/RegGain" -use_filter "A1HVReg"
APPLICATOR:
-name "A1" -use_needle "A1Needle" -use_fluid "A1Fluid" \
-use_atom "A1Atom" -use_shape "A1Shape" -use_highvolt "A1HV"
CONNECTION:
-from "A1HV/SetPoint" -to "A1Solv1V/Enable" -invert

2.13 HVDCONTROLLER
Note: Some analog output signals from the IPS board to the high voltage driver are
used for setting a voltage level (Anout1), a current limit (Anout2), a current slope
limit (Anout3) and a frequency value for the cascade (Anout4). Some analog
feedback signals from the high voltage driver are available for reading the actual
voltage (Anin1), actual current (Anin2) and cascade transformer current (Anin3).
Some digital signals are used for: Enable the driver board (Digout1), watch dog
(Digout2), current limit reached (IntDigin1) and current slope limit reached
(IntDigin2).
Arguments HVDCONTROLLER:
-name "<string>" -type "<type name>" -use_output "<dev name>" -use_input "<dev name>"
-use_curlim "<dev name>" -use_slplim "<dev name>" -use_frqcmd "<dev name>"
-use_curact "<dev name>" -use_curtrf "<dev name>" -use_enable "<dev name>"
-use_toggle "<dev name>" -use_curint "<dev name>" -use_slpint "<dev name>"

2.13 HVDCONTROLLER
HVDCONTROLLER
Signals Parameters
type unit type unit
Enable r/w bool 0/1 MinVal r real [kV]
Connect r bool 0/1 MaxVal r/w real [kV]
SetPoint r/w real [kV] DelayUp r/w num [ms]
Mean r real [kV] DelayDown r/w num [ms]
Actual r real [kV] LinearDelay r/w bool 0/1
Output r real % Interval r/w num [ms]
Current r real [uA] OverVolt30 r/w real [kV]
TrafoCur r real [A] OverVolt90 r/w real [kV]
WatchDog r bool on/off UnderVolt30 r/w real [kV]
CurBuff r bool 0/1 UnderVolt90 r/w real [kV]
ErrorNo r/w num 0...5 CurLimit30 r/w real [uA]
SlpPeak r/w real [uA/sec] CurLimit90 r/w real [uA]
SlpPeakB r/w real [uA/sec] SlpLimit30 r/w real [uA/sec]
Slope r real [uA/sec] SlpLimit90 r/w real [uA/sec]
OverVoltLim *1 r real [kV] CurBuffer30 r/w real [uA]
UnderVoltLim *1 r real [kV] CurBuffer90 r/w real [uA]
CurLimit *1 r real [uA] TrafoCurr30 r/w real [A]
SlopeLimit *1 r real [uA/sec] TrafoCurr90 r/w real [A]
CurBuffLim *1 r real [uA] FrqCmd r/w real [kHz]
TrafoLimit *1 r real [A] SlpBoost r/w real [uA/sec]
SlpBoostTm r/w real [sec]
SlpBPntUp r/w real [uA/sec]
SlpBPntUpTm r/w real [sec]
SlpBPntDn r/w real [uA/sec]
SlpBPntDnTm r/w real [sec]
RampLimit r/w real [sec]
TauPeriod r/w real [sec]
*1 These signals are mainly for internal use and are only described in shortform in the
signal description section below.
Enable This signal is used to enable or disable the actual high voltage controller. The signal
Connect This signal is used to show that all the analog and digital signals configured with the
high voltage controller are connected. If this signal is false, some of the configured
signals are not available for the driver. The reason may be that these signals are
already used by another device, and the result will be that the voltage controller will
not work. The signal can be connected to a digital input in the control cabinet.

2.13 HVDCONTROLLER
SetPoint This signal is used as setpoint for the desired voltage level on the high voltage
controller. The signal can be connected to an analog input/output in the control
cabinet.
Mean This signal shows the mean value for the high voltage used. The signal can be
Actual This signal shows the actual voltage level on the high voltage controller. The signal
Output This signal shows the calculated output value for the high voltage regulator. The
signal range will be from 0 to 100%, and can be connected to an analog input in the
control cabinet.
Current This signal shows the actual current for the high voltage controller. The signal can
be connected to an analog input in the control cabinet.
TrafoCur This signal shows the actual transformer current on the high voltage cascade. The
WatchDog This signal shows the toggle status of the digital output that is used for the watchdog
function. If the IPS software turns into a failure state, the toggle will stop. The
signal can be connected to a digital input in the control cabinet.
CurBuff This signal shows if the high voltage controller is in the current buffering state. This
ErrorNo This signal is used to show the error problems issued by the high voltage driver.
Several error number values are used, dependent on the actual error. When an error
occurs, the system will set high voltage off and output an error code. If a new
setpoint value is sent to the driver, the system will try to set on the high voltage
again, which means that there is no need to set the ErrorNo signal to a defined value
as an acknowledge. Following error number values will be sent from the driver,
describing the high voltage problem:
0 - No high voltage error (normal operation)

1 - Current value too high
2 - Slope current value too high
3 - Transformer current high
4 - Actual voltage too high/low

2.13 HVDCONTROLLER
5 - High voltage driver not calibrated

This signal can be connected to a digital input/output (or digital group) or analog
input/output in the control cabinet.
SlpPeak This signal shows the highest slope peak during a period of time. The start of this
period is done by setting this signal to a value higher than 0. Then IPS system will
start to read the slope values and output the highest slope peak value to the signal
called SlopePeak. Clearing SlpPeak value is done by setting the signal to 0. The
signal can be connected to an analog input or output in the control cabinet.
SlpPeakB This signal shows the highest slope peak, when high voltage controller is in slope
boost mode, during a period of time. The start of this period is done by setting this
signal to a value higher than 0. The IPS system will start to read the boost slope
values and output the highest boost slope peak value to the signal called
SlopePeakB. Clearing SlpPeakB value is done by setting the signal to 0. The signal
Slope This signal shows the actual slope value for the high voltage controller. The signal
Following signals are mainly for internal use, and are described in shortform below:
OverVoltLim This signal shows the value that the actual high voltage (from analog feedback) can
exceed from the high voltage setpoint value. The signal can be connected to an
analog input in the control cabinet.
UnderVoltLim This signal shows the value that the actual high voltage (from analog feedback) can
be under the high voltage setpoint value. The signal can be connected to an analog
input in the control cabinet.
CurLimit This signal shows the actual current limit value for a high voltage setpoint value.
This signal can be connected to an analog input in the control cabinet.
SlopeLimit This signal shows the actual current slope limit value for a high voltage setpoint
value. The signal can be connected to an analog input in the control cabinet.
CurBuffLim This signal shows the actual current buffer limit value for a high voltage setpoint
value. The signal can be connected to an analog input in the control cabinet.

2.13 HVDCONTROLLER
TrafoLimit This signal shows the actual cascade transformer current limit value for a high
voltage setpoint value. The signal can be connected to an analog input in the control
cabinet.
MinVal This parameter shows the minimum value for the high voltage controller.
Default value: 0 [kV]
MaxVal This parameter shows the maximum value for the high voltage controller.
Default value: 100 [kV]
DelayUp This is the delay time (positive or negative) to compensate the voltage signal output
DelayDown This is the delay time (positive or negative) to compensate the voltage signal output
Interval This parameter is used to set the closed loop regulation time interval for the high
voltage regulator. The parameter can be set under type PARAMETER.
OverVolt30 This parameter is used to set a voltage limit value that the actual high voltage value
can exceed before an error will occur, when running with a setpoint of 30 kV. It is

2.13 HVDCONTROLLER
used with the parameter OverVolt90 to calculate the over voltage limit value for
different high voltage setpoints. The actual over voltage limit value is based on a
linear interpolation between OverVolt30 and OverVolt90. Example: OverVolt30= 3
kV and OverVolt90= 9 kV. If setpoint to the to high voltage controller is 60 kV, the
actual over voltage limit will be 6kV. When the actual voltage is over 66 kV, the
high voltage will be turned off and an error message will be sent. When the setpoint
is ramping, the limit will also ramp, see Figure 9. The parameter can be set under
type PARAMETER.
Default and min/max value: Dependent on applicator type, see Table 1 on page 61
OverVolt90 This parameter is used to set a voltage limit value that the actual high voltage value
can exceed before an error will occur, when running with a setpoint of 90 kV. It is
used with the parameter OverVolt30 to calculate the over voltage limit value for
different high voltage setpoints. The actual over voltage limit value is based on a
linear interpolation between OverVolt30 and OverVolt90. Example: OverVolt30= 3
kV and OverVolt90= 9 kV. If setpoint to the to high voltage controller is 60 kV, the
actual over voltage limit will be 6 kV. When the actual voltage is over 66 kV, the
high voltage will be turned off and an error message will be sent. If the setpoint is
ramping, this limit will also ramp, see Figure 9. The parameter can be set under type
PARAMETER.
UnderVolt30 This parameter is used to set a voltage limit value that the actual high voltage value
can be below before an error will occur, when running with a setpoint of 30 kV. It is
used with the parameter UnderVolt90 to calculate the under voltage limit value for
different high voltage setpoints. The actual under voltage limit value is based on a
linear interpolation between UnderVolt30 and UnderVolt90. Example:
UnderVolt30= 10 kV and UnderVolt90= 20 kV. If setpoint to the to high voltage
controller is 60 kV, the actual under voltage limit will be 15 kV. When actual high
voltage is below 45 kV, the high voltage will be turned off and an error message will
be sent. If the setpoint is ramping, this limit will also ramp, see Figure 9. The
UnderVolt90 This parameter is used to set a voltage limit value that the actual high voltage value
can be below before an error will occur, when running with a setpoint of 90 kV. It is
used with the parameter UnderVolt30 to calculate the under voltage limit value for
different high voltage setpoints. The actual under voltage limit value is based on a
linear interpolation between UnderVolt30 and UnderVolt90. Example:
UnderVolt30= 10 kV and UnderVolt90= 20 kV. If setpoint to the to high voltage
controller is 60 kV, the actual under voltage limit will be 15 kV. When actual high

2.13 HVDCONTROLLER
voltage is below 45 kV, the high voltage will be turned off and an error message will
be sent. If the setpoint is ramping, this limit will also ramp, see Figure 9. The
CurLimit30 This parameter is used to set the current limit for the high voltage controller, when
running with a setpoint of 30 kV. It is used with the parameter CurLimit90 to
calculate the current limit value for different high voltage setpoints. The actual
current limit value is based on a linear interpolation between CurLimit30 and
CurLimit90. Example: CurLimit30= 300 uA and CurLimit90= 900 uA. If setpoint
to the high voltage controller is 50 kV, the actual current limit will be 500 uA. When
actual current is higher than 500 uA, the high voltage will be turned off and an error
message will be sent. If the setpoint is ramping, this limit will also ramp, see
Figure 9. The parameter can be set under type PARAMETER.
CurLimit90 This parameter is used to set the current limit for the high voltage controller, when
running with a setpoint of 90 kV. It is used with the parameter CurLimit30 to
calculate the current limit value for different high voltage setpoints. The actual
current limit value is based on a linear interpolation between CurLimit30 and
CurLimit90. Example: CurLimit30= 300 uA and CurLimit90= 900 uA. If setpoint
to the to high voltage controller is 50 kV, the actual current limit will be 500 uA.
When actual current is higher than 500 uA, the high voltage will be turned off and
an error message will be sent. If the setpoint is ramping, this limit will also ramp,
see Figure 9. The parameter can be set under type PARAMETER.
SlpLimit30 This parameter is used to set the slope current limit for the high voltage controller,
when running with a setpoint of 30 kV. It is used with the parameter SlpLimit90 to
calculate the slope current limit value for different high voltage setpoints. The actual
slope current limit value is based on a linear interpolation between SlpLimit30 and
SlpLimit90. Example: SlpLimit30= 600 uA/sec and SlpLimit90= 1800 uA/sec. If
setpoint to the to high voltage controller is 50 kV, the actual slope current limit will
be 1000 uA/sec. When actual current slope is higher than 1000 uA/sec, the high
voltage will be turned off and an error message will be sent. If the setpoint is
ramping, this limit will also ramp, see Figure 9. and Figure 10. The parameter can

2.13 HVDCONTROLLER
SlpLimit90 This parameter is used to set the slope current limit for the high voltage controller,
when running with a setpoint of 90 kV. It is used with the parameter SlpLimit30 to
calculate the slope current limit value for different high voltage setpoints. The actual
slope current limit value is based on a linear interpolation between SlpLimit30 and
SlpLimit90. Example: SlpLimit30=600 uA/sec and SlpLimit90=1800 uA/sec. If
setpoint to the to high voltage controller is 50 kV, the actual slope current limit will
be 1000 uA/sec. When actual current slope is higher than 1000 uA/sec, the high
voltage will be turned off and an error message will be sent. If the setpoint is
ramping, this limit will also ramp, see Figure 9 and Figure 10. The parameter can be
CurBuffer30 This parameter is used to set the current buffer limit value, when running with a
setpoint of 30 kV. It is used with the parameter CurBuffer90 to calculate the current
buffer limit value for different high voltage setpoints. The actual current buffer limit
value is based on a linear interpolation between CurBuffer30 and CurBuffer90.
Example: CurBuffer30= 300 uA and CurBuffer90= 900 uA. If setpoint to the to
high voltage controller is 50 kV, the current buffer limit will be 500 uA. When
actual current is 500 uA the current buffer regulator starts; decreases high voltage
output (ramping setpoint value down) to avoid that the current is increasing more,
see Figure 10. If the current buffer limit value is higher than the current limit, the
current buffer regulator is disabled. The parameter can be set under type
PARAMETER.
CurBuffer90 This parameter is used to set the current buffer limit value, when running with a
setpoint of 90 kV. It is used with the parameter CurBuffer30 to calculate the current
buffer limit value for different high voltage setpoints. The actual current buffer limit
value is based on a linear interpolation between CurBuffer30 and CurBuffer90.
Example: CurBuffer30= 300 uA and CurBuffer90= 900 uA. If setpoint to the to
high voltage controller is 50 kV, the current buffer limit will be 500 uA. When
actual current is 500 uA, the current buffer regulator starts; decreases high voltage
output (ramping setpoint value down) to avoid that the current is increasing more,
see Figure 10. If the current buffer limit value is higher than the current limit, the
current buffer regulator is disabled. The parameter can be set under type
PARAMETER.
TrafoCurr30 This parameter is used to set the cascade transformer current limit for the high
voltage controller, when running with a setpoint of 30 kV. It is used with the

2.13 HVDCONTROLLER
parameter TrafoCurr90 to calculate the current limit value for different high voltage
setpoints. The actual cascade transformer current limit value is based on a linear
interpolation between TrafoCurr30 and TrafoCurr90. Example: TrafoCurr30= 3 A
and TrafoCurr90= 9 A. If setpoint to the to high voltage controller is 50 kV, the
actual current limit will be 5 A. When the actual cascade transformer current is
higher than 5 A, the high voltage is turned off and an error message will be sent. The
TrafoCurr90 This parameter is used to set the cascade transformer current limit for the high
voltage controller, when running with a setpoint of 90 kV. It is used with the
parameter TrafoCurr30 to calculate the current limit value for different high voltage
setpoints. The actual cascade transformer current limit value is based on a linear
interpolation between TrafoCurr30 and TrafoCurr90. Example: TrafoCurr30= 3 A
and TrafoCurr90= 9 A. If setpoint to the to high voltage controller is 50 kV, the
actual current limit will be 5 A. When the actual cascade transformer current is
higher than 5 A, the high voltage is turned off and an error message will be sent. The
FrqCmd This parameter is used to set the resonance frequency to find the frequency that
gives the best performance for the cascade transformer. To find this frequency, the
high voltage controller must be calibrated. When calibration is finished, the
frequency that gives the best performance for the driver will automatically be stored
and used in the system. The FrqCmd value will be stored locally on the IPS board,
in file: <hv device name>.cpa, e.g: A1HV.cpa. If calibration fails, the system will
save FrqCmd = -1 to indicate that calibration is not completed. This file will be
located on the IPS board where the hvd controller device is configured. The
Default value: 12 [kHz], range: [12-25 kHz]
SlpBoost This parameter is used to set the ‘boosted’ slope current limit for the high voltage
controller when ramping high voltage. This value will be added to the actual slope
current limit value when high voltage setpoint is ramping, or when ramping after
current buffering, see Figure 9 and Figure 10. The parameter can be set under type
PARAMETER.
SlpBoostTm This parameter specifies the time duration of the slope current ‘boosting’, set by the
SlpBoost parameter. If time is set to zero, the SlpBoost value will still be added to

2.13 HVDCONTROLLER
the actual slope current limit value when high voltage setpoint is ramping, or when
ramping after current buffering, see Figure 9 and Figure 10. A time value set for this
parameter, will specify how long time the ‘boost’ value shall be applied after
ramping of voltage is finished. The parameter can be set under type PARAMETER.
SlpBPntUp This parameter is used to set the ‘boosted’ slope current limit when going from a
fluid flow to a higher fluid flow. This value will be added to the actual slope current,
when fluid flow is increased. The parameter can be set under type PARAMETER.
SlpBPntUpTm This parameter specifies how long time the ‘boost’ value, specified by parameter
SlpBPntUp, shall be applied after fluid value is increased. ‘Boosting’ will always
start approx. 200 ms before the trig point for fluid, and if SlpBPntUpTm is 0, the
‘boost’ value will be removed shortly after the trigpoint. If a time value is set, the
‘boost’ time will be the total time of 200 ms + time value set. The parameter can be
SlpBPntDn This parameter is used to set the ‘boosted’ slope current limit when going from a
fluid flow to a lower fluid flow. This value will be added to the actual slope current,
when fluid flow is decreased. The parameter can be set under type PARAMETER.
SlpBPntDnTm This parameter specifies how long time the ‘boost’ value, specified by parameter
SlpBPntDn, shall be applied after fluid value is decreased. ‘Boosting’ will always
start approx. 200 ms before the trig point for fluid, and if SlpBPntUpTm is 0, the
‘boost’ value will be removed shortly after the trigpoint. If a time value is set, the
‘boost’ time will be the total time of 200 ms + time value set. The parameter can be
RampLimit This parameter is used to set the minimum time that the high voltage regulator is
allowed to ramp up the high voltage from the minimum to maximum voltage level,
see Figure 9. The parameter can be set under type PARAMETER.
Default value: 2 [sec]
TauPeriod This parameter is used to set the theoretical discharge time from a voltage level to
30 percent above a new lower set point value. It is used to simulate the discharging

2.13 HVDCONTROLLER
behaviour for the actual high voltage and it is used for supervision of the deviation
between setpoint and actual high voltage value and supervision of the current limit,
see figure Figure 9. The parameter can be set under type PARAMETER.

2.13 HVDCONTROLLER
Table 1 Default, Minval and Maxval parameter values

Type
Parameter Name G1CopesWater G1CopesSolvent CleanCoat RoboBell925, RoboBell625,
RoboGun925, RoboGun625,
CartridgeBell, RoboGun611
CartridgeGun,
CartridgeHF,
RoboBellHF,
RoboBell951
default, min, max default, min, max default, min, max default, min, max default, min, max
CurLimit30 [uA] 400, 0, 1000 40, 0, 200 90, 0, 220 40, 0, 150 40, 0, 200
CurLimit90 [uA] 1000, 0, 1000 180, 0, 200 190, 0, 220 120, 0, 150 150, 0, 200
SlpLimit30 [uA/sec] 294, 0, 2940 75, 0, 294 176, 0, 353 58, 0, 294 58, 0, 235
SlpLimit90 [uA/sec] 588, 0, 2940 150, 0, 294 235, 0, 353 117, 0, 294 117, 0, 235
OverVolt30 [kV] 3, 0, 10 3, 0, 10 6, 0, 20 3, 0, 10 2, 0, 10
OverVolt90 [kV] 6, 0, 10 6, 0, 10 9, 0, 20 6, 0, 10 4, 0, 10
UnderVolt30 [kV] 10, 0, 100 10, 0, 50 20, 0, 50 10, 0, 50 10, 0, 50
UnderVolt90 [kV] 20, 0, 100 20, 0, 50 30, 0, 50 20, 0, 50 20, 0, 50
CurBuffer30 [uA] 300, 0, 1100 210, 0, 210 250, 0, 250 155, 0, 155 135, 0, 135
CurBuffer90 [uA] 900, 0, 1100 210, 0, 210 250, 0, 250 155, 0, 155 135, 0, 135
TrafoCurr30 [A] 9, 0, 10 5, 0, 10 3, 0, 3 2, 0, 2 1.5, 0, 2
TrafoCurr90 [A] 9, 0, 10 5, 0, 10 3, 0, 3 2, 0, 2 1.5, 0, 2
SlpBoost [uA/sec] 588, 0, 2940 58, 0, 294 70, 0, 353 58, 0, 294 47, 0, 235
SlpBPntUp [uA/sec]
SlpBPntDn [uA/sec]

2.13 HVDCONTROLLER
Figure 9 Parameter values for high voltage
CurLimit90
[µA or µA/sec]
SlpLimit90
SlpBoost
Time
0 1 2 3 4 5 6 7 8 9 [sec]
[kV]
OverVoltLim
High Voltage command
90
UnderVoltLim
Time
[sec]
0 1 2 3 4 5 6 7 8 9
90% of RampLimit = 1.8 sec TauPeriod = 3 sec
Figure 10 Current buffering
SlpBoost SlpBoost SlpLimit
Setpoint automatically reduced
50 kV High Voltage command
500 µA
Actual current
Current buffering active
Time
[sec]
0 1 2 3 4 5 6 7 8 9

2.14 FILTERASSIGN
2.14 FILTERASSIGN
Description FILTERASSIGN is used to set a filter to a configured device or a fixed device. This
filter can be a lowpass filter for filtering of e.g. sensor values, or a regulator filter
used for configured regulators. Other filter responses can also be used, if needed,
and the filter response is dependent on the values used in IIRCOEFF. When using
venturi sensors located outside the spray booth, the sensor signals are filtered with a
lowpass filter (see example1 below).
This is a data item type and is dependent on a device configured under SENSOR,
VENTURISENSOR, REGULATOR, BELLREGULATOR, HVDCONTROLLER
or dependent on the fixed devices ANIN, OnePhaseEnc and TwoPhaseEnc. A filter
configured under IIRCOEFF and IIRFILTER is also needed.
Example IIRCOEFF:
-name "A1AirInCoeff" -b0 0.175 -a1 0.825
-name "A1AirCoeff" -b0 0.009758 -b1 -0.00854 -a1 1
IIRFILTER:
-name "A1AtomIn" -use_coeff "A1AirInCoeff"
-name "A1AtomReg" -use_coeff "A1AirCoeff"
LINEARCURVE:
ACTUATOR:
-name "A1AtomIP" -use_output "Anout2" -unit 1 \
-use_curve "A1AtomIPCurve"
SENSOR:
-name "A1AtomPS" -use_input "Anin1" -unit 1 \
-use_curve "A1AtomPSCurve"
-name "A1AtomDPS" -use_input "Anin2" -unit 1 \
-use_curve "A1AtomDPSCurve"
VENTURISENSOR:
-name "A1AtomFS" -use_prsens "A1AtomPS" -use_dpsens "A1AtomDPS" \
-orif_diam 5 -tube_diam 8 -scale_fac 290
REGULATOR:
-name "A1Atom" -use_output "A1AtomIP" -use_input "A1AtomFS"
FILTERASSIGN:
-path "A1Atom/Actual" -use_filter "A1AtomIn"
Arguments FILTERASSIGN:
-path "<device name>/<signal name>" -use_filter "<filter name>"

2.15 SELECTOR
2.15 SELECTOR
Description SELECTOR is used to select between different devices which are configured with
the same name as the selector instance plus a number. A typical use of SELECTOR
is to select between several configured needles. The DeviceNo signal in
SELECTOR determines which device that is selected.
This is a device type and is dependent on ACTUATOR or REGULATOR.
Example ACTUATOR:
-name "A1Needle1" -use_output "Digout1"
SELECTOR:
-name "A1Needle"
Arguments SELECTOR:
-name "<string>" [-use_output "<dev name>"]
Note: The name for the selector refers to devices that are already created, or fixed
devices, without a number in the name. Option: If -use_output statement is used for
a selector, the name of the selector can be optional, but the output must refer to the
devices to be selected (without number).
Example: -name "A1NeedleSel" -use_output "A1Needle".
SELECTOR
Signals Parameters
type unit type unit
Accu r/w real *1 LinearDelay *3 r/w bool 0/1
Actual *2 r real *2 ZeroOutput *3 r real *1
DeviceNo r/w num - KeepValue r/w bool 0/1
StepResponse r/w num %
StepInterval *4 r/w num ms
StepFullTime *4 r/w num ms
*1 Value unit dependent on actuator or regulator connected.

*3 These parameters are only available if selected device has these parameters.
*4 These parameters will only be available when StepResponse parameter <> default value.

2.15 SELECTOR
Enable This signal is used to enable or disable the actual selector. The signal can be
configured selector. The signal can be connected to a digital input/output in the
control cabinet.
SetPoint This signal is used as setpoint value for the actual selector. The signal can be
Mean This signal shows the mean value for the actual selector. The signal can be
Accu This signal shows the accumulated selector value over the time period the selector is
used. The signal can be used as consumption data for the configured device. If it is
set with value 0, the accumulated signal for the actual selector is reset.This signal
Actual This signal shows the actual sensor value if used for the actual selector. The signal
DeviceNo This signal is used to show or select a configured device. The device selected is
determined by the selector name plus its device number (DeviceNo signal). For the
above configuration example: If the DeviceNo signal = 1, the A1Needle1 actuator is
selected. If DeviceNo signal = 2, the A1Needle2 actuator is selected. If DeviceNo
signal = 3, the A1Needle3 actuator is selected. The signal can be connected to an
analog input/output signal or a digital input/output group. Recommended signal
type for this signal will be a digital output group.
MinVal This parameter shows the minimum value for the actual selector.
Default value: Dependent on device selected
MaxVal This parameter shows the maximum value for the actual selector.
DelayUp This is the delay time (positive or negative) to compensate the selector signal output

2.15 SELECTOR
DelayDown This is the delay time (positive or negative) to compensate the selector signal output
ZeroOutput This parameter is used to show the predefined output value for the selected device
when setpoint value is 0 for this device.
KeepValue This parameter is used to specify if the selector device shall keep the set value (or
not) when selecting a device (when changing the DeviceNo signal value). Default
value is False, which means that the set value will be set to 0 when a new device is
selected. Example: Two pumps are configured (A1Pump1 and A1Pump2) and
selected with a selector device (A1Pump), and KeepValue is true. If setpoint to
A1Pump= 200 ml/min and DeviceNo=1 for A1Pump, A1Pump1 runs with a dosing
volume 200 ml/min. If DeviceNo signal is changed to 2, the system will set
A1Pump1= 0 and A1Pump2= 200 ml/min and continues dosing with pump2. The
Note: The KeepValue parameter can only be used (and will only work) if the
control of the selected devices is done by a single IPS node. This means that there
can not be any agent connections between IPS nodes for the selected devices.
StepResponse This parameter is used to make “a boost” function for the configured output of the
actuator. Default value is 100%, which means that the output will be as normal

2.15 SELECTOR
(giving a one to one output response). In some special cases (e.g for the voltage
block), there is a need for “a boost” on the output to give a better performance of the
process. The relative step change in the output value will be multiplied with
StepResponse parameter and then added to the output. The shape/length of this
“boosted” output is decided with parameters: StepInterval and StepFullTime. The
StepInterval This parameter is used to make a specified shape of “the boost” function for the
configured output of the selector. This parameter is not available, when
StepResponse is set to the default value. When StepInterval is set to the special
value -1, the output will be set with the “boosted” value for a time given by
StepFullTime. Example: StepResponse = 150%, StepInterval=-1 and
StepFullTime=200ms. If a new setpoint for the selector is 200 ml/min (going from
the value of 0, and the relative step change is 200), then the output will be set to the
value of 300 for a period of time of 200 ms, and then set back to 200 ml/min. This
will give a “boost” on the output of 100 ml/min (for this step change example) for a
period of 200 ms. When StepInterval is set with a value, then the “boosted” output
will be ramped, with an interval specified by StepInterval and length specified with
StepFullTime. The parameter can be set under type PARAMETER.
StepFullTime This parameter is used to make a specified length of “the boost” function for the
configured output of the selector. This parameter is not available, when
StepResponse is set to the default value. StepFullTime value is Example:
StepResponse = 150%, StepInterval=16 and StepFullTime=200ms. If a new setpoint
for the actuator is 200 ml/min, then the output will be set to the value of 300 ml/min
and ramped down to 200 ml/min with an interval of 16 ms. The parameter can be set

2.16 MIXER
2.16 MIXER
Description MIXER is used to create a mixing function between two configured devices, e.g two
pump devices. In the IPS configuration file, these two devices are referred to as
compa (component a) and compb (component b) devices. This is shown in
example1 below. A special signal called MixRatio is used to determine the mixing
ratio between these two devices. If MixRatio is set to 1, component a device will
feed one part and component b will feed one part of the mixed material. If MixRatio
is set to 2, component a device will feed two parts and component b will feed one
part of the mixed material.
This is a device type and is dependent on ACTUATOR or REGULATOR.
Example ACTUATOR:
-name "A1M1" -use_output "Mac7/Dmc1" -unit 5 -use_curve "A1M1Curve"
-name "A1M2" -use_output "Mac7/Dmc2" -unit 5 -use_curve "A1M2Curve"
-name "A1Fluid1" -use_output "A1Pump1"
-name "A1Fluid2" -use_output "A1Pump2"
MIXER:
-name "A1Fluid" -use_compa "A1Fluid1" -use_compb "A1Fluid2"
Arguments MIXER:
-name "<string>" -use_compa "<dev name>" -use_compb "<dev name>"
MIXER
Signals Parameters
type unit type unit
SetPoint r/w real *1
Mean r real *1
Accu r/w real *1
Actual *2 r real *2
MixRatio r/w num -
MixActual r num -
*1 Value unit dependent on actuator or regulator connected.

Enable This signal is used to enable or disable the actual mixer. The signal can be

2.16 MIXER
configured mixer. The signal can be connected to a digital input/output in the
control cabinet.
SetPoint This signal is used as setpoint value for the actual mixer. The signal can be
Mean This signal shows the mean value for the actual mixer. The signal can be connected
Accu This signal shows the accumulated mixer value over the time period the mixer is
used. The signal can be used as consumption data for the configured device. If it is
set with value 0, the accumulated signal for the actual mixer is reset. The signal can
be connected to an analog input or output in the control cabinet.
Actual This signal shows the actual sensor value if used for the actual mixer. This signal
MixRatio This signal is used to show or set the mixing ratio for two configured devices. In the
IPS configuration file, these two devices are referred to as compa (component a)
and compb (component b) devices. If MixRatio is set to 2, the component a device
will feed two parts and component b will feed one part of the mixed material. If
MixRatio is set to 0.5, component a device will feed a half part and component b
will feed one part of the mixed material. The signal can be connected to an analog
input or output in the control cabinet. Following MixRatio values will have a special
feature:
MixRatio = -1 -> IPS will only run component a (e.g. only run the paint pump)
MixRatio = 0 -> IPS will only run component b (e.g. only run the hardener pump)
MixActual This signal is used to show the actual mixing ratio for two configured devices. The
signal is calculated as following: MixActual = actual value for fluid device divided
with actual value for hardener device. These actual values are based on motor pump
speed feedback or actual values from closed loop regulators. If no feedback sensors
are available, the MixActual signal is based on the relation between the setpoint
value for the fluid device and setpoint value for the hardener device. If this signal is
equal -1, the reading of actual values for the configured devices is not available. The
signal can be connected to an analog input.
MinVal This parameter shows the minimum value for the actual mixer.

2.16 MIXER
Default value: Dependent on the devices that are mixed
MaxVal This parameter shows the maximum value for the actual mixer.
Default value: Dependent on the devices that are mixed and the mixing ratio

2.17 POTLIFEALARM
2.17 POTLIFEALARM
Description POTLIFEALARM is used to make a potlife supervision function device. This

device will supervise the potlife time for the fluid device to which it is connected.
Potlife supervision is normally used to supervise the time two materials are mixed,
to avoid that the mixed material is stuck in the fluid line.
This is an alarm type and is dependent on ACTUATOR, REGULATOR or MIXER.
Example POTLIFEALARM:
-name "A1Pump1Pl" -supervise "A1Pump1"
-name "A1Pump2Pl" -supervise "A1Pump2"
-name "A1FluidPl" -supervise "A1Fluid"
Arguments POTLIFEALARM:
-name "<string>" -supervise "<dev name>"
POTLIFEALARM
Signals Parameters
type unit type unit
Enable r bool 0/1 Volume r/w num [ml]
TimedOut r bool 0/1 WarnTime r/w real [sec]
WarnState r bool 0/1
TimeLeft r/w real [sec]
Enable This signal shows if the actual potlife alarm is enabled or disabled. The signal can
be connected to a digital input signal in the control cabinet.
TimedOut This signal shows when the potlife time for the supervised fluid device has expired.
The signal may be used as a start flag for a cleaning process, see Figure 11. The
WarnState This signal shows when the potlife time is below the warning time set by the
parameter WarnTime, see Figure 11. The signal can be connected to a digital input
in the control cabinet.
TimeLeft This signal is used to show or set the potlife time for the actual supervised fluid
device. When a color change for the fluid device is performed, this signal can be set
to a value (in seconds), and this value will start to decrease, see Figure 11. When
TimeLeft signal drops below zero, the IPS system will generate an error message.

2.17 POTLIFEALARM
The TimeLeft signal can also be negative, which will be the time after a cleaning
process should have been performed. Setting the TimeLeft signal to zero will
disable the potlife supervision function for the actual fluid device. The signal can be
connected to an analog input or output in the control cabinet.
Volume This parameter specifies the mixed fluid volume that shall be supervised by the
potlife function. This volume and the mixed fluid flow rate will be factors used by
IPS to calculate the TimeLeft value, to ensure that the mixed fluid material is not
below specified potlife time. When the TimeLeft value is below 0, the mixed
material is in potlife and a cleaning process must be started. The parameter can be
Default value: 100 [ml]
WarnTime When TimeLeft potlife time drops below this value, the IPS software produces a
potlife warning message, see Figure 11. The parameter can be set under type
PARAMETER.

Figure 11 Potlife alarm signals and parameters
[sec] TimeLeft signal

set to 1000 sec.
1000
900
TimeLeft
700
WarnTime = 500 sec

500
300
100
Time
-100 400 800 1200 1600 2000 2400 2800 [sec]
-300
WarnState
TimedOut
Fluid=xx (Fluid On)

Fluid=0

2.18 DEVIATIONALARM
2.18 DEVIATIONALARM
Description DEVIATIONALARM is used to supervise the deviation between an actual value

and a set value of a configured device. In other words: all devices that has a setpoint
and an actual signal value can be setup to be supervised by a DEVIATIONALARM
type device. A typical device can be a pump, where the rotation speed of the pump
is supervised. For every deviation alarm configured, some signals will be available:
Active, DevTooHi and DevTooLo. Typical use of these signals may be to start a
task, which stops the robot when these signals are activated.
This is an alarm type and is dependent on SENSOR, VENTURISENSOR,

ACTUATOR, REGULATOR, BELLREGUALTOR, MIXER or SELECTOR.
Example DEVIATIONALARM:
-name "A1ShapeDev" -supervise "A1Shape"
Arguments DEVIATIONALARM:
DEVIATIONALARM
Signals Parameters
type unit type unit
Enable r/w bool 0/1 HoldOff r/w num [ms]
Active r/w bool 0/1 ErrTime r/w num [ms]
DevTooHi r/w bool 0/1 AbsLimit r/w real *1
DevTooLo r/w bool 0/1 RelLimit r/w real %
DevWarnHi r bool 0/1 WarnLimit r/w real %
DevWarnLo r bool 0/1 Notify r/w bool 0/1
NoSignal r bool 0/1 ZeroSup r/w bool 0/1
FbkHoldOff r/w num [ms]
*1 Value unit dependent on device supervised.
Enable This signal is used to show enable status signal or to enable/disable the deviation
alarm. The signal can be connected to a digital input/output signal in the control
cabinet.
Active This signal is set when deviation too high value or deviation too low value is
reached (Active signal is set when DevTooHi signal or DevTooLo signal is set). The
deviation limit is given by the parameters AbsLimit and RelLimit, where the widest
limit applies. The signal can be connected to a digital input signal in the control
cabinet. A typical use of this signal may be to stop the robot during painting. This

2.18 DEVIATIONALARM
signal must then be routed to an appropriate system input for the robot, e.g stop the
robot.
DevTooHi This signal is set when the actual value is higher than the setpoint value plus a
deviation limit based on AbsLimit and RelLimit. The actual deviation limit is given
by the widest limit of AbsLimit and RelLimit. The signal can be connected to a
digital input in the control cabinet. A typical use can be to stop the robot. See Active
signal above, for details.
DevTooLo This signal is set when the actual value is lower than the setpoint value minus a
deviation limit based on AbsLimit and RelLimit. The actual deviation limit is given
by the widest limit of AbsLimit and RelLimit. The signal can be connected to a
digital input in the control cabinet. A typical use can be to stop the robot. See Active
signal above, for details.
DevWarnHi This signal is set when the actual value is higher than the setpoint value plus the
warning deviation limit based on WarnLimit, AbsLimit and RelLimit parameter.
The actual warning deviation limit is given by the widest warning limit of AbsLimit
and RelLimit. The signal can be connected to a digital input in the control cabinet.
DevWarnLo This signal is set when the actual value is lower than the setpoint value minus the
warning deviation limit based on WarnLimit, AbsLimit and RelLimit parameter.
The actual deviation limit is given by the widest warning limit of AbsLimit and
RelLimit. The signal can be connected to a digital input in the control cabinet.
NoSignal This signal is set when there is no feedback value from sensor used in the system.
The signal can be connected to a digital input in the control cabinet.
HoldOff This parameter is used to specify the time from a brush change until the system shall
start to supervise the deviation between the new setpoint and actual value. When a
new setpoint has been set to the supervised device, the system starts to count down
the HoldOff time value. After the HoldOff time has expired, the system verifies the
deviation between setpoint and actual value continuously until a new setpoint has
arrived. The system will then generate an error or warning if the deviation is outside
its limit (based on AbsLimit, RelLimit and WarnLimit). See Figure 12. The
ErrTime This parameter is used to set a specific time value that the configured deviation
alarm can be outside its deviation limits without producing a deviation alarm

2.18 DEVIATIONALARM
message. The deviation can be outside the limits several times for a specific
setpoint, but no alarm will occur as long as the time outside the limits is lower than
the specified ErrTime value. This parameter is used by the IPS system after the hold
off time for the alarm has expired. ErrTime value is set in 64 ms interval values. See
AbsLimit This parameter is used to set the absolute deviation limit for the actual supervised
device. If a deviation alarm is configured for atom or shape, the value unit for the
absolute limit will be in Nl/min. This means that if an absolute limit is set to 10
Nl/min, the supervised atom or shape value can vary with ±10 Nl/min around the
setpoint before the IPS software produces an error message and (if configured with
the Notify parameter) disables the supervised device. The actual deviation limit is
given by AbsLimit and RelLimit, where the widest limit applies. See Figure 12. The
Default value: Maximum value of supervised device
RelLimit This parameter is used to set the relative deviation limit for the actual supervised
device. The limit is calculated in % of the setpoint value for the supervised device.
This means that if a deviation alarm is configured for atom and shape, the relative
limit is calculated in percent of Nl/min. If a setpoint for atom or shape is 200 Nl/min
and RelLimit is set to 10%, the supervised value can vary with ±20 Nl/min around
the setpoint before the IPS software produces an error message and (if configured
with the Notify parameter) disables the supervised device. The actual deviation
limit is given by AbsLimit and RelLimit, where the widest limit applies. See
WarnLimit This parameter is used to set a warning limit for the deviation supervision function.
The limit is calculated in % of the widest limit from AbsLimit or RelLimit, and the
IPS will output a warning message when this limit is reached. The parameter can be
Notify When this parameter is set to True, the supervised device will be disabled/shut off
when a deviation is reached. Default value is False. The parameter can be set under
type PARAMETER.
False - The system will not notify/shut off the supervised device
True - The system will notify/shut off the supervised device

2.18 DEVIATIONALARM
ZeroSup This parameter is used to set if the deviation alarm shall supervise a device when the
setpoint for this device is set to zero. If ZeroSup parameter is 0 (False), no
supervision is performed when setpoint to the device is zero. Normal use of this
parameter is with closed loop air flow system using venturi flow sensor. When no
air flow command is given from the system, the sensor is in some cases measuring a
small amount of flow. To avoid that IPS is producing error messages in this case, the
ZeroSup parameter can be set to False. The parameter can be set under type
PARAMETER.
False - No supervision of the deviation for a zero setpoint

True - Supervision of the deviation for a zero setpoint
Default value: True
FbkHoldOff This parameter is interval time IPS software use to supervise the feedback signal for
supervised device. How it works: IPS read accumulated value for sensor used by
supervised device and compare with previous value. If no difference, system will
turn off the supervised device (if Notify parameter is set), and produce an error:
<device name>: No signal. Special cases: When setpoint to supervised device is 0:
feedback supervision is disabled. New value set to supervised device: IPS will wait
the specified FbkHoldOff time, before feedback will be supervised. See Figure 12.
The figure shows in this case that accumulated value is checked every 200 ms.
FbkHoldOff parameter value must be set with a lower value than HoldOff
parameter value if feedback supervision function is wanted. The parameter can be

2.18 DEVIATIONALARM
Figure 12 Deviation alarm signals and parameters
Flow FbkHoldOff = 200ms Checkpoints for Accu

[Nl/min]
RelLimit = 10% = 200x10%=20 Nl/min

300
HoldOff = 304 ms AbsLimit = 10 Nl/min
200
100 Actual value

ErrTime = 64 ms
SetPoint value
Time
200 400 600 800 1000 1200 [msec]
DevTooHi
DevTooLo
Active

2.19 LIMITALARM
2.19 LIMITALARM
Description LIMITALARM is used to supervise if a predefined limit value for a configured

device is reached. This can be a minimum or a maximum value. A typical
supervised device can be a pump pressure sensor, bearing pressure sensor or
rotation speed sensor.
This is an alarm type and is dependent on SENSOR, VENTURISENSOR,

ACTUATOR, REGULATOR or MIXER.
-name "A1Pump1PSCurve" -offset -3.5 -factor 1.842
SENSOR:
-name "A1Pump1PSIn" -use_input "Anin1" -unit 1 use_curve "A1Pump1PSCurve"
-name "A1Pump1PSOut" -use_input "Anin2" -unit 1 use_curve "A1Pump1PSCurve"
LIMITALARM:
-name "A1Pump1PSInLim" -supervise "A1Pump1PSIn" -notify "A1Pump1"
-name "A1Pump1PSOutLim" -supervise "A1Pump1PSOut" -notify "A1Pump1"
Note: Both pump pressure in and out are supervised for A1Pump1. If pump
pressure in or pump pressure out is below or above specified limits, the limit alarm
will notify the A1Pump1 device. This means that A1Pump1 will be disabled and
stopped when some of the specified pressure limits are reached.
Arguments LIMITALARM:
-name "<string>" -supervise "<dev name>" [-notify "<dev name>]
LIMITALARM
Signals Parameters
type unit type unit
Enable r/w bool 0/1 MinVal r/w real *1
Value r bool 0/1 MaxVal r/w real *1
ValTooLo r bool 0/1 LowWarn r/w real *1
ValTooHi r bool 0/1 HighWarn r/w real *1
ValWarnLo r bool 0/1 HaltPos *2 r/w bool 0/1
ValWarnHi r bool 0/1 HaltNeg *2 r/w bool 0/1
Silent r/w bool 0/1

*2 These parameters are only available when the limitalarm is set up to notify a device.

2.19 LIMITALARM
Enable This signal is used to show enable status signal, or to enable/disable the limit alarm.
The signal can be connected to a digital input/output signal in the control cabinet.
Value This signal is used to show the status value for the limitalarm. The signal will be set
when minimum or maximum value for the supervised device is reached. This means
that the Value signal is set when ValTooLo signal or ValTooHi signal is set. The
signal can be connected to a digital input signal in the control cabinet. See also
Figure 13.
ValTooLo This signal is set when the value is below the MinVal value for the actual supervised
device. The limit alarm will also disable the notified device (if configured). The
signal can be connected to a digital input signal in the control cabinet. A typical use
of this signal can be to stop the robot during painting. This signal must then be
routed to an appropriate system input for the robot, e.g stop the robot. See
Figure 13.
ValTooHi This signal is set when the value exceeds the MaxVal value for the actual supervised
device. The limit alarm will also disable the notified device (if configured). The
signal can be connected to a digital input signal in the control cabinet. A typical use
can be to stop the robot. See ValTooLo signal above for details. See also Figure 13.
ValWarnLo This signal is set when the value is below the LowWarn value for the actual
supervised device. The signal can be connected to a digital input signal in the
control cabinet.
ValWarnHi This signal is set when the value exceeds the HighWarn value for the actual
supervised device. The signal can be connected to a digital input signal in the
control cabinet.
MinVal This parameter is used to set the minimum value for the supervised device. The
parameter can be set under type PARAMETER. See also Figure 13.
Default value: Dependent on minimum value for supervised device
MaxVal This parameter is used to set the maximum value for the supervised device. The
Default value: Dependent on maximum value for supervised device

2.19 LIMITALARM
LowWarn This parameter may be used to set a minimum warning limit. This means that if the
supervised value drops below this limit, the IPS will produce a warning message.
The parameter can be set under type PARAMETER. See also Figure 13.
HighWarn This parameter may be used to set a maximum warning limit. This means that if the
supervised value exceeds this limit, the IPS will produce a warning message. The
HaltPos This parameter may be used to specify if the limit alarm will allow a new positive
setpoint or not (when the alarm is in a limit state) to the device notified by the
limitalarm. Default HaltPos value is 1. This means that no positive setpoint value
will be allowed. Typical use of this parameter is for a cartridge bell configuration,
where a cylinder is moved forwards and backwards to output some fluid. Along this
cylinder, a start and stop end switch is located. The start and stop end switch is
configured as limitalarms (which is supervising some digital inputs) and will stop
the cylinder motion when one of the end positions is reached. When the start
position is reached, the cylinder motion will stop, but a new positive setpoint which
will move the cylinder forwards must be allowed. The HaltPos parameter for the
start end limitalarm must then be set to 0. The parameter can be set under type
PARAMETER.
False - Positive setpoints to the supervised device are allowed

True - No positive setpoints to the supervised device are allowed
Default value: True
HaltNeg This parameter may be used to specify if the limit alarm will allow a new negative
setpoint or not (when the alarm is in a limit state) to the device notified by the
limitalarm. Default HaltNeg value is 1. This means that no negative setpoint value
will be allowed. Typical use of this parameter is for a cartridge bell configuration,
see HaltPos parameter above for details. The parameter can be set under type
PARAMETER.
False - Negative setpoints to the supervised device are allowed

True- No negative setpoints to the supervised device are allowed
Default value: True
Silent This parameter is used to specify if a limit error message shall be generated from the
IPS or not. Default value is 0. This means that an error message is sent when a limit
is reached. Typical use of this parameter is for a cartridge bell configuration, when

2.19 LIMITALARM
the start end position is reached, there is no need for an error message. The
False - An error message will be sent when a limit is reached

True - No error message will be sent when a limit is reached
Figure 13 Limit alarm parameters and signals
[Bar]
Pump pressure value

MaxVal
HighWarn
LowWarn
MinVal
Time
[sec]
0 1 2 3 4 5 6
ValTooHi
ValTooLo
Value

2.20 PEAKDETECTALARM
Description PEAKDETECTALARM is used to make a device that can find peak values from a
selected input value, or peak values from different device signals. A typical use is to
find peak values (low or high peaks) from a sensor. This sensor can be e.g. a
distance sensor, where there is a need to supervise the distance (the gap) to an object
and have a feedback of the nearest point value to this object.
This is an alarm device type and may use SENSOR, VENTURISENSOR.
Example 1 IPS:CFG_2.0::
SENSOR:
-name "A1Gap" -use_input "Anin1"
PEAKDETECTALARM:
-name "A1GapAlarm" -supervise "A1Gap"
PARAMETER:
-path "A1GapAlarm/NegPeakDetect" -value -5
-path "A1GapAlarm/PosPeakDetect" -value 5
-path "A1GapAlarm/DetectDelay" -value 1000
CFG_END
Note: This configuration is only an example on how to make a

PEAKDETECTALARM where A1GapAlarm device will supervise the peak values
from A1Gap sensor input. A1Gap sensor can be a distance type sensor, that is
sensing the distance to an object.
Example 2 IPS:CFG_2.0::
PEAKDETECTALARM:
-name "A1HVCurrPeak" -supervise "A1HV/Current"
CFG_END
Note: This configuration is only an example on how to make a

PEAKDETECTALARM to measure a current peak from a device called A1HV
(A1HV device is an already configured HVDCONTROLLER device).
Arguments PEAKDETECTALARM:

PEAKDETECTALARM
Signals Parameters
Signal name Access Value Value Parameter Access Value Value
type unit name type unit
Enable r/w bool 0/1 NegPeakDetect r/w real *1
Active r bool 0/1 PosPeakDetect r/w real *1
NegPeakDetected r bool 0/1 DetectDelay r/w num [ms]
PosPeakDetected r bool 0/1 Interval r/w num [ms]
NegPeak r real *1
PosPeak r real *1
NegPeakDetect r/w real *1
PosPeakDetect r/w real *1
DetectDelay r/w num [ms]
Enable This signal is used to show enable status signal and to enable/disable the peak detect
alarm. When a peak (peak limit is based on NegPeakDetect/PosPeakDetect values)
has been detected, the Enable signal will automatically be set to 0 (the alarm will be
disabled), and Active signal will be set. When the Enable signal is set, the NegPeak
and PosPeak values will be cleared (set to 0). The signal can be connected to a
digital input/output signal in the control cabinet.
Active This signal is used to show the status value for the peakalarm. This signal will be set
when a negative or positive peak for the supervised device has been detected, see
Figure 14. The signal can be connected to a digital input signal in the control
cabinet.
NegPeakDetected This signal is used to show if a negative peak is detected, see Figure 14. This signal
will be set when a negative peak for the supervised device has been detected. The
signal can be connected to a digital input signal in the control cabinet.
PosPeakDetected This signal is used to show if a positive peak is detected, see Figure 14. This signal
will be set when a positive peak for the supervised device has been detected. The
NegPeak This signal is used to show the value of the negative peak detected during a
detection/supervision period. When Enable signal is set, NegPeak signal will be
cleared, and the lowest negative peak value will continuously be recorded until

peakalarm is disabled, see Figure 14. The signal can be connected to an input signal
PosPeak This signal is used to show the value of the positive peak detected during a
detection/supervision period. When Enable signal is set, PosPeak signal will be
cleared, and the highest positive peak value will continuously be recorded until
peakalarm is disabled, see Figure 14. The signal can be connected to an input signal
NegPeakDetect This signal is used to set the negative peak limit value to be supervised. If the
supervised value drops below this limit, the Active and NegPeakDetected signals
will be set, and peakalarm will be disabled after DetectDelay time is finished, see
Figure 14. The signal can be connected to an output signal in the control cabinet.
PosPeakDetect This signal is used to set the positive peak limit value to be supervised. If the
supervised value exceeds this limit, the Active and PosPeakDetected signals will be
set, and peakalarm will be disabled after DetectDelay time is finished, see
Figure 14. The signal can be connected to an output signal in the control cabinet.
DetectDelay This signal is used to set the time from a peak is detected until the peakalarm is
disabled and supervision is stopped, see Figure 14. The signal can be connected to
an output signal in the control cabinet.
NegPeakDetect This parameter is exactly the same as NegPeakDetect signal, and can be set under
type PARAMETER.
PosPeakDetect This parameter is exactly the same as PosPeakDetect signal, and can be set under
type PARAMETER.
DetectDelay This parameter is exactly the same as DetectDelay signal, and can be set under type
PARAMETER.
Interval This parameter is used to set the supervision time interval/samples for a peakalarm
device. The peakalarm will read the supervised input with a time specified by
Interval time value. The parameter can be set under type PARAMETER.

Figure 14 Peak alarm parameters and signals
[Volt]
+ PosPeak DetectDelay=1000ms
Gap signal value
PosPeakDetect
PosPeak
0
NegPeak
NegPeakDetect
NegPeak
Time
- [sec]
0 1 2 3 4 5 6
Enable
PosPeakDetected
NegPeakDetected
Active

2.21 APPLICATOR
2.21 APPLICATOR
Description APPLICATOR is used to connect the different devices configured in IPS to a higher
level. This means that the applicator takes control over the connected devices, and
the brush values from the control cabinet are routed to the applicator. The applicator
will distribute the brush values to the different connected devices. The applicator
device is also built in with intelligence, which means that when a fluid flow value
occurs, the applicator will open the needle.
This is a device type and is dependent on SENSOR, VENTURISENSOR,

ACTUATOR, REGULATOR, SELECTOR, HVDCONTROLLER or MIXER.
Example APPLICATOR:
-name "A1" -use_needle "A1Needle" -use_fluid "A1Fluid" -use_atom "A1Atom" \
-use_shape "A1Shape"
-name "A2" -use_needle "A2Needle" -use_fluid "A2Fluid" -use_atom "A2Atom" \
-use_shape "A2Shape" -use_highvolt "A2HV"
Arguments APPLICATOR:
-name "<string>" -use_needle "<dev name>" -use_fluid "<dev name>"
[-use_atom "<dev name>] [-use_shape "<dev name>] [-use_highvolt "<dev name>]
Note: A1 is an applicator device that controls the needle, fluid, atom and shape
devices. The A2 applicator is also included with a high voltage device to control the
high voltage level applied on the fluid.
APPLICATOR
Signals Parameters
type unit type unit
Enable r/w bool 0/1 AirPreTrig r/w num [ms]
Connect r/w bool 0/1 AirPostTrig r/w num [ms]
Needle r/w bool 0/1 AlarmAutoAck r/w bool 0/1
Fluid r/w real *1
Atom r/w real *1
Shape r/w real *1
HighVolt r/w real *1
OnTime r/w real [sec]
Alarm r/w bool 0/1
*1 Value unit dependent on devices used.
Enable This signal is used to show enable status signal, or to enable/disable the applicator.
When the applicator is disabled, it will disable all the connected devices. This

2.21 APPLICATOR
means that all devices will be turned off. The signal can be connected to a digital
input/output signal in the control cabinet.
Connect This signal is used to connect or disconnect all the resources (needle, regulators,
actuators, high voltage controller, etc.) owned by a configured applicator. Normally,
the applicator is connected, and the needle will be slaved with the fluid value; if
fluid value>0, the needle will open. When the applicator is disconnected, the needle
will not be slaved by the fluid signal. There is no special dependence between the
other devices connected to the applicator, only between fluid and needle device.
Typical use of the Connect signal is with cleaning of the fluid line with a dump line,
where a function is needed to run the fluid device without opening the needle. This
is possible when Connect signal is set to 0. The signal can be connected to a digital
Needle This signal is used to show the needle status, or to set the needle device on and off.
The signal can be connected to a digital input or output signal in the control cabinet.
Fluid This signal is used to show fluid set value, or to set a value to the fluid device. The
signal can be connected to an analog input or output signal in the control cabinet.
Atom This signal is used to show atom set value, or to set a value to the atom device. The
Shape This signal is used to show shape set value, or to set a value to the shape device. The
HighVolt This signal is used to show static high voltage set value, or to set a value to the high
voltage device. The signal can be connected to an analog input or output signal in
OnTime This signal is used to show the on time value for the applicator, or it is used to reset
all the consumption values (all the Accu signals for the devices configured with the
applicator) connected to the applicator. When this signal is set to 0, all the
consumption values for the devices configured with the applicator is set to 0. The
Alarm This signal is used to show the alarm status state for the applicator device. If the
applicator device is in an alarm state (having some kind of problem), then this signal
will be set to true. In a normal situation, the alarm signal will be false. An alarm
state can come from: LIMITALARM devices (if these devices are setup to notify

2.21 APPLICATOR
some of the applicators devices or the applicator itself), DEVIATIONALARM

devices (if Notify parameter is true and the supervised device is part of the
applicator), if some of the devices that the applicator owns are in an unlocked state,
if some of the devices that the applicator owns are not calibrated (e.g. high voltage
control), if some of the devices that the applicator owns are losing communication
over an agent connection. When an alarm occurs, the signal will stay true until the
alarm disappear. If the applicator device is in an alarm state and this alarm
disappear, the alarm can be auto acknowledged from the system, or the alarm must
be manually acknowledged. The signal will then turn to false automatically (based
on the parameter AlarmAutoAck, see description below) or stay true until the signal
is manually set to false from the control cabinet. The signal can be connected to a
digital input or output signal in the control cabinet, and can be used to start some
action when this signal is true.
AirPreTrig This parameter is used to set the time to delay compensate the atom and shape air
signal in relation to the trigging event from a brush that contains no fluid value and
to a brush with fluid value. If a DelayUp time value is set for atom or shape, this
value will be added to the AirPreTrig value. The parameter can be set under type
PARAMETER.
AirPostTrig This parameter is used to set the time to delay compensate the atom and shape air
signal in relation to the trigging event from a brush with a fluid value to a brush that
contains no fluid value. If a DelayDown time value is set for atom or shape, this
value will be added to the AirPostTrig value. The parameter can be set under type
PARAMETER.
AlarmAutoAck This parameter is used to set if the alarm state signal shall be auto acknowledged
from the system or manually acknowledged from the control cabinet. Default value
is true, which means that the alarm signal will automatically be set to false when an
alarm state disappear. If the parameter is set to false, the user has to set the Alarm
signal to false after the alarm state/cause has disappeared. The parameter can be set
False - The alarm state must be manually acknowledged

True - The alarm state will be automatically acknowledged
Default value: True

2.22 INTERLOCKER
2.22 INTERLOCKER
Description INTERLOCKER is used to make an interlocking function between different output

devices such as digital outputs, digital output groups and even analog outputs. An
INTERLOCKER device can supervise up to 10 output devices. These devices are
interlocked with each other, which means that only one of the them can be ‘on’ at a
certain time. A typical use of an INTERLOCKER device is when a color changer is
used on the robot. The color changer normally has different functions, where one
function can be a color group, another function can be a single solvent valve, or air
valve, and only one of these functions is allowed to be ‘on’ at a certain time.
This is a device type dependent on ACTUATOR.
ACTUATOR:
-name "A1Col" -use_output "Doport(1-4)"
-name "A1AirCC1" -use_output "Digout5"
-name "A1Solv1CC1" -use_output "Digout6"
-name "A1Solv2CC1" -use_output "Digout7"
PARAMETER:
-path "DoPort(1-4)/InterLock" -value 1
INTERLOCKER:
-name "A1CC1" -supervise "A1Col" -supervise "A1AirCC1" \
-supervise "A1Solv1CC1" -supervise "A1Solv2CC1"
CFG_END
Note: This is an example on how to configure a color changer with a color valve
group of four valves, one air valve and two different solvent valves. Only one of
these valves is allowed to be ‘on’ at a certain time, which is controlled by the
interlocker device (A1CC1). The devices to be interlocked are connected to the
supervise part of the INTERLOCKER device. The actuators created are only
examples on some physical outputs that are given some function names.
Advanced info When changing between interlocked devices containing delay compensation values,
delay compensation is not modified. That means that a situation may occur where
two interlocked valves are ‘on’ at the same time in a few milliseconds [ms], if the
delay setup for the supervised devices are different.
Arguments INTERLOCKER:
-name "<string>" -supervise "<dev name>" -supervise "<dev name>"
[-supervise "<dev name>"] [-supervise "<dev name>"] [-supervise "<dev name>"]
[-supervise "<dev name>"] [-supervise "<dev name>"] [-supervise "<dev name>"]
[-supervise "<dev name>"] [-supervise "<dev name>"]

2.22 INTERLOCKER
INTERLOCKER
Signals Parameters
type unit type unit
Enable r bool 0/1 SafetyZone r/w num [ms]
<dev name(1)> *2 r/w num *1
<dev name(2)> *2 r/w num *1
<dev name(3-10)> *2 r/w num *1
*1 Value unit dependent on device output connected.

*2 Interlocker device contains signal names given the same name as supervised device.
From example, the signals and parameters will be as follows:
INTERLOCKER
Signals Parameters
type unit type unit
Enable r bool 0/1 SafetyZone r/w num [ms]
A1Col r/w num int
A1AirCC1 r/w num 0/1
A1Solv1CC1 r/w num 0/1
A1Solv2CC1 r/w num 0/1
Enable This signal shows the enable status for the interlocker device. The signal can be
connected to a digital input signal in the control cabinet.
<dev name(1)> This signal can be used to set a value output to the first device that the interlocker
device is supervising. The signal can be connected to a digital input/output, digital
group or analog output/input in the control cabinet.
<dev name(2)> This signal can be used to set a value output to the second device that the interlocker
device is supervising. The signal can be connected to a digital input/output, digital
group or analog output/input in the control cabinet.
<dev name(3-10)> These signals can be used to set a value output from third to tenth device that the
interlocker device is supervising. These signals can be connected to digital
inputs/outputs, digital groups or analog outputs/inputs in the control cabinet.
SafetyZone This parameter is used to set a time from an interlocked device output is turned off
until another interlocked device output is allowed to be set. This feature is used to

2.22 INTERLOCKER
allow the output for a device to use some time to turn off before another device
output can be turned on. The parameter can be set under type PARAMETER.

2.23 PARTLOGGER
2.23 PARTLOGGER
Description PARTLOGGER is used for split up logging of the Accumulated (Accu) signal for a
configured device. The PARTLOGGER device can divide this Accu signal into
different slots, dependent of how user controls the logger device. The maximum
size of slots is in the software set to 20, but several partloggers can be made if there
is a need for more slots. It works as follows: When the signal SlotNo is set to one of
the configured slots, then IPS will read the Accu value and starts to increment the
Accu value in this slot until a new SlotNo value is set or SlotNo is set to 0. Setting
one of the configured SlotAccu signals to 0 will clear all SlotAccu signals (setting
all configured SlotAccu signals to 0). Restriction: The PARTLOGGER device can
only log the Accu signal for a configured device.
This is a device type dependent on a configured device with an Accu signal.
LINEARCURVE:
-name "A1FluidFSCurve" -offset 0 -factor 100
SENSOR:
-name "A1FluidFS" -use_input "Anin2" -unit 3 \
-use_curve "A1FluidFSCurve"
PARTLOGGER:
-name "A1FluidPart" -use_input "A1FluidFS"
PARAMETER:
-path "A1FluidPart/MaxVal" -value 3
CFG_END
Note: This is an example on how to configure a PARTLOGGER device, called

A1FluidPart, which is reading the Accu signal for sensor A1FluidFS. A1FluidPart is
configured to allocate 3 slots, which means that the Accu signal can be divided into
3 slots. The size of slots must be set in the MaxVal parameter in configuration, and
can only be set once. This must also be done before making a connection to some of
the slots.
Arguments PARTLOGGER:
-name "<string>" -use_input "<dev name>"

2.23 PARTLOGGER
PARTLOGGER
Signals Parameters
type unit type unit
Enable r/w bool 0/1 MinVal r bool 0
Connect r bool 0/1 MaxVal *1 r/(w) int -
SlotNo r/w num 0..Max *1
SlotAccu1 r/w real *2
SlotAccu2 r/w real *2
...
SlotAccu<MaxVal*1> r/w real *2
*1 The MaxVal value can maximum be 20.

*2 Value unit dependent on the unit of logged Accu signal.
Enable This signal is used to enable the partlogger device. The signal can be connected to a
digital input/output signal in the control cabinet.
Connect This signal shows the connect status for logger device. The signal can be connected
to a digital input in the control cabinet.
SlotAccu1 This signal shows the total Accu value logged on slot1. Setting this signal to 0 will
clear the Accu value in this slot and in all the other configured slots. The signal can
be connected to an analog output/input in the control cabinet.
SlotAccu2 This signal shows the total Accu value logged on slot2. Setting this signal to 0 will
clear the Accu value in this slot and in all the other configured slots. The signal can
be connected to an analog output/input in the control cabinet.
.........
SlotAccu<MaxVal> This signal shows the total Accu value logged on slot<MaxVal>. Setting this signal
to 0 will clear the Accu value in this slot and in all the other configured slots. The
signal can be connected to an analog output/input in the control cabinet.
MinVal This parameter shows the minimum value.
Default value: 0
MaxVal This parameter shows the maximum number of slots for the configured logger. This
parameter must be set in the PARAMETER section.

2.24 BRUSHDEVICE
2.24 BRUSHDEVICE
Description BRUSHDEVICE is used to make a brush device that is reading a brush file. This
device is able to set different brush tables/brushes, and it can also set different brush
offset factors for the brushes.
This is a device type, which is normally used together with a stand alone ips system,
and may use an INDEXTABLE for indexing.
INDEXTABLE:
ACTUATOR:
-name "A1Fluid" -use_output "Anout1"
-name "A1Atom" -use_output "Anout2"
-name "A1Shape" -use_output "Anout3"
BRUSHDEVICE:
-name "A1Brush" -use_file "A1Brush"
ACTUATOR:
-name "A1Material" -use_output "A1Brush/Table" \
-use_curve "A1BrushTab"
APPLICATOR:
-use_atom "A1Atom" -use_shape "A1Shape"
CONNECTION:
-from "A1Brush/Param1" -to "A1/Fluid"
-from "A1Brush/Param2" -to "A1/Atom"
-from "A1Brush/Param3" -to "A1/Shape"
CFG_END
Example on a brush table file format (Table1.bt under directory A1Brush):

1,1,1
0,2,2
2,2,2
4,3,3
Note: A1Brush is created as a BRUSHDEVICE and will find the appropriate brush
table files under directory A1Brush. Based on the index file (A1BTab.ndx), the
appropriate brush table for a material will be selected. In the CONNECTION part,
the brush value elements (from a brush table) are connected to A1Fluid (first brush
value element), A1Atom (second brush value element) and A1Shape (third brush
value element). This is done by Param1, Param2 and Param3 signal, and a brush
device can have up to 5 brush value elements (Param1 to Param5).

2.24 BRUSHDEVICE
Arguments BRUSHDEVICE:
BRUSHDEVICE
Signals Parameters
type unit type unit
Table r/w num Tables r num
Number r/w num Brushes r num
Param1 r num *1 Channels r num
Param2 r num *1 SysLag r/w num [ms]
Param3 r num *1 Offset1 r/w num %
Offset4 r/w num %
Offset5 r/w num %
*1 Value unit dependent on device output connected.
Table This signal is used to set a brush table value, or to show the actual brush table value.
The number of brush tables that can be set is dependent on the number of tables in
the brush table file. The signal can be connected to an output from the control
cabinet, from an external output or it can be indexed from another value.
Number This signal is used to set a brush number value, or to show the actual brush number
value. The number of brushes that can be set is dependent on the number of brushes
set in the brush table file for each brush table. The signal can be connected to an
output from the control cabinet, from an external output or it can be indexed from
another value.
Param1 This signal shows the actual value for the first brush element for a selected brush.
The signal can be connected to an input in the control cabinet or to an external input.
Param2 This signal shows the actual value for the second brush element for a selected brush.
Param3 This signal shows the actual value for the third brush element for a selected brush.

2.24 BRUSHDEVICE
Param4 This signal shows the actual value for the fourth brush element for a selected brush.
Param5 This signal shows the actual value for the fifth brush element for a selected brush.
Tables This parameter shows the number of brush tables available. The number of brush
tables is dependent on the brush table file.
Default value: Dependent on the brush table file
Brushes This parameter shows the number of brushes available for the selected brush table.
The number of brushes is dependent on the brush table file.
Channels This parameter shows the number of channels (elements) for the selected brush. The
number of channels is dependent on the brush table file.
Syslag This parameter is used to set the system lag time for a specific system. System lag
time means the time from a signal is set from a system (e.g. from a robot) until the
IPS software turns the signal on. When SysLag is set to a value, the system has the
possibility to use delay compensation function for paint equipment. The SysLag
time value range is 0-3000 [ms]. The parameter can be set under type
PARAMETER.
Offset1 This parameter is used to set an offset value to the first brush element (setting an
offset value to signal Param1). If brush value is 2 and Offset1 is set to 50 [%], the
value for Param1 will be 1. The Offset1 value range is 1-200 [%]. The parameter
Offset2 This parameter is used to set an offset value to the second brush element (setting an
offset value to signal Param2). The Offset2 value range is 1-200 [%]. The parameter

2.24 BRUSHDEVICE
Offset3 This parameter is used to set an offset value to the third brush element (setting an
Offset4 This parameter is used to set an offset value to the fourth brush element (setting an
Offset5 This parameter is used to set an offset value to the fifth brush element (setting an

2.25 BATCHENGINE
2.25 BATCHENGINE
Description BATCHENGINE is used to set up the system to run batch files for different
purposes. One purpose can be to run a batch file that will change brush offset values
based on a material value. The batch files must be stored locally on the IPS board,
and will contain different user commands.
This is a device type, which is normally used together with a stand alone IPS
system, and may use an INDEXTABLE for indexing.
INDEXTABLE:
-name "A1BrushOffTab" -use_file "A1BOff.ndx"
ACTUATOR:
BRUSHDEVICE:
ACTUATOR:
BATCHENGINE:
-name "A1BrushOffEng" -use_file "a1brush.p$$"
PARAMETER:
-path "A1BrushOffEng/AutoGen" -value 1
CONNECTION:
-from "A1Material" -to "A1BrushOffEng/Command" -use_table "A1BrushOffTab"
-from "A1Brush/Param1" -to "A1Fluid"
-from "A1Brush/Param2" -to "A1Atom"
CFG_END
Example on batch file format (A1BOff.ndx):

0, 0
1, 1
2, 1
Example on batch file format (a1brush.p01):

ips a1brush wp offset1 90
ips a1brush wp offset2 80
Note: A device called A1BrushOffEng is created. This device can run batch files
named a1brush.p$$. The notation ‘$$’ represents ‘number wildcards’ (example:

2.25 BATCHENGINE
a1brush.p00, a1brush.p21). When A1Material value is set, the system will use the
index file (A1BOff.ndx) to find the Command value to use. In this example, the
system will run a file called a1brush.p00 when A1Material value is 0, and run the
file a1brush.p01 when A1Material value is 1 or 2.
Arguments BATCHENGINE:
BATCHENGINE
Signals Parameters
type unit type unit
Command r/w num AutoGen r/w bool 0/1
Result r/w num
Command This signal is used to start a batch file (with a specific number), or to show the batch
file (with a specific number) that has already been run. The signal can be connected
to an output from the control cabinet, from an external output or it can be indexed
from another value.
Result This signal is used to show the result when a batch file has been run. Following
Result values can be issued, describing the actual BATCHENGINE device status:
0 - Finish running a batch file and operation is normal

1 - Command in batch file not found
2 - Missing parameter/argument for a command in the batch file
3 - Illegal argument for a command in the batch file
4 -> Command specific error in the batch file
-1 - Batch engine is running a batch file
-2 - Internal error, out of resources
-3 - The batch file to run was not found
AutoGen This parameter is used to set if the system shall auto generate a new batch file with
name and format when this batch file does not exist on the ips node. Default name
will be based on the name in the configuration plus a number (based on Command
value). The contents in the file will be copied from the <batchname.p$$> file, if
present. Else, the file will be empty. Example: If a batch file called a1brush.p00 is
present, the system will make a copy of the contents of this file when a new batch
file is auto generated. The parameter can be set under type PARAMETER.

2.25 BATCHENGINE
False - The system will not auto generate a default batch file
True - The system will auto generate a default batch file

2.26 MCENGINE
2.26 MCENGINE
Description MCENGINE is used to set up the system to run fill and clean programs located on
an ips node. This will enable the system to automatically perform material changes
with fill and clean programs, based on a material value. These programs contain a
set of SetTMSignal instructions. This means that a material change program already
used on a robot or created from an editor (color change editor) can be stored on the
ips board and used. The different fill and clean programs to be run by the
MCENGINE device are described in a material index file, and have a defined
format: material number, <fill program name>, <clean program name>. The ips
system expects to find clean/fill programs/files on the ips board, with a name
(specified from material index file) and file notation .prg. Example: fill1.prg,
clean0.prg, clean1.prg. An MCENGINE device will run material change sequences
(with fill and clean programs) in a defined manner, and this is shown in Figure 15.
This is a device type, which is normally used together with a stand alone ips system,
and may use an INDEXTABLE for indexing.
INDEXTABLE:
-name "A1BrushOffTab" -use_file "A1BOff.ndx"
BRUSHDEVICE:
ACTUATOR:
STROBEDEVICE:
-name "A1Material"
BATCHENGINE:
-name "A1BrushOffEng" -use_file "a1brush.p$$"
MCENGINE:
-name "A1Mc" -use_file "A1MC.ndx"
PARAMETER:
-path "A1BrushOffEng/AutoGen" -value 1
CONNECTION:
-from "A1Material" -to "A1Mc/Request"
-from "A1Mc/Pending" -to "A1Brush/Table" -use_table "A1BrushTab"
-from "A1Mc/Pending" -to "A1BrushOffEng/Command" -use_table "A1BrushOffTab"
-from "A1Brush/Param1" -to "A1Fluid"
-from "A1Brush/Param2" -to "A1Atom"
CFG_END

2.26 MCENGINE
Example on material change index file format (A1MC.ndx):

---------------------- A1Material value
| -------------- Fill program name
| | -- Clean program name
| | |
| | |
0, dummy, clean0
1, fill1, clean1
2, fill2, clean2
Note: A device called A1Mc is created. This device can run material change
sequences (with fill and clean programs) in a defined manner. The Figure 15 first
shows the clean and fill sequence when changing from material 2 to material 1, and
then when changing from material 1 to material 2. In CONNECTION, the value
from A1Material is set to Request signal, and Pending signal from A1Mc is
connected to brush table and brush offset factor. This means that when filling of a
new material starts, the system will select/index a new brush table and brush offset
for this new material.
Arguments MCENGINE:
Figure 15 Material fill and clean sequences
'1' '1'
'2' '2'
A1Material/Value
A1Material/Toggle
'1' '1'
'2' '2'
A1Mc/Request
'1' '0'
'2' '0' '2'
A1Mc/Pending
'1' '0'
'2' '0' '2'
A1Mc/Current
Clean2 Fill1 Clean1 Fill2
Start Cleaning Finished Filling

Finished Cleaning - Start Filling
In some special cases, the A1Mc device will be in an unknown material state
(undefined material state). The Current value will then be set to 0. One case can be
the first time the configuration is loaded, and the system do not know the state of the
material in the system. Another case can be if there is an error in the clean/fill
sequence, and A1Mc is not able to complete the material change. How this works
when Current material is 0 and a new material is set, is shown in Figure 16. An

2.26 MCENGINE
MCENGINE device will never run the fill program from the material index file,
only the clean program, when material state is unknown (Current value = 0).
Figure 16 Fill and clean sequences for unknown material
'1' '1' '1'

'0' '2' '2'
A1Mc/Request
'1' '0' '1'
'0' '0' '2' '0' '0'
A1Mc/Pending
'1' '0' '1'
'0' '0' '0' '0'
A1Mc/Current
Clean0 Fill1 Clean1 Fill2 Clean0 Fill1
Start Cleaning,
unknown state Finished Filling
Finished Cleaning - Start Filling Error, Fill sequence stopped
MCENGINE
Signals Parameters
type unit type unit
Enable r/w bool 0/1
Request r/w num
Pending r num
Current r num
Force r/w 0..2
Enable This signal is used to show enable status signal, or to enable/disable the
MCENGINE device. When this device is disabled, it will not read any Request
signal input and it will not perform any material change sequences. The signal can
be connected to an input/output signal in the control cabinet or to an external
input/output.
Request This signal is used to start a request for a new material (start a material change). If
the Request value is set to the same value as current, the MCENGINE device
performs an action based on the Force signal value (see description of Force signal
below). The signal can be connected to an output in the control cabinet or to an
external output via a STROBEDEVICE device. The range for Request signal is: [0-
255].
Pending This signal shows the pending material state for the MCENGINE device. When a
material change starts, the Pending value will be set to 0. After cleaning of the

2.26 MCENGINE
current material is finished, the Pending signal will be set to the new material
number, and the filling sequence will be started. If an error occurs during a cleaning
or filling sequence, the Pending value will be set to 0. The signal can be connected
to an input signal in the control cabinet or to an external input.
Current This signal shows the current material state for the MCENGINE device. When a
material change starts, the Current value will be set to 0. After filling of new
material is finished, the Current signal will be set to the new material number. If an
error occurs during the filling sequence, the Current value will be set to 0
(undefined material state). The signal can be connected to an input signal in the
control cabinet or to an external input.
Force This signal is used to set up if the MCENGINE device shall force a material change
or not. Force means that the MCENGINE device can run several fill sequences or
several clean/fill sequences for the current material. If a new set value to the
Request signal is the same value as the current material value, the MCENGINE
device performs an action based on the Force signal:
0 - No material change (no action)

1 - Run clean sequence and then fill sequence for current material
2 - Run fill sequence for current material
The signal can be connected to an output in the control cabinet or to an external
output.

2.27 VARIABLEDEVICE
2.27 VARIABLEDEVICE
Description VARIABLEDEVICE can be used to make simulated input/output device (such as a

sensor or actuator). In some special cases there is a need to make devices, which is
not dependent of a physical input/output, so-called “dummy” input/output devices.
These devices can be used to make a simulated paint system without being
dependent of a physical paint system. This type has the following configuration
parameter:
• Unit[num]: Specifies the unit for the VARIABLEDEVICE:

1= Bar
2=Psi
3=ml/min
4=Nl/min
5=rpm
6=krpm
7=Kv
8=µA
9=mV
10=°C
11=rad
12=°F
13=mm/sec
14=ml/sec
15=mBar
When no unit is specified: the configured device has no unit.
Example1 VARIABLEDEVICE:
-name "A1AtomRSensor"
-name "A1BrakeOut"
-name "A1AtomIPOut"
SENSOR:
-name "A1AtomRS" -use_input "A1AtomRSensor" -unit 6
ACTUATOR:
-name "A1Brake" -use_output "A1BrakeOut"
-name "A1AtomIP" -use_output "A1AtomIPOut" -unit 1
BELLREGULATOR:
-name "A1Atom" -use_output "A1AtomIP" \
-use_input "A1AtomRS" -use_brake "A1Brake"
Note: A1AtomRSensor is used as simulated input for A1AtomRS sensor device.

A1BrakeOut and A1AtomIPOut are used as simulated outputs for A1Brake and
A1AtomIP actuator devices. A1Atom is configured as a bell regulator device that
uses simulated input and output devices.

2.27 VARIABLEDEVICE
Example2 VARIABLEDEVICE:
-name "A1Material"
CONNECTION:
-from "A1Material" -to "A1Fluid/MixRatio" -use_table "A1FluidMixTab"

-from "A1Material" -to "A1FluidPl/TimeLeft" -use_table "A1FluidPlTab"
Note: A1Material is configured as a simulated material device, which receives

material values from the paint system.This value is used to set up (in this example) a
mixing ratio and a potlife time for the actual material.
Arguments VARIABLEDEVICE:
-name "<string>" [-unit <num>]
VARIABLEDEVICE
Signals Parameters
type unit type unit
SetPoint r/w real *1 MaxVal r real *1
Mean r real *1
Accu r/w real *1
*1 Value unit dependent on unit specified in the configuration parameter
Enable This signal is used to enable or disable the actual variable device. The signal can be
SetPoint This signal is used as setpoint value for the actual variable device. The signal can be
Mean This signal shows the mean value for the actual variable device. The signal can be

2.27 VARIABLEDEVICE
Accu This signal shows the accumulated variable device value over the time period the
actual device is used. The signal can be used as consumption data for the configured
device. If it is set with value 0, the accumulated signal for the actual device is reset.
The signal can be connected to an analog input or output in the control cabinet.
MinVal This parameter shows the minimum value for the actual variable device.
Default value: Dependent on minimum <real> value range for given ips board
MaxVal This parameter shows the maximum value for the actual variable device.
Default value: Dependent on maximum <real> value range for given ips board

2.28 FILTERDEVICE
2.28 FILTERDEVICE
Description FILTERDEVICE is used to make a special setpoint step-response on output devices,

such as a servo motor output or analog output. This device is typically used when an
overshoot to an output is required. A filterdevice type can be compared with an
actuator output device (but with more simplified functions) and with the difference
that a digital filter must be assigned to the setpoint for this device, to make a filtered
output. The output behavior will be dependent of the filter assigned to this device. A
filterdevice must be placed as close as possible to the physical output, to avoid
unnecessary computer load on the ips node. This device type will typically be used
in a gluing or sealing systems.
Example IIRCOEFF:
-name "OverShootCoeff" -b0 5.475478 -b1 -5.42644 -b2 0 \
-a1 0.950957 -a2 0
IIRFILTER:
-name "OverShootFilter" -use_coeff "OverShootCoeff"
LINEARCURVE:
-name "A1M1Curve" -offset 0 -factor 12.63
FILTERDEVICE:
-name "A1Servo1" -use_output "Mac54/iDrive"
FILTERASSIGN:
-Path "A1Servo1/SetPoint" -use_filter "OverShootFilter"
ACTUATOR:
-name "A1M1" -use_output "A1Servo1" -unit 5 -use_curve "A1M1Curve"
Note: A1Servo1 is configured as a filterdevice and an overshoot filter

(OverShootFilter) is assigned to the setpoint value of this device.
FILTERDEVICE
Signals Parameters
type unit type unit
Accu r/w real *1 DelayDown r/w num [ms]
Actual *2 r real *1 LinearDelay r/w bool 0/1
*1 Value unit dependent of used output device

*2 Available if a sensor is connected.

2.28 FILTERDEVICE
Enable This signal is used to enable or disable the actual filter device. The signal can be
Connect This signal is used to connect or disconnect the resources owned by the actual filter
device. The signal can be connected to a digital input/output in the control cabinet.
SetPoint This signal is used as setpoint value for the actual filter device. The signal can be
Accu This signal shows the accumulated filter device value over the time period the filter
device is used. The signal can be used as consumption data for the configured
device. If it is set with value 0, the accumulated signal for the actual filter device is
cabinet.
Actual This signal shows the actual sensor value if used for the actual filter device. The
MinVal This parameter shows the minimum value for the actual filter device.
Default value: Dependent on output connected
MaxVal This parameter shows the maximum value for the actual filter device.
Default value: Dependent on output connected
DelayUp This is the delay time (positive or negative) to compensate the filter device signal

2.28 FILTERDEVICE
DelayDown This is the delay time (positive or negative) to compensate the filter device signal

2.29 PARAMETER
2.29 PARAMETER
Description PARAMETER is used to set different parameter values for the instances which are
configured. The different parameters available for a specific instance are described
in the signal and parameter table for the type where the instance is configured.
Example 1 PARAMETER:
-path "A1Shape/DelayUp" -value 50
-path "A1Shape/DelayDown" -value 50
-path "A1Shape/CurveSize" -value 20
-path "A1Shape/HoldOffUp" -value 304
-path "A1Shape/HoldOffDn" -value 400
-path "A1Shape/ZeroOutput" -value -1
-path "A1Shape/CompHoldUp" -value 400
-path "A1Shape/CompHoldDn" -value 450
-path "A1Shape/CompAbsLim" -value 2
-path "A1Shape/CompRelLim" -value 20
-path "A1Shape/CompCutReg" -value 1
Note: Examples on how to set different parameter values for regulator instance
A1Shape.
Example 2 PARAMETER:
-path "A1Shape/DelayUp" -value 50
-path "A1Shape/DelayDown" -value 50
-path "A1Fluid/DelayUp" -value 50
-path "A1Fluid/DelayDown" -value 50
-path "A1FluidPl/Volume" -value 200
-path "A1FluidPl/WarnTime" -value 100
-path "A1ShapeDev/HoldOff" -value 304
-path "A1ShapeDev/AbsLimit" -value 20
-path "A1ShapeDev/RelLimit" -value 0
-path "A1ShapeDev/WarnLimit" -value 50
-path "A1ShapeDev/Notify" -value 1
Arguments PARAMETER:
-path "<dev name>/<param name>" -value <num>

2.30 CONNECTION
2.30 CONNECTION
Description CONNECTION can be used to:
• make a connection between a brush device and some process outputs (see
example 1 below).
• make an inverted function between two signals (see example 2 below).
• make an interlock functions between devices (see example 2 below).
• make an internal connection between different configured devices/instances on
the IPS node (see example 3 below).
• make a ‘cascade’ function for pneumatic valves into groups when several valve
control driver boards (VCD-boards are controlling the pneumatic valves) are
used on a robot, and the valve group itself is routed over several control driver
boards (see example 4 below).
The different signals available for a specific device/instance are described in the
signal and parameter table for the type where the device/instance is configured.
Example 1 BRUSHDEVICE:
ACTUATOR:
APPLICATOR:
CONNECTION:
Note: Param1, Param2 and Param3 outputs for A1Brush device are connected to
applicator1’s fluid, atom and shape process.
Example 2 CONNECTION:
-from "Digout1" -to "Digout2" -invert
-from "A1HV/SetPoint" -to "A1Solv1CC1/Enable" -invert
Note: Digital output no.1 is inverted with digital output no.2. This means that when
digital output no.1 is on, digital output no.2 will be off. The next connection is used
to prevent solvent to be applied on the applicator, when high voltage is on. When
voltage is on (HV-setpoint > 0), then the solvent valve on the color changer is
disabled since the enable signal for the valve is inverted with the setpoint value for
the high voltage.

2.30 CONNECTION
Example 3 ACTUATOR:
-name "A1AtomFSMirr" -use_output "Mac10/Anout1" \
-use_curve "A1AtomFSMirrCurve"
CONNECTION:
-from "Digout1/SetPoint" -to "Digout2/SetPoint"
-from "A1Needle" -to "Mac10/Digout1"
-from "A1AtomFS/Value" -to "A1AtomFSMirr/SetPoint"
Note: Digout2 signal on the IPS node is a mirror signal of Digout1. The A1’s needle
signal is mirrored to the digital output no.1 on the IPS node with Mac ID 10
(normally the Process IO board). The value for A1AtomFS is mirrored to the analog
output no.1 on the IPS node with Mac ID 10.
Example 4 This example shows how to make a color valve group (in this case 30 color valves)
with an interlock function.
IPS:CFG_2.0::
ACTUATOR:
-name "A1Col" -use_output "Mac12/Doport(5-16)"
PARAMETER:
-path "Mac12/DoPort(5-16)/InterLock" -value 1
CONNECTION:
-from "Mac12/DoPort(5-16)/cascade" -to "Mac13/DoPort(1-16)"
CFG_END
Important: When a group of digital outputs exceeds the number of 16, all the
Doports that are used must first be interlocked in the configuration before it can be
cascaded. This is shown in example above.
All valves are distributed over three different valve control driver boards (VCD-
boards) with a Mac ID of 12,13 and 16 on the CAN bus. The first part of the color
valve group is from valve 5 to valve 16 on the VCD board with address 12. The next
part is from valve 1 to 16 on VCD board with address 13, and the last part of the
group is from valve 1 to 2 on VCD board with address 16.
As the different valves are distributed over several valve control driver boards, the
IPS software must be informed that the different subgroups of valves must be
‘cascaded’ to a complete group. The special feature with cascade in the
CONNECTION part informs the IPS software that subgroups of valves are
‘cascaded’ to each other as a complete valve group.

2.30 CONNECTION
The cascading of valves must be in the correct order, which means that the last valve
on a subgroup must be cascaded with the first valve on the next subgroup.
The restriction with the cascading function is that it is not allowed to have any free
valves between the subgroups, and the minimum subgroup size is 2.
Arguments CONNECTION:
-from "<dev name>[/<signal name>]" -to "<dev name>[/<signal name>]" [-invert] [-use_table
"<table name>"] [-use_curve "<curve name>"]
If not a signal is set in the configuration, then the system will automatically connect
to signal number 3 (which is default) for used device.

2.31 Ppru1
2.31 Ppru1
2.31.1 Introduction
Description Ppru1 is used to specify that IPS shall connect to a Proportional pressure regulator
unit (PPRU) to control air pressures/flows. The PPRU unit is connected to the
system with a board called PPRI (Proportional pressure regulator interface board),
and the IPS software (with IPS configuration) will run on this board.
A PPRU unit consists of three air channels/(outputs), and can therefore control up to
three different air processes, e.g. shape air flow, bell speed, fluid pressure. These
channels have different physical setups: All three air channels have an IP-transducer
built inside. Two of the channels have a built in orifice (a venturi type of orifice), so
it is possible to measure the air flow in these channels. The third channel has no
orifice built inside, and will normally be used for dead-end pressure control. All
three channels have pressure sensors inside, but only two channels have delta
pressure sensors (the channels with an orifice).
How to connect to the different IP-transducers and pressure/delta pressure sensors

will be shown in the examples below. All the signals/parameters for the different
devices for a PPRU unit will also be described.
These are fixed device types, which means that handling of the inputs/outputs
to/from the air channels is already specially software coded for the PPRU unit. The
fixed device Ppru1 will also generate sub-devices as Ppru1/PS1..3, Ppru1/DPS1..2,
Ppru1/IP1..3. The total numbers of these sub-devices are dependent on the specific
IPS configuration.
Example SENSOR:
-name "A1AtomPS" -use_input "Ppru1/PS1"
-name "A1AtomDPS" -use_input "Ppru1/DPS1"
ACTUATOR:
-name "A1AtomIP" -use_output "Ppru1/IP1"
-name "A1ShapeIP" -use_output "Ppru1/IP2"
-name "A1Fluid" -use_output "Ppru1/IP3"
Note: A1AtomPS sensor uses the Ppru1/PS1 absolute pressure sensor input from
air channel 1 on the PPRU unit. A1AtomDPS sensor uses the Ppru1/DPS1 delta
pressure sensor input from air channel 1 for the PPRU unit. A1AtomIP actuator uses
the Ppru1/IP1 output to IP-transducer 1 in air channel 1 for the PPRU unit.
A1ShapeIP actuator uses the Ppru1/IP2 output to IP-transducer 2 in air channel 2 for
the PPRU unit. A1Fluid actuator uses the Ppru1/IP3 output to IP-transducer 3 in air
channel 3 for the PPRU unit.

2.31 Ppru1
Ppru1
Signals Parameters
type unit type unit
PowerEnable r bool 0/1 MinVal r/w real *1
Connect r bool 0/1 US-Units r/w bool 0/1
RefPres r real *1 Interval r/w num [ms]
SupplyPress r real *1 Version r real
BoardTemp r real *1
SensTemp r real *1
Supply3V r real [volt]
ErrState r num
*1 Value unit dependent on parameter US-Unit.
PowerEnable This signal is used to show power enable status signal for the PPRU unit. If IPS
software discovers a short circuit problem on the power cable to a PPRU unit, IPS
will turn down power supply to PPRU unit with this signal. The signal can be
connected to a digital input signal in the control cabinet.
Connect This signal is used to show the communication connect status signal for the PPRU
unit. The signal can be connected to a digital input signal in the control cabinet.
RefPres This signal shows the reference pressure signal value which the PPRU unit is
measuring in its working environment. Normal reference pressure will be approx. 1
atm. (1 Bar or 14.5 psi/close to atmospheric pressure level). The signal can be
connected to an analog input signal in the control cabinet.
SupplyPress This signal shows the supply pressure signal value which the PPRU unit is
measuring in its working environment. IPS will shut down PPRU unit if pressure is
below a limit specified by parameter MinVal. The signal can be connected to an
analog input signal in the control cabinet.
BoardTemp This signal shows the board temperature value which the PPRU unit is measuring in
its working environment. The signal can be connected to an analog input signal in

2.31 Ppru1
SensTemp This signal shows the measured temperature value in the pressure/delta pressure
sensor area, inside the PPRU unit. The signal can be connected to an analog input
signal in the control cabinet.
Supply3V This signal shows the 3 voltage level which the PPRU unit is measuring in its
working environment. The signal can be connected to an analog input signal in the
control cabinet.
control cabinet.
control cabinet.
ErrState This signal is for internal use.
MinVal This parameter is used to set the minimum pressure supply limit for the PPRU unit.
The IPS software will disable the air control (disable the IP-transducers outputs) of
the PPRU unit and send an error, if the pressure supply for the PPRU drops below
this limit. The parameter can be set under type PARAMETER.
Default value: 5 bar (72.5 psi)
US-Units This parameter is used to set if the different signals/parameters shall use metric units
or US units. The parameter can be set under type PARAMETER.
Default value: False (metric unit)
Interval This parameter is used to set the interval time for the PPRU unit. The parameter can
Version This parameter is used to show the software version for the PPRU unit.

2.31 Ppru1
2.31.2 Ppru1/IP1..3
Signals and Parameters These are fixed sub-devices for Ppru1, and are used to connect to the different IP-
transducers in air channel/output 1, 2 and 3 for the PPRU unit
Ppru1/IP1..3
Signals Parameters
type unit type unit
Connect r bool 0/1 MaxVal r/w real *1
Pilot r real *1 DelayDown r/w num [ms]
ErrState r num LinearDelay r/w bool 0/1
DeadEnd r/w bool 0/1
Silent r/w bool 0/1
ZeroOutput r/w real *1
IntMode r/w num
*1 Value unit dependent on parameter US-Unit set on fixed device: Ppru1
Enable This signal is used to show enable status signal, or to enable/disable the
Ppru1/IP1..3 outputs. The signal can be connected to an input/output signal in the
control cabinet.
Connect This signal is used to show the communication connect status signal for a the
Ppru1/IP1..3. The signal can be connected to a digital input/output signal in the
control cabinet.
SetPoint This signal is used as setpoint value for the Ppru1/IP1..3 to operate the built in IP-
transducer on the PPRU unit. The signal can be connected to a digital or analog
Pilot This signal shows the pilot pressure value required to maintain a certain pressure
level on the air outputs for the PPRU unit. The signal can be connected to an analog
ErrState This signal is for internal use.
MinVal This parameter shows the minimum pressure output value for Ppru1/IP1..3 outputs.
Default value: 0 bar (0 psi)

2.31 Ppru1
MaxVal This parameter is used to set or shows the maximum pressure output value for
Ppru1/IP1..3 outputs.
DelayUp This is the delay time (positive or negative) to compensate the Ppru1/IP1..3 output
DelayDown This is the delay time (positive or negative) to compensate the Ppru1/IP1..3 output
DeadEnd This parameter is used to specify if the PPRU unit shall control the air output as a
dead-end (no air flow) output or not. The PPRU unit will use different internal
pressure regulators, based on this parameter. The parameter can be set under type
PARAMETER.
Default value:
For Ppru1/IP1..2: False
For Ppru1/IP3: True
Silent This parameter is used to specify if an error message shall be sent from IPS or not
when there is an error on the Ppru1/IP1..3. Typical errors are pressure not reached
on output or regulator integration on pressure output is stopped. Default value is 0.
This means that an error message is sent for these errors. The parameter can be set

2.31 Ppru1
False - Error messages will be sent

True - No error messages will be sent
ZeroOutput This parameter is used to predefine which value the actuator shall output when
setpoint value 0 is set to the actuator. Setting ZeroOutput to -1 enables a special
feature ‘keep last value’, where the actuator will output the last used value when
setpoint value 0 is set. The parameter can be set under type PARAMETER.
Default value: 0
IntMode This parameter is used to specify the integration mode the PPRU unit shall use
internally for each of the three IP-channel’s pressure regulator. Following
integration modes are available:
0 - 5 point dynamic curve and output pressure as actual value

1 - No integration
2 - 1 point dynamic curve and pilot pressure as actual value
3 - 5 point dynamic curve and pilot pressure as actual value
The parameter can be set under type PARAMETER.
Default value: 0

2.31 Ppru1
2.31.3 Ppru1/PS1..3
Signals and Parameters These are fixed sub-devices for Ppru1, and are used to connect to the different
pressure sensors in air channel/output 1, 2 and 3 for the PPRU unit.
Ppru1/PS1..3
Signals Parameters
type unit type unit
Connect r bool 0/1 MinVal r real *1
Value r real *1 MaxVal r real *1
Connect This signal is used to show the communication connect status signal for
Ppru1/PS1..3 pressure signal input for a specific air channel on the PPRU unit. The
Value This signal is used to show the pressure value measured for Ppru1/PS1..3 for a
specific air channel on the PPRU unit. The signal can be connected to an analog
MinVal This parameter shows the minimum pressure value for Ppru1/PS1..3 inputs for the
PPRU unit.
MaxVal This parameter shows the maximum pressure value for Ppru1/PS1..3 inputs for the
PPRU unit.

2.31 Ppru1
2.31.4 Ppru1/DPS1..2
Signals and Parameters These are fixed sub-devices for Ppru1, and are used to connect to the different delta
pressure sensors in air channel/output 1 and 2 for the PPRU unit.
Ppru1/DPS1..2
Signals Parameters
type unit type unit
Connect r bool 0/1 MinVal r real *1
Value r real *1 MaxVal r real *1
Connect This signal is used to show the communication connect status signal for
Ppru1/DPS1..2 pressure signal input for a specific air channel on the PPRU unit.
The signal can be connected to a digital input signal in the control cabinet.
Value This signal is used to show the delta pressure value measured for Ppru1/DPS1..2 for
a specific air channel on the PPRU unit. The signal can be connected to an analog
MinVal This parameter shows the minimum pressure value for Ppru1/DPS1..2 inputs for the
PPRU unit.
MaxVal This parameter shows the maximum pressure value for Ppru1/DPS1..2 inputs for the
PPRU unit.
Default value: 0.35 bar (5.1 psi)

2.31 Ppru1
2.31.5 PPRU Configuration Example
Description The example below shows a typical configuration of a closed loop control of
shaping air (for a bell applicator) with the PPRU unit.
IIRCOEFF:
-name "A1ShapeInCoeff" -b0 0.175 -a1 0.825
-name "A1ShapeCoeff" -b0 0.00137 -b1 -0.00129 -a1 1
IIRFILTER:
-name "A1ShapeReg" -use_coeff "A1ShapeCoeff"
-name "A1ShapeIn" -use_coeff "A1ShapeInCoeff"
SENSOR:
-name "A1ShapePS" -use_input "Ppru1/PS2"
-name "A1ShapeDPS" -use_input "Ppru1/DPS2"
VENTURISENSOR:
-name "A1ShapeFS" -use_prsens "A1ShapePS" -use_dpsens "A1ShapeDPS" \
-orif_diam 6 -tube_diam 11.11 -scale_fac 650
ACTUATOR:
-name "A1ShapeIP" -use_output "Ppru1/IP2"
REGULATOR:
-name "A1Shape" -use_output "A1ShapeIP" -use_input "A1ShapeFS"
FILTERASSIGN:
-path "A1Shape/RegGain" -use_filter "A1ShapeReg"
-path "A1Shape/Actual" -use_filter "A1ShapeIn"
DEVIATIONALARM:
-name "A1ShapeDev" -supervise "A1Shape"
CFG_END

2.32 PntOut
2.32 PntOut
Description PntOut is a fixed device type that is available only when AMCM (Assembly
Manipulator Control Module) hardware is used on a robot (IPS software is running
on MCOB-02 board). This device has special outputs used for this specific
hardware. This is a fixed device type, which means that the handling of the device is
already software coded.
Example CONNECTION:
-from "A1Needle/SetPoint" -to "pntout/UserLED2"
-from "A1AtomRS/Value" -to "pntout/UserLED4"
-from "A1AirSupPS/Value" -to "pntout/MAC_ENABLE"
Note: When A1Needle turns on, the UserLED2 will turn on (this LED is visible in a
window on the manipulator arm front cover). Pulses from the A1AtomRS sensor
will be sent to the UserLED4 (this LED will blink with A1AtomRS pulse frequency,
and is visible in a window on the manipulator arm front cover). The A1AirSupPS
sensor will enable the output signal MAC_ENABLE when the pressure supply is
correct, which will result in power to the MAC IP-transducers.
PntOut
Signals Parameters
type unit type unit
Value r num
UserLED1 r/w bool 0/1
MAC_ENABLE r/w bool 0/1
HV_ENABLE r/w bool 0/1
Value This signal is used to show the value signal for the PntOut device. The signal can be
UserLED1 This signal is used to set the first user LED in the window on the front cover on
robots with MCOB-02 hardware.
UserLED2 This signal is used to set the second user LED in the window on the front cover on

2.32 PntOut
UserLED3 This signal is used to set the third user LED in the window on the front cover on
UserLED4 This signal is used to set the fourth user LED in the window on the front cover on
MAC_ENABLE This signal is used to set a relay that will turn on power to the MAC IP-transducers
used in the system.
HV_ENABLE This signal is used to set a relay that will turn on power to a HV controller (this
signal is for future use).

2.33 OnePhaseEnc, TwoPhaseEnc and IntDigin
Description OnePhaseEnc and TwoPhaseEnc are used to specify for IPS to use a one phase or a
two phase encoder input. IntDigin is used to specify for IPS that an interrupted
(quick response input) digital input is used, but it is physically connected to one of
the encoder inputs on the IPS board. Configuration of OnePhaseEnc, TwoPhaseEnc
and IntDigin plus a number is used to assign a specific encoder input/digital input
for the IPS software. OnePhaseEnc, TwoPhaseEnc and IntDigin are fixed device
types.
-name "A1M1SpeedCurve" -offset 0 -factor 0.04
-name "A1FluidFSCurve" -offset 0 -factor 2.2727
SENSOR:
-name "A1M1Speed" -use_input "TwoPhaseEnc1" -unit 5 -use_curve "A1M1SpeedCurve"
-name "A1FluidFS" -use_input "OnePhaseEnc3" -unit 3 -use_curve "A1FluidFSCurve"
-name "A1BearPS" -use_input "IntDigin4"
Note: A1M1Speed uses curve A1M1SpeedCurve to convert from pulses/sec. to

rotation speed. A1M1Speed uses a two phase encoder input. A1FluidFS uses curve
A1FluidFSCurve to convert from pulses/litre to ml/min. A1FluidFS uses a one
phase encoder input. The sensor A1BearPS uses a digital pressure switch as an input
for the bearing pressure, and this is connected to the one phase encoder input
number 4.
OnePhaseEnc, TwoPhaseEnc and IntDigin

Signals Parameters
type unit type unit
Value r real [Hz] MinVal r num [Hz]
Mean r real *1 MaxVal r num [Hz]
Accu r/w real *1 EdgeEnable *2 r/w bool 0/1
RawVal r real -
*1 The Mean signal is only available when an IntDigin device type is used. The value unit
for Accu signal is [pulses] for OnePhaseEnc and TwoPhaseEnc devices. The value unit
for Mean signal is [%] and for Accu signal [sec] for IntDigin devices.
*2 This parameter is only available when an IntDigin device is used.
Value This signal shows the actual value for the encoder input or digital input. The signal

Mean This signal shows the mean value for the digital input. The signal can be connected
Accu This signal shows the accumulated pulse value for the encoder input or digital input.
The signal can be used as consumption data for the configured device. If it is set
with value 0, the accumulated signal is reset. The signal can be connected to an
RawVal This signal shows the actual raw value for the encoder device. This signal is
basically the same as the Value signal for an encoder device, but there is a difference
between these signals when a filter function is added to the Value signal for the
encoder; the Value signal will be the filtered value and the RawVal signal will be the
raw value for the encoder. This signal can be connected to an analog input in the
control cabinet.
MinVal This parameter shows the minimum pulse value for the actual encoder or digital
input. The value is dependent on if the encoder is one phase or two phase.
Default value: Dependent on input type
MaxVal This parameter shows the maximum pulse value for the actual encoder or the digital
input.
Default value: Dependent on input type
EdgeEnable This parameter is used to set if the digital input (IntDigin) shall be edge triggered or
not. If input is edge triggered, the system can timestamp changes on the input with
high accuracy. This will typically be used for needle sensor feedback. When sensors
are connected to this input and are not time critical, the parameter must be set to
False to avoid a ‘noisy’ input giving wrong sensor value. The parameter can be set
False - The digital input is not used as an edge triggered input

True - The digital input is used as an edge triggered input

2.34 ANIN
2.34 ANIN
Description ANIN is used to specify for IPS to use an analog input on the configured IPS board.
Configuration of ANIN plus a number is used to assign an specific analog input for
the IPS software. This is a fixed device type.
SENSOR:
-name "A1AtomPS" -use_input "Anin1" -unit 1 use_curve "A1AtomPSCurve"
-name "A1AtomDPS" -use_input "Anin2" -unit 1 use_curve "A1AtomDPSCurve"
Note: A1AtomPS uses analog input 1 and A1AtomDPS uses analog input 2.
ANIN
Signals Parameters
type unit type unit
Value r real *1 MinVal r num *1
Mean r real *1 MaxVal r num *1
Accu r/w real - Current r/w bool 0/1
RawVal r real - OffsetAdj *2 r/w num mV
*1 Value dependent on analog input set to current or voltage.

*2 This parameter is only available for analog inputs with offset adjustment possibility.
Value This signal shows the actual value for the analog input. The signal can be connected
Mean This signal shows the mean value for the analog input. The signal can be connected
Accu This signal shows the accumulated value for the analog input. The signal can be
used as consumption data for the configured device. If it is set with value 0, the
accumulated signal is reset. The signal can be connected to an analog input in the
control cabinet.
RawVal This signal shows the actual raw value for the analog input. This signal is basically
the same as the Value signal for an analog input, but there is a difference between
these signals when a filter function is added to the Value signal for the analog input;
the Value signal will be the filtered value and the RawVal signal will be the raw

2.34 ANIN
value for the analog input. This signal can be connected to an analog input in the
control cabinet.
MinVal This parameter shows the minimum analog input value. The value is dependent on
if analog input is set to current or voltage.
Default value: -10 volt or 0 volt or 0 mV (dependent on analog input channel)
MaxVal This parameter shows the maximum analog input value. This value is dependent on
if analog input is set to current or voltage.
Default value: 10 volt or 100 mV (dependent on analog input channel)
Current This parameter is used to set if the analog input is current or voltage signal. The
False - The analog input is a voltage signal

True - The analog input is a current signal
OffsetAdj This parameter is used to adjust the offset value for a special type of analog inputs.
These inputs are specially made for offset adjustment. The first eight analog inputs
on the AMCM module have this feature. The parameter can be set under type
PARAMETER.
Default value: 0 mV

2.35 Psib1
2.35 Psib1
2.35.1 Introduction
Description Psib1 is used to specify that IPS shall connect to a Pressure Sensor Interface board.
This board is used to connect different sensor signals to the IPS, and these signals
can typically be pump pressure sensor values. This is a fixed device type, which
means that the handling of the driver is already software coded.
The fixed device Psib1 will also generate sub-devices as Psib1/Anin1..8. The
number of these sub-devices are dependent on the specific IPS configuration.
LINEARCURVE:
-name "A1Pump1PSInCurve" -offset 0 -factor 0.14
-name "A1Pump1PSOutCurve" -offset 0 -factor 0.14
SENSOR:
-name "A1Pump1PSIn" -use_input "Spi2/Psib1/Anin1" -unit 1 \
-use_curve "A1Pump1PSInCurve"
-name "A1Pump1PSOut" -use_input "Spi2/Psib1/Anin2" -unit 1 \
-use_curve "A1Pump1PSOutCurve"
PARAMETER:
-path "Spi2/Psib1/Anin1/OffSetAdj" -value 3
-path "Spi2/Psib1/Anin2/OffSetAdj" -value 3
CFG_END
Note: A1Pump1PSIn sensor uses the Psib1/Anin1, which is the analog input
number 1 for the pressure sensor interface board. A1Pump1PSOut sensor uses the
Psib1/Anin2, which is the analog input number 2 for the pressure sensor interface
board. The Psib1 board is connected to the Spi2 line on the IPS node.
Psib1
Signals Parameters
type unit type unit
Connect r bool 0/1 US-Units r/w bool 0/1
BoardTemp r real *1
*1 Value unit dependent on parameter US-Unit.
Connect This signal is used to show the connect status signal for the specific Pressure Sensor
Interface Board. If this signal is false, then IPS have problem to communicate with

2.35 Psib1
the board, which can be related to hardware problems. The signal can be connected
to a digital input signal in the control cabinet.
BoardTemp This signal shows the board temperature value, which the specific Pressure Sensor
Interface Board is measuring in its working environment. The signal can be
connected to an analog input signal in the control cabinet.
US-Units This parameter is used to set if the different signals/parameters shall use metric units
or US units. The parameter can be set under type PARAMETER.
Default value: False (metric unit)

2.35 Psib1
2.35.2 Psib1/Anin1..8
Signals and Parameters These are fixed sub-devices for Psib1, and are used to specify which analog input
that will be used on a Pressure Sensor Interface Board.
Psib1/Anin1..8
Signals Parameters
type unit type unit
Connect r bool 0/1 MinVal r num [mV]
Value r real [mV] MaxVal r num [mV]
Mean r real [mV] OffsetAdj r/w num [mV]
Accu r/w real [mVsec]
RawVal r real [mV]
Connect This signal is used to show the connect status signal for the specific analog input for
the Pressure Sensor Interface Board. If this signal is false, then IPS have problem to
communicate with this input, which can be related to hardware problems. The signal
can be connected to a digital input signal in the control cabinet.
Value This signal shows the actual value for the specific analog input for the Pressure
Sensor Interface Board. The signal can be connected to an analog input in the
control cabinet.
Mean This signal shows the mean value for the specific analog input for the Pressure
Sensor Interface Board. The signal can be connected to an analog input in the
control cabinet.
Accu This signal shows the accumulated value for the specific analog input for the
Pressure Sensor Interface Board. The signal can be used as consumption data for the
configured device. If it is set with value 0, the accumulated signal is reset. The
RawVal This signal shows the actual raw value for the specific analog input for the Pressure
Sensor Interface Board. This signal is basically the same as the Value signal for an
analog input, but there is a difference between these signals when a filter function is
added to the Value signal for the analog input; the Value signal will be the filtered
value and the RawVal signal will be the raw value for the analog input. This signal
MinVal This parameter shows the minimum analog input value.

2.35 Psib1
Default value: 0 mV
MaxVal This parameter shows the maximum analog input value.
Default value: 100 mV
OffsetAdj This parameter is used to adjust the offset value for the specific analog input for the
Pressure Sensor Interface Board. The parameter can be set under type
PARAMETER.
Default value: 0 mV

2.36 DIGIN and CMIO/DIGIN
2.36 DIGIN and CMIO/DIGIN
Description DIGIN and CMIO/DIGIN are used to specify for IPS to use a digital input on the
configured IPS board. Configuration of DIGIN plus a number is used to assign a
specific digital input for the IPS software. Configuration of CMIO/DIGIN plus a
number is used to assign a digital input from the CMIO board installed in the
system. These are fixed device types.
Example SENSOR:
-name "A1S1" -use_input "Digin1"
-name "A1S2" -use_input "CMIO/Digin2"
Note: A1S1 uses digital input 1 and A1S2 uses digital input 2 on the installed
CMIO board.
DIGIN and CMIO/DIGIN

Signals Parameters
type unit type unit
Value r bool 0/1
Mean r real -
Accu r/w real -
Value This signal shows the actual value for the digital input. The signal can be connected
Accu This signal shows the accumulated value for the digital input. The signal can be
control cabinet.

2.37 DIPORT and CMIO/DIPORT
2.37 DIPORT and CMIO/DIPORT
Description DIPORT means Digital Input Port and is used to specify for IPS to use a digital
input port, which is a set of digital inputs, on the configured IPS board.
Configuration of DIPORT plus a number set is used to assign a specific group of
digital inputs for the IPS software. Configuration of CMIO/DIPORT plus a number
set is used to assign a specific group of digital inputs from CMIO board installed in
the system. These are fixed device types.
SENSOR:
-name "Sensor1" -use_input "Mac20/DiPort(1-8)"
-name "Sensor2" -use_input "CMIO/DiPort(1-8)"
CFG_END
Note: An 8 bit digital input port is used as an input for Sensor1 and Sensor2 device.
DIPORT and CMIO/DIPORT

Signals Parameters
type unit type unit
Value r num - MinVal r num -
Mean r num - MaxVal r num -
Accu r/w num -
Value This signal is used to show the value of the digital input port. The signal can be
connected to a digital input group or an analog input signal in the control cabinet.
Mean Not yet available.
Accu Not yet available.
MinVal This parameter shows the minimum digital input port value.
Default value: 0
MaxVal This parameter shows the maximum digital input port value. MaxVal is dependent
on the number of digital inputs that are assigned to DIPORT.
Default value: Maximum value dependent on port size

2.38 ANOUT
2.38 ANOUT
Description ANOUT is used to specify for IPS to use an analog output on the configured IPS
board. Configuration of ANOUT plus a number is used to assign a specific analog
output for the IPS software. This is a fixed device type.
-name "A1ShapeIPCurve" -offset 0 -factor 1.45
SENSOR:
-name "A1ShapeIP" -use_output "Anout3" -unit 1 -use_curve "A1ShapeIPCurve"
Note: A1ShapeIP uses analog output 3.
ANOUT
Signals Parameters
type unit type unit
Enable r/w bool 0/1 MinVal r num *1
SetPoint r/w real *1 MaxVal r/w num *1
Mean r real *1 DelayUp r/w num [ms]
Accu r/w real - DelayDown r/w num [ms]
Current r/w *2 bool 0/1
*1 Value dependent on if analog output is set to current or voltage.

*2 Current value parameter can only have read access for some analog outputs.
Enable This signal is used to show the enable status signal, or to enable/disable analog
output. The signal can be connected to a digital input/output signal in the control
cabinet.
SetPoint This signal is used to show the set value, or to set a value to an analog output. The
signal can be connected to an analog input/output signal in the control cabinet.
Mean This signal shows the mean value for the analog output. The signal can be
Accu This signal shows the accumulated value for the analog output. The signal can be
control cabinet.

2.38 ANOUT
MinVal This parameter shows the minimum analog output value. The value is dependent on
if analog output is set to current or voltage.
Default value: -10 volt or 0 volt
MaxVal This parameter is used to set or show the maximum analog output value. The value
is dependent on if analog output is set to current or voltage.
Default value: 10 volt
DelayUp This is the delay time (positive or negative) to compensate the analog signal output
DelayDown This is the delay time (positive or negative) to compensate the analog signal output
Current This parameter is used to set the analog output to a current or voltage signal. This
False - The analog output is a voltage signal

True - The analog output is a current signal

2.39 CMAO/ANOUT
2.39 CMAO/ANOUT
Description CMAO/ANOUT is used to specify for IPS to use an analog output on the CMAO
board mounted in the AMA module. Configuration of CMAO/ANOUT plus a
number is used to assign a specific analog output for the IPS software. This is a
fixed device type.
SENSOR:
-name "A1ShapeIP" -use_output "Cmao/Anout3" -unit 1 -use_curve "A1ShapeIPCurve"
Note: A1ShapeIP uses analog output 3 on the CMAO board mounted in the AMA
module.
CMAO/ANOUT
Signals Parameters
type unit type unit
Enable r/w bool 0/1 MinVal r num *1
SetPoint r/w real *1 MaxVal r/w num *1
Mean r real *1 DelayUp r/w num [ms]
Accu r/w real - DelayDown r/w num [ms]
Current r/w bool 0/1
*1 Value dependent on if analog output is set to current or voltage.
Enable This signal is used to show the enable status signal, or to enable/disable analog
cabinet.
SetPoint This signal is used to show the set value, or to set a value to an analog output. The
signal can be connected to an analog input/output signal in the control cabinet.
Mean This signal shows the mean value for the analog output. The signal can be
Accu This signal shows the accumulated value for the analog output. The signal can be

2.39 CMAO/ANOUT
control cabinet.
MinVal This parameter shows the minimum analog output value. The value is dependent on
if analog output is set to current or voltage.
Default value: -10 volt or 0 volt
MaxVal This parameter is used to set or show the maximum analog output value. The value
is dependent on if analog output is set to current or voltage.
Default value: 10 volt
DelayUp This is the delay time (positive or negative) to compensate the analog signal output
DelayDown This is the delay time (positive or negative) to compensate the analog signal output
Current This parameter is used to set the analog output to a current or voltage signal. This
False - The analog output is a voltage signal

True - The analog output is a current signal

2.40 DIGOUT, CMIO/DIGOUT and VLC/DIGOUT
Description DIGOUT, CMIO/DIGOUT and VLC/DIGOUT are used to specify for IPS to use a
digital output on the configured IPS board. Configuration of DIGOUT plus a
number is used to assign a specific digital output for the IPS software.
Configuration of CMIO/DIGOUT plus a number is used to assign a specific digital
output for the CMIO board installed in the system. Configuration of VLC/DIGOUT
plus a number is used to assign a specific digital output for the VLC board installed
in the system.These are fixed device types.
Example ACTUATOR:
-name "A1Digout1" -use_output "CMIO/Digout2"
-name "A1Digout2" -use_output "VLC/Digout7"
Note: A1Needle1 uses digital output 1. A1Digout1 uses digital output 2 for the
installed CMIO board. A1Digout2 uses digital output 7 for the installed VLC board.
DIGOUT, CMIO/DIGOUT and VLC/DIGOUT

Signals Parameters
type unit type unit
SetPoint r/w bool 0/1 MaxVal r bool 1
Mean r real % DelayUp r/w num [ms]
Accu r/w real [sec] DelayDown r/w num [ms]
Enable This signal is used to show the enable status signal, or to enable/disable digital
cabinet.
SetPoint This signal is used to show a value, or to set a value to a digital output. The signal
Mean This signal shows (in percent) how long the actual digital output has been on,
compared to the time period the digital output is used. The signal can be connected
Accu This signal shows the accumulated value (in seconds) the digital output has been on.

with value 0, the accumulated signal is reset.The signal can be connected to an

MinVal This parameter shows the minimum digital output value.
Default value: Off
MaxVal This parameter shows the maximum digital output value.
Default value: On
DelayUp This is the delay time (positive or negative) to compensate the digital signal output
higher setpoint value.
DelayDown This is the delay time (positive or negative) to compensate the digital signal output
lower setpoint value.

2.41 DOPORT, CMIO/DOPORT and VLC/DOPORT
Description DOPORT means Digital Output Port and is used to specify for IPS to use a digital
output port, which is a set of digital outputs, on the configured IPS board.
Configuration of DOPORT plus a number set is used to assign a specific group of
digital outputs for the IPS software. Configuration of CMIO/DOPORT plus a
number set is used to assign a specific group of digital outputs for the CMIO board
installed in the system. Configuration of VLC/DOPORT plus a number set is used
to assign a specific group of digital outputs for the VLC board installed in the
system. A special feature is also available for DOPORT, CMIO/DOPORT and
VLC/DOPORT; Interlock of digital outputs. When a port is interlocked, the IPS
software system does not allow several digital outputs to be set at the same time.
Only one digital output is allowed to be set at a certain time. When interlocking is
used, it is possible to specify a time (SafeTyZone parameter) from one output turns
off until another is allowed to turn on. The maximum port size is 16 (when not
interlocked). These are fixed device types.
PARAMETER:
ACTUATOR:
-name "A1Col" -use_output "Mac12/DoPort(1-4)"
-name "Act1" -use_output "Mac12/DoPort(9-14)"
-name "Act2" -use_output "Cmio/DoPort(1-8)"
-name "Act3" -use_output "Vlc/DoPort(7-14)"
CFG_END
Note: A1Col device is connected to a 4 bit digital output port (with Macid12),
which is also interlocked. Act1 device is connected to a 6 bit digital output port
(with Macid12). Act2 device is connected to an 8 bit digital output port on CMIO
board. Act3 device is connected to an 8 bit digital output port on VLC board.

DOPORT
Signals Parameters
type unit type unit
Enable r/w bool 0/1 MinVal r num -
SetPoint r/w num - MaxVal r num -
Mean r num - DelayUp r/w num [ms] *1
Accu r/w num - DelayDown r/w num [ms] *1
InterLock r/w bool 0/1
SafeTyZone r/w num [ms] *2
*1 Parameter is only available when parameter InterLock is False

*2 Parameter is only available when parameter InterLock is True
Enable This signal is used to show the enable status signal, or to enable/disable the digital
output port. The signal can be connected to a digital input/output in the control
cabinet.
SetPoint This signal is used to show a value, or to set a value to the digital output port. The
signal can be connected to a digital output/input group or an analog output/input
signal in the control cabinet.
Mean Not yet available.
Accu Not yet available.
MinVal This parameter shows the minimum digital output port value.
Default value: 0
MaxVal This parameter shows the maximum digital output port value. MaxVal is dependent
on both the number of digital outputs assigned to DOPORT and if it is interlocked or
not. For the above example with DoPort(1-8), the MaxVal = 8 when DOPORT is
interlocked, and MaxVal = 255 when it is not interlocked.
Default value: Dependent on port size and/or interlocked
DelayUp This is the delay time (positive or negative) to compensate the digital output group
signal in relation to the trigger event, and is used with a brush change to a brush
with a higher setpoint value. DelayUp value is linear, dependent on the setpoint

change size, see ’Linear Delay Compensation’ on page 180 for details. The
DelayDown This is the delay time (positive or negative) to compensate the digital output group
signal in relation to the trigger event, and is used with a brush change to a brush
with a lower setpoint value. DelayDown value is linear, dependent on the setpoint
change size, see ’Linear Delay Compensation’ on page 180 for details. The
InterLock This parameter is used to set if the digital outputs on the actual port shall be
interlocked. When a port is interlocked, the IPS software system does not allow
several digital outputs to be set at the same time. Only one digital output is allowed
to be set at a certain time. The parameter can be set under type PARAMETER.
False - The digital output port is not interlocked

True - The digital output port is interlocked
SafeTyZone This parameter is used to set a time from a digital output is turned off to another
digital output is allowed to be set. This parameter is used when a DOPORT is
interlocked. This feature is used to allow a color valve to use some time to close
before another color valve opens. The parameter can be set under type
PARAMETER.

2.42 MCCC1
2.42 MCCC1
2.42.1 Introduction
Description MCCC1 is used to specify that IPS shall connect to the CBS interface board called
MCCC. The main functions of the MCCC board is to provide digital inputs for
various sensors on the Cartridge Bell System, CBS. The MCCC board is able to
read up to 44 digital inputs and use up to 2 digital outputs. This is fixed device
types, which means that the handling of the drivers are already software coded.
SENSOR:
-name "H1DownGripS" -use_input "MCCC1/Digin25"
-name "H1UpGripS" -use_input "MCCC1/Digin26"
-name "H1DCUFullS" -use_input "IntDigin7"

-name "H1DCUEmptyS" -use_input "IntDigin8"
CONNECTION:
-from "IntDigin7" -to "MCCC1/Digout1"
-from "IntDigin8" -to "MCCC1/Digout2"
CFG_END
Note: H1DownGripS sensor uses the MCCC1/Digin25 input and H1UpGripS

sensor uses the MCCC1/Digin26 input. The status of the input: IntDigin7 &
IntDigin8, is connected to the outputs: MCCC1/Digout1 & MCCC1/Digout2.

2.42 MCCC1
2.42.2 MCCC1/Digin
MCCC1/Digin
Signals Parameters
type unit type unit
Value r bool 0/1 MinVal r bool 0
Mean r real % MaxVal r bool 1
Accu r/w real [sec]
Value This signal shows the actual value for the digital input. The signal can be connected
Accu This signal shows the accumulated value for the digital input. The signal can be
control cabinet.
MinVal This parameter shows the minimum digital input value.
Default value: Off
MaxVal This parameter shows the maximum digital input value.
Default value: On

2.42 MCCC1
2.42.3 MCCC1/Digout
MCCC1/Digout
Signals Parameters
type unit type unit
SetPoint r/w bool 0/1 MaxVal r bool 1
Mean r real % DelayUp r/w num [ms]
Accu r/w real [sec] DelayDown r/w num [ms]
Enable This signal is used to show the enable status signal, or to enable/disable digital
cabinet.
SetPoint This signal is used to show a value, or to set a value to a digital output. The signal
Mean This signal shows (in percent) how long the actual digital output has been on,
compared to the time period the digital output is used. The signal can be connected
Accu This signal shows the accumulated value (in seconds) the digital output has been on.
with value 0, the accumulated signal is reset. The signal can be connected to an
MinVal This parameter shows the minimum digital output value.
Default value: Off
MaxVal This parameter shows the maximum digital output value.
Default value: On
DelayUp This is the delay time (positive or negative) to compensate the digital signal output
higher setpoint value.

2.42 MCCC1
DelayDown This is the delay time (positive or negative) to compensate the digital signal output
lower setpoint value.

2.43 iDrive
2.43 iDrive
Description iDrive is used to specify that IPS shall use the software coded driver for
Tamagawa integrated motor unit, which is connected on the Can bus. This
unit is used to control the speed of a servo motor for control of fluid flow
through a pump. Configuration of a MAC ID plus the iDrive prefix is used to
assign a specific unit/motor. This is a fixed device type, which means that the
handling of the drive is already software coded.
LINEARCURVE:
SENSOR:
-name "RectOnS" -use_input "Spi1/Mib1/InPort3/SYS2_MOT2_RLY_FB"
ACTUATOR:
-name "A1Servo1" -use_output "Mac54/iDrive"
-name "A1M1" -use_output "A1Servo1" -unit 5 -use_curve "A1M1Curve"
DEVIATIONALARM:
-name "A1Servo1Dev" -supervise "A1Servo1"
LIMITALARM:
-name "RectOnLim" -supervise "RectOnS" -notify "A1Servo1"
PARAMETER:
-path "A1Servo1Dev/AbsLimit" -value 75
-path "A1Servo1Dev/RelLimit" -value 7.5
-path "A1Servo1Dev/Notify" -value 1
-path "A1Servo1Dev/ErrTime" -value 128
-path "A1Servo1Dev/FbkHoldOff" -value 50
-path "RectOnLim/Silent" -value 1

-path "RectOnLim/MinVal" -value 1
-path "RectOnLim/MaxVal" -value 2
CONNECTION:
-from "RectOnS" -to "Mac5/Digout5"
CFG_END
Note: A sensor (RectOnS) is used to supervise the status of the power rectifier relay
used for power supply to the Tamagawa motor units. A1Servo1 uses a Tamagawa
unit/motor, connected to the Can bus with MAC ID 54. In CONNECTION part: The
purpose of this connection is to make a softstart function on rectifier unit located
inside the robot.

2.43 iDrive
MacXX/iDrive
Signals Parameters
type unit type unit
Enable r/w bool 0/1 MinVal r/w
Connect r bool 0/1 MaxVal r/w
SetPoint r/w real [rpm] DelayUp r/w
Accu r/w real [rev] DelayDown r/w
Actual r real [rpm] LinearDelay r/w
Torque r real [Nm] ClockWise r/w
DriveTemp r real [deg] IdleTmOut r/w
DriveVolt r real [volt] ServoType r/w
ForceBrake r/w bool 0/1 TrqRunLim r/w
TrqStartLim r/w
TrqTimeLim r/w
DspVersion r
Enable This signal is used to show the enable status signal, or to enable/disable the
Tamagava motor unit. The signal can be connected to a digital input/output signal in
Connect This signal is used to show the connect status signal for the Tamagawa motor unit. If
this signal is false, then IPS can not communicate with this drive, which can be
related to hardware problems. The signal can be connected to a digital input signal
SetPoint This signal is used as setpoint value for the Tamagawa motor. The signal can be
Accu This signal shows the accumulated value for the Tamagawa motor. The signal can
be used as consumption data for the configured device. If it is set with value 0, the
control cabinet.
Actual This signal shows the actual value for the Tamagawa motor. The signal can be
Torque This signal shows the actual torque value for the Tamagawa motor. The signal can
be connected to an analog input in the control cabinet.

2.43 iDrive
DriveTemp This signal shows the actual temperature value for the Tamagawa motor unit. The
DriveVolt This signal shows the actual DC-voltage supply value for the Tamagawa motor unit.
The signal can be connected to an analog input in the control cabinet.
ForceBrake This signal is used to force the brake output for a Tamagawa motor that contains a
brake. The signal can be connected to a digital output signal in the control cabinet.
MinVal This parameter shows the minimum value for the Tamagawa motor.
Default value: -2000 [rpm]
MaxVal This parameter shows the maximum value for the Tamagawa motor.
Default value: 2000 [rpm]
DelayUp This is the delay time (positive or negative) to compensate the Tamagawa motor
DelayDown This is the delay time (positive or negative) to compensate the Tamagawa motor
ClockWise This parameter is used to set the rotation direction for the Tamagawa motor. The

2.43 iDrive
IdleTmOut This parameter is used to specify duration the Tamagawa motor can be idle before
the servo controller will disable the servo motor power (turning off power to the
servo motor). The parameter can be set under type PARAMETER.
ServoType This parameter is used to specify the servo type for the Tamagawa motor unit. The
Servo types available:

0 - motor speed control (normal use)
1 - motor position control (internal use)
2 - motor torque control (internal use)
Default value: 0
TrqRunLim
This parameter is used to specify the maximum continuous torque value for the
Tamagawa motor. During servo control of a motor, the servo system will supervise
that the start torque value and continuous torque value are not exceeded. The
Default value: 0.5 [Nm]
TrqStartLim
This parameter is used to specify the maximum start torque value for the Tamagawa
motor. When a change in speed for a servo motor is set, the maximum start torque
will be specified by parameter TrqStartLim. This torque will be used for a period of
time (how long time the start torque is used will be specified by parameter
TrqTimeLim). During servo control of a motor, the servo system will supervise that
the start torque value and continuous torque value are not exceeded. The parameter
Default value: 1.5 [Nm]
TrqTimeLim
This parameter is used to specify time the start torque for the Tamagawa motor shall
be used. The start torque value is dependent on parameter TrqStartLim. The
DspVersion This parameter shows the DSP version running on the Tamagawa motor unit.

3 Configuration Guidelines
3.1 Introduction
3.1 Introduction
General This chapter contains different guidelines/explanations for the most common
problems and questions that can occur when working with the IPS and the control
cabinet. Understanding this chapter requires general knowledge on the control
system and how to configure the IPS software. A general basis on how to use a
terminal program on the different IPS nodes is also required.

3.2 Calibration of Actuator Curve (Actuator Characteristic)
3.2.1 Introduction
Description When an actuator (IP transducer) is used in a closed loop configuration for fluid,
atom or shape air, the dynamic curve for this actuator must be calibrated. This
means that the IPS software outputs control pressure values to the actuator and
measures the according flow. This is known as the actuator characteristic for the
used actuator device. The actuator characteristic is used as the feed forward function
for the closed loop system. The IPS software will output control values in specified
steps which are dependent on the number of points in the curve, and minimum and
maximum values for the actuator. When a regulator device is configured, the IPS
software will create a default dynamic curve number 0. When a calibration is
performed, it is only the active curve for the regulator device that will be calibrated,
and a new active curve to the regulator must be set, and a calibration for this curve
must be performed. This means that it is possible to make calibration of dynamic
curves with different fluid types, and each fluid type will have its own dynamic
curve. The calibration of an actuator curve can be done from a terminal or from the
pendant. When using the pendant, special menus for performing the calibration of
dynamic curves are used. Some examples of using a terminal with terminal
commands are shown below:

3.2.2 Example 1 - Calibration of Dynamic Curve for Atom or Shape
Description The IPS software is configured with closed loop regulators: A1Atom and A1Shape.
The following terminal command can be used for calibration:
From terminal, type: ips A1Atom cal

This command will calibrate a dynamic curve for A1Atom from minimum to
maximum flow for the regulator. The system will use following default values for
limits and step time: Steptime will be for minimum 5 seconds, and Rellimit=0 and
Abslimit=10. This means that for every calibration point the actual flow must be in
between ±10 Nl/min for minimum 5 seconds.
From terminal, type: ips A1Atom cal 100 300 5 0 20

This command will calibrate the active dynamic curve (default is curve no 0) for
A1Atom with minimum flow value =100 Nl/min and maximum flow value = 300
Nl/min. For each control value step, the value is set for minimum 5 seconds before
IPS software logs the set point value. The two last numbers specify the Rellimit and
Abslimit the system shall calibrate with. In this case, Rellimit is 0 and absolute limit
is ± 20 Nl/min, and the actual flow must be in between ± 20 Nl/min for minimum 5
seconds in each calibration point.
From terminal, type: ips A1Atom ws CurveNo 1

The first command will set a new active curve (curve no 1) to A1Atom, and the
second command will calibrate this curve with minimum flow value =100 Nl/min
and maximum flow value = 500 Nl/min. For each control value step, the value is set
for minimum 5 seconds before IPS software logs the set point value. The two last
numbers specify the Rellimit and Abslimit the system shall calibrate with. In this
case, Rellimit is 0 and absolute limit is ± 20 Nl/min, and the actual flow must be in
between ± 20 Nl/min for minimum 5 seconds in each calibration point.
From terminal, type: ips A1Shape cal 50 400 10 0 10

This command will calibrate the active dynamic curve (default is curve no 0) for
A1Shape with minimum flow value =50 Nl/min and maximum flow value = 400
Nl/min. For each control value step, the value is set for minimum 10 seconds before
IPS software logs the set point value. The two last numbers specify the Rellimit and
Abslimit the system shall calibrate with. In this case, Rellimit is 0 and absolute limit
is ± 10 Nl/min, and the actual flow must be in between ± 10 Nl/min for minimum 5
seconds in each calibration point.
From terminal, type: ips A1Atom cv list

This command will list all the curves for regulator device A1Atom with their
ranges.

3.2.3 Example 2 - Calibration of Dynamic Curves for Fluid
Description The IPS software is configured with closed loop regulator: A1Fluid.
This example is based on that three fluid color groups are used in the fluid
application system. For each of the groups, a dynamic curve can be calibrated,
where each group has its own flow rate. Specification:
Color group 1: max fluid flow = 400 ml/min

The following terminal command can be used for calibration of each of the color
groups:
Color group 1:
From terminal, type: ips A1Fluid ws CurveNo 1
From terminal, type: ips A1Fluid cal 100 400 5 0 10
Color group 1 will be calibrated with dynamic curve no 1.
Color group 2:
Color group 3:
Every calibration is performed with a step time of 5 seconds, Rellimit=0 and

Abslimit=10, which means that the actual flow must be in between ±10 ml/min for
minimum 5 seconds in each calibration point.
From terminal, type: ips A1Fluid cv list

This command will list all the curves for regulator device A1Fluid with their range.
From the control cabinet, it is possible to set the active curve for A1Fluid if a digital
group or analog output is connected to CurveNo signal for A1Fluid. Then it will
possible in the fluid program/color change program to select which color group to
be used.

3.3 Calibration of Curves Used in Open Loop Mode for a Bell
3.3 Calibration of Curves Used in Open Loop Mode for a Bell
3.3.1 Introduction
Description The curves that are calibrated are used in open loop mode, and this is when the
rotation speed feedback on the bell is not used or the rotation speed feedback is lost.
Calibration of curves must be done in closed loop mode for the speed rotation
control of the bell. The IPS software will generate two different curves after a
calibration: one curve (Curve no-load) with no fluid load applied, and one curve
(Curve load) with the fluid load value specified by parameter PntCrvLevel (see
description under ’BELLREGULATOR’ on page 43). This means that in open loop
mode, the IPS software uses two dynamic curves to calculate the control signal
value for the rotation speed. One of the curves is used when no fluid is applied to the
bell, and the other curve is used to calculate the control value for a specific fluid
value with the following formula: control value = lookup(Curve no-load) +
(lookup(Curve load)-lookup(Curve no-load)) x fluid value/PntCrvLevel.
The calibration of a bell can be done from a terminal or from the pendant. When
using the pendant, special menus for performing the calibration of dynamic curves
are used. An example of using a terminal with the appropriate terminal commands is
shown below.
3.3.2 Example 1 - Calibration of Curves for a Bell
Description The IPS software is configured with a closed loop bell regulator: A1Atom.
Check that the bell regulator is in closed loop mode and that the rotation speed
feedback is applied.
The following terminal command can be used for calibration:
This command will generate two curves for the rotation of the bell regulator with
minimum speed = 10 kRpm and maximum speed = 30 kRpm. For each control
value step, the IPS software will set a control value for minimum 20 seconds with
no fluid, and a control value for minimum 20 seconds with fluid flow value
specified by parameter PntCrvLevel. Number of control value steps is dependent on
the CurveSize number specified for A1Atom. The different control values will then
be stored in the belonging curves for the bell regulator. The two last numbers
specify the Rellimit and Abslimit the system shall calibrate with. In this case,
Rellimit is 0 and absolute limit is ±1 krpm, and the actual rotation speed value must
be in between ±1 krpm for minimum 20 seconds in each calibration point. The
system will then use these curves when the rotation is switched from closed loop
mode to open loop mode by setting the RegEnable signal for the bell regulator to
False.

3.4 Calibration/Scaling of an Air Flow Sensor (Venturi Sensor)
3.4 Calibration/Scaling of an Air Flow Sensor (Venturi Sensor)
3.4.1 Introduction
Description When a calibration of a venturi sensor is performed, a reference air flow sensor (e.g.
a HITEC air flow sensor) is required. The reference air flow meter is connected in
serial (on the air line) with the venturi sensor, to assure that the air flow value
through the sensors will be the same. The reference air flow sensor is used to
compare the value from the Venturi sensor with a reference value, and then scale the
venturi sensor to show the same value as the reference sensor, with minor deviation.
The parameter used to scale the output air flow value from the venturi sensor is
called scale_fac. Before scaling of the venturi sensor, it is important to assure that
the delta pressure sensor and absolute pressure sensor in the venturi sensor are
correctly scaled. How to scale a venturi air flow sensor is shown below.
3.4.2 Example 1 - Calibration/Scaling of an Air Flow Sensor
Description The IPS software is configured with a closed loop air regulator: A1Atom. In this
example, used scale_fac value for A1Atom venturi sensor is 290.
When performing a calibration of a venturi sensor, different flow values in the

measuring range of the sensor must be set. For the different flow values, the value
from the venturi sensor and the flow value from the used reference air flow sensor
must be logged. These values can be logged and filled in following table:
Table 2 Calibration values for A1Atom*
A1Atom(Setpoint) A1Atom Venturi Reference sensor Relation values
sensor (actual value)
100 100 95 0.95
150 150 142 0.9467
200 200 190 0.95
250 250 242 0.968
300 300 289 0.963
350 350 340 0.971
400 400 390 0.975
450 450 435 0.967
* The numbers used in table are only fictitious.

The relation value is calculated as follows: Relation = Reference sensor value
divided with A1Atom venturi sensor value. Find the mean relation value (in this
case, it is the sum of all the relation values divided with 8).
The new scale_fac value can be calculated as follows:
New scale_fac = old scale_fac x mean relation value

New scale_fac = 290 x 0.96134 = 278.8

3.5 Scaling/Linearization of Sensor or Actuator
3.5.1 Introduction
Description The output from a sensor and the input for an actuator are normally a voltage or a
current signal. Since these signals are in a format that is not normally used by the
IPS software, a signal scaling/conversion is needed. This means that an input
voltage value from e.g. a pressure sensor must be converted from a voltage signal
value to a pressure value. The procedure for scaling of a device is as follows: First,
the specification of the signal range for the sensor or actuator must be found. If a
pressure sensor is used, the pressure value represented by the voltage (or current)
signal from the sensor must be found from the sensor specifications. The
scaling/conversion must then be done in the IPS.cfg file under type
LINEARCURVE. This type uses the general equation for a linear curve, which is
Y=aX+b, where a is factor and b is offset. How to scale a sensor or an actuator and
find/calculate the appropriate factor and offset is shown in the following examples.

3.5.2 Example 1 - Scaling of a Pressure Sensor
Description Specification of a pressure sensor:
Signal range: 1.88-9.4 volt (4-20mA connected to a 470 ohm resistor. This resistor
value is the internal load for an analog input on the PIO board)
Pressure range: 0->25 Bar (1.88 volt= 0 Bar and 9.4 volt = 25 Bar)
To find the factor and offset for this sensor, two equations with two unknowns must
be set up, and these equations must be solved for factor a and offset b. This is done
in Figure 17.
Figure 17 Calculation of factor and offset
General formula: Y = aX+ b Sensor values [volt] Calculated values in IPS [Bar]
The two equations for this sensor will be:
2 3.325 x 2 – 6.25 = 0.4 Bar
I: 0[Bar] = a x 1.88[volt] + b
4 3.325 x 4 – 6.25 = 7.05 Bar
II: 25[Bar] = a x 9.4[volt] + b
6 3.325 x 6 – 6.25 = 13.7 Bar
Solving equation I for b gives:
b = –a x 1.88
8 3.325 x 8 – 6.25 = 20.35 Bar
Putting b into equation II gives:
25 = a x 9.4+ (–a x 1.88) 9.4 3.325 x 9.4 – 6.25 = 25 Bar
25 = 7.52 x a
a = 25/7.52 = 3.325
Using above equation solved for b:

b = –a x 1.88
b= –3.325 x 1.88 = –6.25
The scaling formula for this sensor will be:

Y [Bar] = 3.325 x X[volt] – 6.25
The factor and offset for conversion of this pressure sensor must be configured in
the ips.cfg file. This is shown in the example below.
Example, IPS.cfg The following example shows configuration of a pressure sensor.

PS:CFG_2.0::
..
..
LINEARCURVE:
-name "A1PSCurve" -offset -6.25 -factor 3.325
SENSOR:
-name "A1PS" -use_input "Anin1" -unit 1 \
-use_curve "A1PSCurve"
..
..
CFG_END

The linearcurve for this sensor is shown in Figure 18.
Figure 18 Linearcurve for a pressure sensor
y [Bar]
30
25
A1PSCurve
20
15 [Volt] [Bar]
10
1 2 3 4 5 6 7 8 9 10 x [Volt]
-5
-10
-15

3.5.3 Example 2 - Scaling of a Fluid Gearflow Meter
Description Fluid gearflow meter specification: Signal output range: 26400 pulses/ltr (k-factor),
meaning that the gearflow meter outputs 26400 pulses/min with a fluid flow of 1000
ml/min.
The signal output from the gearflow meter is connected to an encoder input, which
counts in pulses/sec [Hz]. If 1000 ml/min is flowing through the gearflow meter, the
number of pulses/sec will be 26400/60= 440 pulses/sec= 440 Hz. IPS calculates
flow in ml/min, and therefore pulses/sec have to be converted to ml/min. The
relation between ml/min and pulses/sec will be: 1000/440= 2.2727. This conversion
is done with a linear curve. The result is shown in Figure 19.

LINEARCURVE:
-name "A1FluidFSCurve" -offset 0-factor 2.272727
Figure 19 Linearcurve for gearflow meter
y [ml/min]
1000
800
A1FluidFSCurve
600
400 [Hz] [ml/min]
200
100 200 300 400 500 x [Hz]
The general formula to find the factor used in a linear curve with a gearflow meter
will be as follows:
ml sec
1000 x 60
ltr min
ml/min
Factor =
Hz
pulses
k-factor
ltr
Fine tuning of the fluid factor (the pulses/ltr-factor) specified from the manufacturer
is often required. This pulses/sec factor can vary, depending on the fluid material
used. In this case, a user signal showing the fluid volume must be configured. A
normal procedure to fine tune the factor for the linearcurve is:

Set user signal for fluid volume = 0
Set an output volume from the system for a time period (e.g 400 ml/min for 1 min.),
with the configured fluid factor.
The new factor = Old_factor x Measured fluid volume/Fluid volume reported from
IPS.
Example Fine tuning of fluid factor.

Used fluid factor=2.272727
Fluid volume reported from IPS= 400 ml in a minute
Measured volume (in a measure cup)= 390 ml in a minute.
New factor=2.272727 x 390/400 = 2.2159

3.5.4 Example 3 - Scaling of an I/P Transducer
Description Specification of the I/P transducer:
Signal input range: 0-10 volt

Pressure output range: 0->4.14 Bar (0->60 psi)
To find the factor and offset for this transducer, two equations with two unknowns
must be set up, and these equations must be solved for factor a and offset b. This is
done in Figure 20.
Figure 20 Calculation of factor and offset
I: 0[Volt] = a x 0[Bar] + b Pressure [Bar] Output [Volt]
II: 10[Volt] = a x 4.14[Bar] + b 1 2.415 x 1 = 2.415 Volt
Solving equation I for b gives: 2 2.415 x 2 = 4.830 Volt

b=0
3 2.415 x 3 = 7.245 Volt
Putting b into equation II gives:
10 = a x 4.14 + 0
4 2.415 x 4 = 9.660 Volt
a = 10/4.14 = 2.415
The scaling formula for this transducer will be:

Y [Volt] = 2.415 x X[Bar]
The factor and offset for conversion of this transducer must be configured in the
ips.cfg file. This is shown in the example below.
Example, IPS.cfg The following example shows configuration of a transducer.

IPS:CFG_2.0::
..
..
LINEARCURVE:
-name "A1FluidIPCurve" -offset 0 -factor 2.415
ACTUATOR:
-name "A1FluidIP" -use_output "Anout1" -unit 1 \
-use_curve "A1FluidIPCurve"
..
..
CFG_END

The linearcurve for this transducer is shown in Figure 21.
Figure 21 Linearcurve for a transducer
y [Volt]
10
9 A1FluidIPCurve
8
7 [Bar] [Volt]
6
5
4
2.415 3
2
1
1 2 3 4 5 x [Bar]

3.6 Changing Pump Sizes
3.6.1 Introduction
Description In a practical situation, changing the pump sizes is often required. As default, the
pump sizes are configured with a standard pump size, like 3cc or 6cc. Dependent on
the fluid used, pump fabrication and the wear out, there will be a variation of pump
sizes. This section includes procedures that must be performed to find the actual
pump size, and how this can be configured in the IPS.cfg file.
3.6.2 Example 1 - SDI pump control
Description This example shows how to change the pump sizes for SDI configured pumps.
The first step is to find the actual pump sizes of the pumps used.
The normal way of doing that is to set an output volume from a pump into a
measuring cup for e.g. 1 minute. Then, dependent on the volume, decrease or
increase the pump size. If the volume is too high, increase the pump size, and if the
volume is too low, decrease it. The change in pump sizes must be done in the
IPS.cfg file.
Following is a part of the IPS configuration with SDI pumps:

IPS:CFG_2.0::
LINEARCURVE:
ACTUATOR:
-name "A1M1" -use_output "Mac8/Servo1" -unit 5 -use_curve "A1M1Curve"
-name "A1M2" -use_output "Mac8/Servo2" -unit 5 -use_curve "A1M2Curve"

MIXER:
-name "A1Fluid" -use_compa "A1Pump1" -use_compb "A1Pump2"
Note: The Linearcurve A1Pump1Curve and A1Pump2Curve are used to set the
pump sizes for A1Pump1 and A1Pump2 (in this case A1Pump1= 6cc and
A1Pump2= 3cc).
From a test, following data was found:
A1Pump1 size was set to default 6cc.

A1Pump1 outputs 420 ml/min when setpoint was 400 ml/min. For this case, the
actual pump size is 6.3cc.

A1Pump2 size was set to default 3cc.

A1Pump2 outputs 380 ml/min when setpoint was 400 ml/min. For this case, the
actual pump size is 2.85cc.
Following formula can be used to change the pump sizes, according to measured
data:
Old pump factor x SetPoint

New pump factor =
Measured value
The new pump factors will be as follows:
A1Pump1Curve factor = 0.16666 x 400/420 = 0.15873

A1Pump2Curve factor = 0.33333 x 400/380 = 0.35088
The change in the IPS.cfg file will be as follows:
IPS:CFG_2.0::
LINEARCURVE:
3.6.3 Example 2 - Table for Pump Sizes and Gearbox
Description If the motor and pump devices are configured as the examples above, the following
table will show the relationship between typical pump size(s)/gearbox(es) and the
linear curve factor.
Table 3 Curve factors
Gearbox Gearbox curve factor Pumpsize Pump curve factor
(MotorCurve) (PumpCurve)
5:1 5 1.2 0.8333
8:1 8 3 0.3333
11:1 11 6 0.1666
12.63:1 12.63 10 0.1
12 0.0833

3.7 Connection of IPS Signals to Physical Outputs (Mirroring)
3.7 Connection of IPS Signals to Physical Outputs (Mirroring)
3.7.1 Introduction
Description In the IPS software, it is possible to connect different signals to analog or digital
outputs. The feature can be used for logging purposes of a specific signal. Some
typical signals to log are actual flow signals from different sensors like fluid and air
flow sensors. Note that connection of too many signals to analog outputs (especially
actual values from a sensor) will increase the load for the used IPS board, which in
turn can affect the performance of the configuration of IPS. It is not recommended
to use mirroring of signals in a normal production, only during testing/logging.
3.7.2 Example 1 - Mirroring of Needle Signal
Description This example shows how to mirror a needle signal to a digital output (digout1) on an
IPAS node with Mac-id 10 (typically a PIO board). The configuration will be as
follows:
IPS:CFG_2.0::
ACTUATOR:
-name "A1Needle" -use_output "Digout1"
PARAMETER:
-path "A1Needle/DelayUp" -value 80
-path "A1Needle/DelayDown" -value 100
CONNECTION:
-from "A1Needle/SetPoint" -to "Mac10/Digout1"
CFG_END

3.8 Tuning of Compensation Delays in a Fluid Application System
3.8.1 Introduction
Description A modern process control system like IPS consists of many different components,
introducing various delays that must be automatically compensated to get accurate
synchronization between the robot motion and the process. These components are
related to both software, hardware and mechanics.
Typical components introducing large delays in the system are I/P transducers, gear
pumps, the gun needle and also the process of filling and exhausting air in hoses.
Some of these delays are independent on if a new set command is to a higher or to a

lower value. This is typically the case with software and electronics delays. Other
delays, as with the process of filling and exhausting air hoses, typically have
different delays depending on if the hose is being filled or exhausted.
The IPS system can compensate differently, depending on if the set command is to a
higher or to a lower value, for optimal synchronization of the process equipment to
the robot motion.
All actuators of the IPS system typically have two variables that can be set to
compensate for the delay described above. The variable DelayUp is used for delay
compensation when a set value change is from a lower value to a higher value, and
the variable DelayDown is used for delay compensation when the set value change
is from a higher value to a lower value.
The following procedures show how to setup typical delay compensation

parameters of the IPS system. The procedures shown are for preparation before start
tuning, gun needle delay compensation, fluid delay compensation and air delay
compensation.
Note: Before tuning of delays can be performed, remember to calibrate the actuator
curve (find the actuator curve characteristic) for the closed loop devices (if the
system is configured with closed loop devices) that controls Fluid, Shape and Atom.

3.8.2 Procedure - Preparation for Compensation Parameters Tuning
Description The compensation delays are best established by spraying on some sheet of paper,
approx. 2-3 meters long, laying on the floor or hanging on the wall.
Several paper lengths are needed to change them after they have been used.
Procedure 1. Fix the paper on the floor or wall by tape or similar.
2. Make a test program using a velocity of 1000 mm/sec with a straight line
motion over the piece of paper. Spraying distance should be approximately 20
cm. Let the programmed points in the painting program be fine points.
By using a velocity of 1000 mm/s, it will be possible to measure millimeters on

the test paper and directly translating this into milliseconds for the IPS
parameters (1 mm = 1 ms).
An example of the point layout of the test program is shown in Figure 22.
Figure 22 Painting program
P2 P3
P1
3. Draw two vertical lines on the piece of paper to mark the start point and end
point for the spray painting stroke. See Figure 23. Also make some small marks
on the outside of the paper to be able to redraw the lines at the same place when
changing paper.
Be sure that the marks have a distance of at least 500 mm from point P2 and P3
respectively, to make sure that the motion is out of the acceleration and
deceleration phases when turning the spraying on and off.
4. Step forward through the program and stop exactly over the first marked line.
5. Add an event at this point, and also add a brush number (e.g brush number 1).
6. Continue to step forward through the program and stop at the second marked
line.

7. Add a new event and select brush 0 (turning off the brush) at this point.
8. Make sure that the supply pressure for the gun needle is stable and at 6 bar.
Figure 23 Marked lines
Event 'on' Event 'off'

3.8.3 Procedure - Establishing Gun Needle Delay Compensation Parameters
Description This procedure informs how to establish the correct delay compensation factors for
the gun needle.
Make sure that all the actions described in the ’Procedure - Preparation for
Compensation Parameters Tuning’ on page 170 are performed before performing
this procedure.
Procedure 1. Establish a stable fluid pressure to the gun without operating the fluid actuator.
If the fluid actuator is a gear pump, this can be done by opening the pump
bypass valve. If there is no bypass valve on the pump, bypass the pump itself by
connecting the input supply hose to the output hose of the pump.
If it is a normal fluid regulator, open the regulator fully by setting its output
pressure from the pendant.
2. Insert default compensation delay values for the air flow actuators. Use
DelayUp = 150 ms and DelayDown = -50ms for all actuators. This will ensure
that the air flow is properly established before the gun needle opens.
3. Edit brush number 1 and insert the following values:
Atom = 150 Nl/min
Shape = 100 Nl/min
Fluid = 150 ml/min
4. Execute the test program once with full speed.
5. Measure the distance in millimeters between the marked lines on the paper and
the points where the paint actual starts and ends on the paper.
6. If the paint hits the paper after the marked lines (in the moving direction), the
measured value in millimeters should be added to the DelayUp and/or
DelayDown parameters for the gun needle. The DelayUp parameter is related
to turning on the gun (opening the needle), and the DelayDown parameter is
related to turning off the gun (closing the needle).
7. If the paint hits the paper before the marked lines (in the moving direction), the
measured value in millimeters should be subtracted from the DelayUp and/or
DelayDown parameters for the gun needle.
8. Please note the you may also have the situation where the paint hits too early
and turns off too late or opposite. The general rule is that if the paint on or off is
too late compared to the marked lines, the delay compensation value needs to
be increased, and if it hits too early, the value should be decreased. See also
Figure 24.

9. Close the pump bypass valve or reconnect the pump supply hose to the pump
inlet and the output hose to the outlet if this was modified at the start of the
procedure, or close the fluid regulator again.
Figure 24 Gun delays
Gun on Gun off

delay comp. delay comp.

3.8.4 Procedure - Establish Fluid Delay Compensation Parameters
the fluid.
Make sure that all the actions described in ’Procedure - Preparation for
Compensation Parameters Tuning’ on page 170 and ’Procedure - Establishing Gun
Needle Delay Compensation Parameters’ on page 172 are performed before
performing this procedure.
Procedure 1. Edit brush number 1 and insert default values as follows:
Atom = 200 Nl/min
Shape = 150 Nl/min
Fluid = 300 ml/min
2. Establish following values for DelayUp and DelayDown for the fluid actuator:
DelayUp= -50 ms, DelayDown= 150 ms
3. Execute the test program once with full speed and observe the result.
4. Observe that paint hits the paper between paint on and off lines.
5. Measure the distance between paint on line and where the paint hits, and add
the measured value (in mm) to the DelayUp parameter value.
6. Measure the distance between paint off line and where the paint hits, and
subtract the measured value (in mm) from the DelayDown parameter value.
7. If there is spitting/splash at the first marked line, the DelayUp parameter must
be decreased.
8. If the film thickness at the first marked line is too thin, the DelayUp parameter
must be increased.
9. If the film thickness at the end point is too thin, the DelayDown parameter must
be decreased.
10. If there is a pressure built up in the hoses at the end of the paint stroke, the
DelayDown parameter must be increased.
One way to verify that the correct parameters are set for the fluid delay is to
observe that the pressure build-up in the hose between the actuator/pump and
the gun is the same after having painted with a large brush as after having
painted with a small brush.

3.8.5 Procedure - Establish Air Delay Compensation Parameters
the air.
Make sure that all the actions described in ’Procedure - Preparation for
Compensation Parameters Tuning’ on page 170, ’Procedure - Establishing Gun
Needle Delay Compensation Parameters’ on page 172 and ’Procedure - Establish
Fluid Delay Compensation Parameters’ on page 174 have been performed before
performing this procedure.
Procedure 1. Create a test program where the painting is changing from a small brush to a
large brush and back again. The brush changes must be done at the previous
established lines on the paper. See Figure 25.
Example values for a small brush:
Atom = 150 Nl/min
Shape = 100 Nl/min
Fluid = 150 ml/min
Example values for a large brush:
Atom = 350 Nl/min
Shape = 300 Nl/min
Fluid = 400 ml/min
2. Execute the test program and observe the result.
3. Adjust the DelayUp and DelayDown parameters for the air flow actuator until
an even film thickness is built in the flow transactions.
Figure 25 Brush change delays
Brush 1 Brush 2 Brush 1

3.9 Supervision Functions for a Bell
3.9.1 Introduction
Description In the IPS software, supervision functions for the bell can be made. These functions
can be supervision of the bell rotation speed or monitoring the bearing pressure for
the bell motor. The supervision is used to avoid too high rotation speed for the bell,
discover when the rotation speed feedback signal is lost and not allowing the bell to
rotate when the bearing pressure is too low or too high. These supervision functions
are highly recommended to implement to avoid the bell to be destroyed. This must
be configured in the in a configuration file. In the configuration, the supervision
functions are made as a LIMITALARM (avoiding too high speed on bellcup and too
low/high bearing pressure) and as a DEVIATIONALARM (discover that feedback
signal is lost). Following example shows how to configure this.
3.9.2 Example 1 - Supervision Functions for Bell
Description This example shows how to make a supervision for maximum speed, feedback
signal from bell lost and supervision of the bearing pressure on the bell. There will
also be examples on recommended parameter values used for the different alarms.
IPS:CFG_2.0::
IIRCOEFF:
-name "A1AtomCoeff" -b0 3 -b1 -2.92 -a1 1
IIRFILTER:
-name "A1AtomReg" -use_coeff "A1AtomCoeff"
BELLREGULATOR:
-name "A1Atom" -use_output "A1AtomIP" \
-use_input "A1AtomRS" -use_brake "A1Brake"
FILTERASSIGN:
DEVIATIONALARM:
-name "A1AtomDev" -supervise "A1Atom"
LIMITALARM:
-name "A1AtomLim" -supervise "A1AtomRS" -notify "A1Atom"
-name "A1AtomFluidLim" -supervise "A1AtomRS"
-name "A1BearPSLim" -supervise "A1BearPS" -notify "A1Atom"
PARAMETER:
-path "A1Atom/MinVal" -value 0
-path "A1Atom/MaxVal" -value 35
-path "A1Atom/PntCrvLevel" -value 300
-path "A1Atom/BrakeOnLim" -value 2
-path "A1Atom/BrakeOffLim" -value 1

-path "A1AtomDev/HoldOff" -value 5000

-path "A1AtomDev/AbsLimit" -value 8
-path "A1AtomDev/RelLimit" -value 0
-path "A1AtomDev/WarnLimit" -value 50
-path "A1AtomDev/Notify" -value 1
-path "A1AtomDev/ZeroSup" -value 0
-path "A1AtomLim/MaxVal" -value 35

-path "A1AtomLim/HighWarn" -value 30
-path "A1AtomFluidLim/MinVal" -value 18

-path "A1AtomFluidLim/Silent" -value 1
-path "A1BearPSLim/MinVal" -value 1

-path "A1BearPSLim/MaxVal" -value 2
CFG_END
Note: This configuration example is only a part of a complete configuration file,

and just shows how supervision functions for the bell can be made. The parameter
values used can also differ from the recommended values, due to another
specification or equipment.
For A1AtomDev alarm, the recommended HoldOff time must be a high value
(5000-8000 msec.), due to slow acceleration and deceleration of the air motor for
the bell. With a smaller value, there will be a risk that the IPS system will turn off
the rotation speed during acceleration and deceleration. HoldOff time will also be
dependent on how wide the limits are set for the alarm.
Parameter Notify for A1AtomDev alarm is set to 1 to enable the IPS system to turn
off the rotation speed when a limit is exceeded. Setting parameter ZeroSup, for
A1AtomDev alarm to 0 means that no supervision of the deviation of speed shall be
performed when setpoint to A1Atom= 0. When a deviation is reached, an alarm
message will be sent to the control cabinet, and the rotation will stop.
The recommended MaxVal parameter value for A1AtomLim alarm will depend on
the bellcup size used. From manufacturer of the bells, the maximum rotation speed
with a 70 mm bellcup is 35 krpm, for a 50 mm bellcup it is 45 krpm, and for a
30 mm bellcup the maximum rotation speed is 60 krpm. When one of these
specified maximum values is exceeded, the IPS software will notify the applicator
device called A1, which will turn off all the signals for the applicator. This means
that the rotation speed will be turned off with no braking.
The bearing pressure for a bell is specified from the manufacturer to be from 4 bar
to 6 bar. The bearing switch is adjusted to 4 bar and when bearing pressure is lower
than 4 bar an error message will be sent, and device A1Atom will be notified. This
means that it will not be possible to paint with the bell when the error limits are
exceeded.

For a more detailed description of the different parameters, see ’Description of

Configuration Types’ on page 13.

3.10 Consumption
3.10 Consumption
Description In the IPS software, a special function/signal is made to handle consumption values
in a fluid application system. These consumption values can be fluid volume, atom
and shape air volume, pressure consumption, bell cup rotations, motor revolutions,
etc. The consumption signal is called Accu. Which device types that have this as a
signal is described in ’Description of Configuration Types’ on page 13. This means
that each device with the actual Accu signal can be configured in the system as a
consumption value. To configure for a specific consumption signal/value, a
configuration job is needed. On the control cabinet, a user signal must be configured
for the consumption value, with the correct path to the accu signal for the actual
device. This signal is normally an analog output signal. The reason to use an analog
output signal is that when writing the value zero to the actual signal, the
consumption value is reset.

3.11 Linear Delay Compensation
3.11 Linear Delay Compensation
Description The linear delay compensation function is based on the minimum and maximum
value of the configured device and the change in setpoint. This means that IPS
calculates a compensation delay value for a specific setpoint change, based on the
following parameter values: Minval, Maxval and DelayUp/DelayDown.
The following shows some typical examples on how the actual delays will be:
For a device called A1Atom configured with following parameters:
A1Atom:
MinVal= 0 Bar
MaxVal= 6 Bar
DelayUp= 80 ms
DelayDown= 120 ms
Following setpoint changes to A1Atom show the calculated and used compensation
delay values:
Setpoint change: 0 to 6 gives a DelayUp value= 80 ms

Setpoint change: 1 to 2 gives a DelayUp value= 13.33 ms
Setpoint change: 6 to 0 gives a DelayDown value= 120 ms


3.12 Supervision Functions for Pumps
3.12.1 Introduction
Description In many paint application systems, pumps are used to feed the fluid flow out of the
applicator. When pumps are used, some supervision functions for the pumps are
needed. Normally, the input and output pressure of a pump is supervised by reading
the pump pressure sensors on the inlet and outlet of a pump. If the input pressure
becomes too low, the IPS system must stop the pump to avoid wearing. If the output
pressure becomes too high, the IPS system must stop the pump to avoid that the
fluid hose is blown. These supervision functions are configured in a configuration
file. In the configuration, the supervision functions are made as LIMITALARM
(reads input and output pressure sensors for a pump and gives an alarm when a
predefined limit is reached). Following example shows how to configure this.
3.12.2 Example 1 - Supervision Functions for a Pump
Description This example shows how to make supervision functions for the input and output
pressure of a pump. In this case, the pump will stop when the pressure input to the
pump is too low, or when the pressure out of the pump is too high. The example also
shows some typical values used for the input and output pressure limits.
IPS:CFG_2.0::
LINEARCURVE:
-name "A1PumpCurve" -offset 0 -factor 0.1666
IIRCOEFF:
-name "Lp5Hz" -b0 0.046084 -b1 0.092168 -b2 0.046084 \
-a1 1.305927 -a2 -0.490263
IIRFILTER:
-name "A1PumpPSInFilter" -use_coeff "Lp5Hz"
-name "A1PumpPSOutFilter" -use_coeff "Lp5Hz"
ACTUATOR:
-name "A1Pump" -use_output "A1M1" -unit 3 -use_curve "A1PumpCurve"
-name "A1Fluid" -use_output "A1Pump"
FILTERASSIGN:
-path "A1PumpPSIn/Value" -use_filter "A1PumpPSInFilter"
-path "A1PumpPSOut/Value" -use_filter "A1PumpPSOutFilter"
LIMITALARM:
-name "A1PumpPSInLim" -supervise "A1PumpPSIn" -notify "A1Pump"
-name "A1PumpPSOutLim" -supervise "A1PumpPSOut" -notify "A1Pump"
PARAMETER:
-path "A1Pump1PSInLim/MinVal" -value 0.5
-path "A1Pump1PSInLim/MaxVal" -value 12

-path "A1Pump1PSInLim/LowWarn" -value 1

-path "A1Pump1PSInLim/HighWarn" -value 10
-path "A1Pump1PSOutLim/MinVal" -value -1

-path "A1Pump1PSOutLim/MaxVal" -value 12
-path "A1Pump1PSOutLim/LowWarn" -value -1
-path "A1Pump1PSOutLim/HighWarn" -value 10
CFG_END
Note: This configuration example is only a part of a complete configuration file,

and just shows how supervision functions for a pump are made. The parameter
values used can also differ from the recommended values, due to another
specification or equipment.

3.13 ‘Cascade’ Function for Color Valves
3.13.1 Introduction
Description Normally in a paint robot system, the color valves are controlled by pneumatic
valves, and the pneumatic valves are controlled by VCD boards. The VCD boards
are designed to control up to 16 pneumatic valves. In many cases, a color valve
group is distributed over several VCD boards. The software uses the special
function ‘cascade’ to handle this. The ‘cascade’ function is done in the
CONNECTION part and is used to ‘cascade’ pneumatic valves into groups when
several valve control driver boards (VCD-boards are controlling the pneumatic
valves) are used on a robot and the valve group itself is routed over several control
driver boards (see example below).
3.13.2 Example 1 - Cascade Function
Description This example shows how to make a color valve group (in this case 30 color valves)
with an interlock function.
IPS:CFG_2.0::
ACTUATOR:
-name "A1Col" -use_output "Mac12/Doport(5-16)"
PARAMETER:
CONNECTION:
CFG_END
Important: When a group of digital outputs exceeds the number of 16, all the
Doports used must first be interlocked in the configuration before they can be
cascaded. This is shown in the example above.
All valves are distributed over three different valve control driver boards (VCD-
boards) with a Mac ID of 12,13 and 16 on the CAN bus. The first part of the color
valve group is from valve 5 to valve 16 on the VCD board with address 12. The next
part is from valve 1 to 16 on the VCD board with address 13, and the last part of the
group is from valve 1 to 2 on the VCD board with address 16.
As the different valves are distributed over several valve control driver boards, the
IPS software needs information that the different subgroups of valves must be
‘cascaded’ to a complete group. The special feature with cascade in the
CONNECTION part informs the IPS software that subgroups of valves are

‘cascaded’ to each other as a complete valve group.
The cascading of valves must be in the correct order, which means that the last valve
on a subgroup must be cascaded with the first valve on the next subgroup.
The restriction with the cascading function is that it is not allowed to have some free
valves between the subgroups, and the minimum subgroup size is 2.

3.14 Automatic Needle Delay Compensation
3.14.1 Introduction
Description The Automatic needle delay compensation function can be used when a needle
sensor is installed on the robot. This needle sensor will read when the needle on the
gun is physically opened or closed. Then the Automatic needle delay compensation
function will calculate the delay time to open/close the needle and use this value for
delay compensation of the needle opening/closing. The configuration of this
function is dependent of the sensor type used in the system. The example below
shows a configuration of the NPS-type needle sensor, with simplified outputs for
atom, shape and fluid.
3.14.2 Example 1 - Configuration of Needle Delay Compensation
Description IPS:CFG_2.0::
ACTUATOR:
-name "A1Shape" -use_output "Anout3"
MEANFILTER:
-name "A1NeedleUp" -size 10
-name "A1NeedleDown" -size 10
FILTERASSIGN:
-path "A1Needle/DynDelayUp" -use_filter "A1NeedleUp"
-path "A1Needle/DynDelayDown" -use_filter "A1NeedleDown"
APPLICATOR:
PARAMETER:
-path "A1Needle/DelayUp" -value 80
-path "A1Needle/DelayDown" -value 100
-path "A1Needle/DynFbInvert" -value 0
-path "A1Needle/DynFbPulse" -value 1
-path "IntDigin1/EdgeEnable" -value 1
CFG_END
Note: This example shows how to configure an Automatic needle delay

compensation of the needle. The needle sensor is connected to the IntDigin1 input
(quick digital input with EdgeEnable set to true). What type of signal the needle
sensor is giving is defined with the parameters: DynbInvert and DynFbPulse. A
mean filter is also made to filter the delay times that system measures on the needle.

This filtering is needed to prevent noise influence on the needle sensor

measurements. The configuration is also setup with fixed delay times (DelayUp and
DelayDown), which will be used if UseDynDelay signal is set to 0.
When the Automatic needle delay compensation function is used, the needle delay
times must be calibrated. This must be done so that the system have some basis
values to use, after robot is restarted/powered up. How to calibrate the needle is
shown in example below
3.14.3 Example 2 - Calibration of needle delay times
Description The IPS software is configured with a needle called: A1Needle.
Following terminal commands can be used for the calibration:
Step 1: From terminal, type: ips A1Needle cal
This command will start to switch on and off the needle several times (approx. 20
times) to calibrate the needle delay times.
Step 2 (optional): From terminal, type: ips A1Needle cal report
This command will report how the calibration was performed and the delay time
values measured for this needle setup.

4 Configuration Examples
4.1 Introduction
4.1 Introduction
General To be done.

4.1 Introduction

5 I/O Overview
5.1 Introduction
5 I/O Overview
5.1 Introduction
General This chapter shows an overview of the electrical input and output signals available
on the different IPS boards. Some small examples on how to configure these inputs
and outputs to devices in the IPS configuration are also included. The actual IPS
boards/modules are PIO board (APIP) and AMCM (MCOB-02).
Basic I/O Overview For all the available boards, some fixed device names in the IPS software are used
to connect the different physical inputs and outputs. These names are as follows:
Digout, DoPort(x-y), Digin, DiPort(x-y), Anin, Anout, OnePhaseEnc,
TwoPhaseEnc and IntDigin. The values for x and y are used to decide which digital
outputs/inputs to be used. For more detailed description of the fixed devices, see
’Description of Configuration Types’ on page 13.

5 I/O Overview
5.2 PIO Board
5.2 PIO Board
Description The following table shows an overview of the I/Os on the PIO board.
Physical IPS fixed device name Description
signal type
Digital "Digout1" to "Digout8" Digout1 to Digout8 are in IPS software
output connected to the eight available physical digital
outputs on the PIO board.
"DoPort(1-8)" Digout1 to Digout8 are grouped in an eight bits
digital output group. The digouts can also be
grouped into smaller bit groups
Analog "Anout1" to "Anout12" Anout1 to Anout12 are in the IPS software
output connected to the twelve available analog
outputs on the PIO board.
Analog input "Anin1" to "Anin16" Anin1 to Anin16 are in the IPS software
connected to the sixteen available analog
inputs on the PIO board.
Encoder "OnePhaseEnc1" to OnePhaseEnc1 to OnePhaseEnc8 are in the
inputs "OnePhaseEnc8" IPS software connected to the eight available
one phase encoder inputs on the PIO board.
"TwoPhaseEnc1" to TwoPhaseEnc1 to TwoPhaseEnc4 are in the
"TwoPhaseEnc4" IPS software connected to the four available
two phase encoder inputs on the PIO board.
"IntDigin1" to "IntDigin8" IntDigin1 to IntDigin8 are in the IPS software
connected to the eight available encoder inputs
on the PIO board.
Example Following example shows different connections that can be done to the PIO board.
IPS:CFG_2.0::
LINEARCURVE:
-name "A1AirPSCurve" -offset 0 -factor 1.45
SENSOR:
-name "A1FluidFS" -use_input "OnePhaseEnc1" -unit 3 \
-name "A1AtomPS" -use_input "Anin1" -unit 1 \
-use_curve "A1AirPSCurve"
ACTUATOR:
-name "A1Needle1" -use_output "Digout1" -use_input "IntDigin2"
-name "A1Fluid" -use_output "Anout1" -unit 1 \
-name "A1Atom" -use_output "Anout2" -unit 1 \
CFG_END

5 I/O Overview
5.3 Valve Control Driver
5.3 Valve Control Driver
General This section gives an overview on the VCD board.
Description, VCD The following table shows an overview of the I/Os on the VCD board.
signal type
Digital "Mac16/Digout1" to Digout1 to Digout16 is are IPS software
output "Mac16/Digout16" connected to the sixteen available physical
digital outputs on the VCD board. Mac ID for
VCD board in this case is 16.
"Mac16/DoPort(1-16)" Digout1 to Digout16 are grouped into a sixteen
bits digital output group. The digouts can also
be grouped into smaller groups than 16 bits.
Mac ID for VCD board in this case is 16.
Example, VCD Following example shows different connections that can be done to a VCD board
(in this case, the VCD board has Mac ID 16 on the CAN bus):
IPS:CFG_2.0::
ACTUATOR:
-name "A1Needle" -use_output "Mac16/Digout1"
-name "A1SolvCC" -use_output "Mac16/Digout2"
-name "A1AirCC" -use_output "Mac16/Digout3"
-name "A1Col" -use_output "Mac16/DoPort(4-6)"
CFG_END

5 I/O Overview
5.4 AMCM Module
5.4 AMCM Module
Description The following table shows an overview of the I/Os on the AMCM module.
signal type
Digital "Digout1" to "Digout14" Digout1 to Digout14 are in IPS software
output connected to the fourteen available physical
digital outputs on the MCOB-02 board. Some of
the outputs are part of the cabin interlock
(Digout9-12) or safety interlock (Digout13-14).
"DoPort(1-14)" Digout1 to Digout14 are grouped in a fourteen
bits digital output group. The digouts can also
be grouped into smaller bit groups.
Digital input "Digin1" to "Digin8" Digin1 to Digin8 are in the IPS software
connected to the eight general digital inputs on
the MCOB-02 board.
"DiPort(1-8)" Digin1 to Digin8 are grouped in an eight bits
digital input group.
"Digin9" to "Digin12" Digin9 to Digin12 are special status input
signals from Mac- IP transducers.
"DiPort(9-12)" Status value is grouped in a four bits digital
input group.
"Digin13" to "Digin14" Digin13 to Digin14 are digital namur type
inputs.
"DiPort(13-14)" Digin 13 to Digin14 are grouped in a two bits
digital input group
Analog "Anout1" to "Anout4" Anout1 to Anout4 are in .the IPS software
output connected to four analog outputs on the
MCOB-02 board. These outputs can run in both
current and voltage output mode.
"Anout5" to "Anout8" Anout5 to Anout8 are in the IPS software
connected to four analog outputs on the
MCOB-02 board. These outputs can only run in
current output mode (0-20mA).
"Anout9" to "Anout12" Anout9 to Anout12 are in the IPS software
connected to four analog outputs on the
MCOB-02 board. These outputs are of
differential type and are used to control the
output of Mac-IP transducers. These outputs
can only run in voltage output mode (0-10volt)
Analog input "Anin1" to "Anin8" Anin1 to Anin8 are in the IPS software
connected to eight analog inputs on the MCOB-
02 board. These inputs are of a special
differential type (with voltage range 0-100mv).
Only special sensors w/measurement bridge
output can be connected to these analog
inputs.
"Anin9" to "Anin24" Anin9 to Anin24 are in the IPS software
connected to sixteen analog inputs on the
MCOB-02 board. These inputs are of a general
input type with voltage range 0-10 volt.
Note: Anin13 to Anin17 are for internal use and
not yet available on connectors.

5 I/O Overview
5.4 AMCM Module

signal type
Encoder "OnePhaseEnc1" to OnePhaseEnc1 to OnePhaseEnc4 are in the
inputs "OnePhaseEnc4" IPS software connected to four one phase
encoder inputs on the MCOB-02 board.
"TwoPhaseEnc1" and TwoPhaseEnc1 and TwoPhaseEnc2 are in the
"TwoPhaseEnc2" IPS software connected to 2 two phase
connected to four encoder inputs on the
MCOB-02 board.
"OnePhaseEnc5" to Not implemented in hardware yet!
"OnePhaseEnc6"
"TwoPhaseEnc3"
"IntDigin5" to "IntDigin6"
"OnePhaseEnc7" to OnePhaseEnc7 to OnePhaseEnc12 are in the
"OnePhaseEnc12" IPS software connected to six one phase
"TwoPhaseEnc4" and TwoPhaseEnc4 and TwoPhaseEnc6 are in the
"TwoPhaseEnc6 IPS software connected to three two phase
encoder inputs on the MCOB board
connected to six encoder inputs on the MCOB-
02 board.
Note: Please refer to ‘Unit Description, IRC5P’ manual for more details about
where to connect the different physical inputs/outputs on the AMCM module.
Example Following example shows different connections that can be done on the AMCM
module:
IPS:CFG_2.0::
LINEARCURVE:
-name "A1PumpPSCurve" -offset 0 -factor 0.14
SENSOR:
-name "A1FluidFS" -use_input "OnePhaseEnc9" -unit 3 \
-name "A1Pump1PSIn" -use_input "Anin1" -unit 1 \
-use_curve "A1PumpPSCurve"
ACTUATOR:
-name "A1Needle" -use_output "Digout1"
-name "A1Fluid" -use_output "Anout9" -unit 1 \
-name "A1Atom" -use_output "Anout10" -unit 1 \
-name "A1Shape" -use_output "Anout11" -unit 1 \

5 I/O Overview
5.4 AMCM Module
-use_curve "A1ShapeIPCurve"
CFG_END

6 IPS System and Error Messages
6.1 Introduction

6.1 Introduction
General This chapter provides information on the system- and error messages which may be
issued by the IPS control software.
The description applies to IPS error messages from IPS version 4.30-.
Note: Some of the error messages described in this manual may not be available for
a specific IPS software version.
Note: A few of the messages in the following are described with extended
information for troubleshooting in the ‘Unit Description, Paint’ manual. This will be
noted for the relevant messages.
Description All messages will normally be presented with the name of the device experiencing
the problem or failure.
There are two types of messages: Warning and Error. When a warning is generated
from IPS, the message will only be stored in the error log file. When an error is
generated, the message will appear on the pendant and stored in the error log file.
The IPS messages are stored in an error log file which can be viewed from the
pendant. To get access to the messages listed in the error log file, select Event
Log/Paint on the pendant. The different messages from the IPS software will be
located in the Paint log buffer.

6.2 Messages
6.2 Messages
List of Messages
Description Remedy / Source of Fault

133000 - IPS Cfg Error
IPS Cfg Error – Check IPS config file for errors.
Cfg Error:<error text> – Check if config file is stored on the correct IPS
Error accessing IPS config file. node.
This config file is stored on one of the
installed IPS nodes. Comment: The IPS has discovered a problem with the
Message category: Error IPS configuration file. Check that configuration file
exists and is stored on the correct IPS node.
Cfg Error:<error text> – Check in IPS config file for error in given line.
Error in IPS config file in line:<number>
This IPS config file is located on one of Comment: The IPS has discovered an error in a
the IPS nodes. configuration file. Open the configuration file in a text
Message category: Error editor and check for an error in given line.
Syntax Error:<error text> – Check in IPS config file for error in given line.
Syntax Error in:<syntax error string>
in line:<number>. Comment: The IPS has discovered an error in a
Message category: Error configuration file. Open the configuration file in a text
editor and check for an error in given line.
Assertion error:<string text>, – Check in IPS config file for error in given line.
in line:<number>.
Message category: Error Comment: The IPS has discovered an error in a
configuration file. Open the configuration file in a text
editor and check for an error in given line.
133004 - IPS Cfg Token Error
Cfg Token Error:<string text> – Check in IPS config file for error in given line.
Error in token:<string text>, in
line:<number> and character Comment: The IPS has discovered an error in a
position:<number>. configuration file. Open the configuration file in a text
Message category: Error editor and check for an error in given line.
133005 - IPS License Error
License server is not found. – Check that the system has a license server.
Could not obtain option: – Check status on license server.
<string text> – Check communication towards license server.
Reference:<string text>
Message category: Error
ID chip is not found. – Check that ID chip is mounted on PIB.
Could not obtain option:
<string text>
Wrong serial number. – Check serial number in license file.
Could not obtain option: – Check that correct ID chip is mounted.
<string text>

6.2 Messages

License file is not found. – Check that license file exist on license server.
File name must be 'option.lic'.
<string text>
License code in license file is not – Check that the license file on license server is
correct. identical to the original license file.
<string text>
Syntax error in license file. – Make sure the original license file is used.
Could not obtain option: – Order new license file.
<string text>
Option does not exist in license file. – Check if option exist in license file.
Could not obtain option: – Check if correct license file loaded.
<string text> – Check in IPS config file for errors.
Reference:<string text> – Order new license file.
Counting option has no free licenses. – Check number of uses vs. license file.
Could not obtain option: – Check if correct license file loaded.
<string text> – Check in IPS config file for errors.
Protocol error in communication – Contact customer support.
towards
license server.
<string text>
Communication fault. License server – Check communication towards license server.
has
been found, but communication is lost.
<string text>
133050 - Temp. too high, sensor
<number> – Check: Sensors 1-7: motor 1-7,
System overheat detected. – Check: Sensor 8: Serial measurement board.
Run-chain has been opened.
Message category: Error Comment: The IPS has discovered an overheat error
on PTC sensors located on robot.

6.2 Messages

133200 - <device name>:Trig error
IPS has discovered an impossible trig – Check if events for named device are programmed
time error. too close each other.
This situation may occur if trig events – Check compensation delays for named device.
are programmed too close each other
in e.g. a cleaning sequence. Comment: This situation can occur when trig points
Message category: Error are too close and the compensation time for the actual
trig point is in the position (of time) before the previous
trig point. This means that if the absolute difference in
DelayUp and DelayDown for named device is higher
than the trig time between two events, this error will
come. This problem is only relevant when the
distances between trig points are small and there is a
difference on DelayUp and DelayDown value for a
device.
133201 - <device name>:Locked\n
The named device is locked by IPS. – Check if system tries to run named device, when it
Can’t set a value to this device when is already locked (connected) to another device.
locked, and there is no direct access to
it. Comment: This error will occur when an attempt is
Message category: Error made to run a device which is owned (locked) by
another device. A typical example is when a 2K-mixer
owns two pumps, it is illegal to run one of the pumps
directly. The correct way in this case is to give the
setpoint to the 2K-mixer, which will split the setpoint
depending on mixing ratio, and distribute it to the
individual pumps. To control each pump individually,
the 2K-mixer must first be informed to release
(disconnect) the two pumps. In this state, it is valid to
give setpoints to the pumps directly, but the mixer will
now be unable to receive setpoints.
133202 - <device name>:Disabled
Impossible to set a command value to – Enable named device and set a new command to it.
named device when it is disabled. – Check if IPS config is set up to disable the named
When a device is disabled, it is not device.
possible to operate it.
Message category: Error message is Comment: This error will occur when an attempt is
sent when an attempt is made to set a made to run a device which is in a disabled state.
digital device type. No message is sent
when an attempt is made to set
another device type.
133203 - <device name>:Disconn.
The resource(s) for named device is – Set the connect signal for the named device to 1.
disconnected and named device is not – Check if the system sets the connect signal to 0 in
operational. some special cases.
The connect signal for the device is set
to 0. Comment: This error will occur when an attempt is
\t\n made to run a device which is in a disconnected state.
Message category: Error This means that the connect signal for the actual
device is set to 0, and the device is in an unable state.

6.2 Messages

133204 - <device name>:Not ready
Can ‘t set value: Named device is not – Check if IPS is setup with any supervision functions
ready and is halted by some for named device.
supervision functions or it have a – Check if named device have any problem, fix the
general problem. problem and retry.
Comment: This error will occur when an attempt is
made to run a device which is not ready. The reason
can be that an alarm is preventing one of the
resources used by this device from being operational.
133205 - <device name>:Sprv.
alarm\n – Check for supervision alarms that sets named
Can’t set value: An alarm that is device in a not ready state.
supervising named device is active. – Fix the actual alarm state.
One of the installed alarms prevents
the named device from being Comment: This error will occur when one of the
operational. installed alarms (LIMIT-, DEVIATION- or POTLIFE-
Message category: Error alarm) prevents the device from being operational.
Typical example will be an alarm that is supervising
the input and output pressure on a pump, and when a
limit is reached, the pump device will be stopped by a
supervision alarm.
133206 - Lock <device name>
failed\n – Check in IPS config if several IPS devices are using
Locking of a resource for named the same resource.
device failed.
The same resource may have been Comment: Most often, this situation occurs as a
allocated by another device. configuration error where two devices are informed to
Message category: Error use the same device. E.g. if two closed loop
regulators, Atom and Shape, are informed to set their
output to the same analog output, this error situation
will occur. Atom and Shape can not use the same
analog output at the same time.
133207 - <device name>:Val hi
Value for named sensor or device has – Check if value for named sensor or device is too
exceeded maximum limit. high.
IPS has discovered an alarm state for – Check for IPS configured LIMIT-alarms and verify
named sensor or device. that limits are OK.
Message category: Warning or Error
Comment: This error message occurs when a
configured LIMITALARM (supervising a sensor or
device) has exceeded the maximum specified limit.
This message will be output as warning or error
message, dependent on the limits set for the actual
alarm.
Note: For more information on this message, see ‘Unit

Description, Paint’ manual, section ‘Troubleshooting’.

6.2 Messages

133208 - <device name>:Val lo
Value for named sensor or device has – Check if value for named sensor or device is too
exceeded minimum limit. low.
IPS has discovered an alarm state for – Check for IPS configured LIMIT-alarms and verify
named sensor or device. that limits are OK.
configured LIMITALARM (supervising a sensor or
device) has exceeded the minimum specified limit.
This message will be output as warning or error
message, dependent on the limits set for the actual
alarm.

133209 - <device name>:Act.val hi
Actual value for named device has – Check for IPS configured DEVIATION-alarms and
exceeded maximum limit. verify that parameter limits are OK.
IPS has discovered too high actual – Check if the sensor, used by named device, is
value compared to the setpoint value. noisy.
configured DEVIATIONALARM (supervising the
deviation between setpoint and an actual sensor
value) has exceeded the maximum limit specified for
this alarm. This message will be output as warning or
error message, dependent on the limits set for the
alarm.

133210 - <device name>: Act. val lo
Actual value for named device has – Check for IPS configured DEVIATION-alarms and
exceeded minimum limit. verify that parameter limits are OK.
IPS has discovered too low actual – Check if the sensor, used by named device, is noisy
value compared to the setpoint value. or sending values.
configured DEVIATIONALARM (supervising the
deviation between setpoint and an actual sensor
value) has exceeded the minimum limit specified for
this alarm. This message will be output as warning or
error message, dependent on the limits set for the
alarm.


6.2 Messages

133211 - <device name>: Comp. hi
Regulator for named device has – Check in IPS config if compensation limits for
compensated too much compared to named device are too tight.
the calibrated curve and its – Check supply pressures, hoses, sensor and
compensations parameter limits. transducer used by named device.
Comment: This error message occurs when the
regulator compensation between calibrated curve and
dynamic curve has exceeded a specified limit. This
message will be output as warning or error message,
dependent on the limits set for the alarm.

133212 - <device name>: Comp. lo
Regulator for named device has – Check in IPS config if compensation limits for
compensated too much compared to named device are too tight.
the calibrated curve and its – Check supply pressures, hoses, sensor and
compensations parameter limits. transducer used by named device.
Comment: This error message occurs when the
regulator compensation between calibrated curve and
dynamic curve is below a specified limit. This
message will be output as warning or error message,
dependent on the limits set for the alarm.

133213 - <device name>: Potlife
The potlife time for named device has – Check if flushing of system is performed.
expired, and the fluid will start to cure! – Check if potlife time is correct.
Paint equipment may be destroyed!
Start to flush system at once! Comment: This warning/error message occurs when a
Message category: Warning or Error configured POTLIFEALARM (supervising the potlife
time of a device, typically a 2K mixing device) has
decreased to a warning time limit or to an error time
limit (which is 0 seconds). This message will be output
as warning or error message, dependent on the limit
set for the alarm.
133214 - <device name>:Setp. hi
Setpoint value for named device is too – Check if setpoint to named device is set too high.
high. – Change the maximum value in the IPS config file if
The setpoint value is set to the needed.
maximum configured value for named
device.
133215 - <device name>:Setp. lo
Setpoint value for named device is too – Check if setpoint to named device is set too low.
low. – Change the minimum value in the IPS config file if
The setpoint value is set to the needed.
minimum configured value for named
device.

6.2 Messages

133216 - <device name>:Seq. error
IPS has discovered a trig sequence – Check if the sensor signal has the correct level.
error. – Check if the sensor signal is noisy.
The Dynamic Delay Compensation
function for named device measured Comment: This error will typically occur when the
an 'on'-transition while expecting an Dynamic Delay Compensation function is used on a
'off'-transition (or opposite). gun with a needle sensor.
133217 - <device name>:Unexp.
trans. – Check relay and electrical connections for the
IPS has discovered an unexpected sensor.
transition. – Check if the sensor signal is noisy.
function for named device measured a Comment: This error will typically occur when the
transition at a time when none was Dynamic Delay Compensation function is used on a
expected. gun with a needle sensor.
133218 - <device name>:Timeout On
IPS has discovered a trig timeout for – Check sensor for named device.
an 'on'-transition. – Check wiring or relay for sensor.
function has timed out for an 'on'- Comment: This error will typically occur when the
transition. Dynamic Delay Compensation function is used on a
Message category: Error gun with a needle sensor.
133219 - <device name>:Timeout Off
IPS has discovered a trig timeout for – Check sensor for named device.
an 'off'-transition. – Check wiring or relay for sensor.
function has timed out for an 'off'- Comment: This error will typically occur when the
transition. Dynamic Delay Compensation function is used on a
Message category: Error gun with a needle sensor.
133220 - <device name>:No signal
IPS is reading a zero value from the – Check if used sensor is broken.
sensor used by the named device. – Check wiring of used sensor.
Wiring or supply to this sensor can be – Check process supply for used sensor.
the reason.
Message category: Error Comment: This error occurs when there is no signal
feedback value from the sensor used by the named
device.
133221 - <device name>:Max output
The closed loop regulator for named – Check if the commanded value to the regulator is
device has reached the maximum higher than possible for the application equipment.
output. – Reduce setpoint to operate regulator within
Message category: Warning controllable range.
Comment: This warning will occur when a setpoint to a

closed loop regulator is so high that it is impossible for
the regulator to achieve the setpoint value.
133222 - <device name>:Min output
The closed loop regulator for named – Check if the commanded value to the regulator is
device has reached the minimum lower than possible for the application equipment.
output. – Increase setpoint to operate regulator within
Message category: Warning controllable range.
Comment: This warning will occur when a setpoint to a

closed loop regulator is so low that it is impossible for
the regulator to achieve the setpoint value.

6.2 Messages

133223 - <device name>:Interlock
IPS has discovered an interlock conflict – Set active valve or device to zero before activating
error. a new one.
An attempt was made to operate more
than one valve or device in an
interlocked group.
133224 - Acknowledge needed
<device name> is currently halted by – Check the alarm that is halting the named device.
an alarm supervision and an – Recover the alarm situation.
acknowledge of named device is – Acknowledge the alarm for named device and retry.
needed.
Message category: Error Comment: When the alarm situation is fixed and
absent, the alarm state must be manually
acknowledged. In this case, a user defined signal
(normally called A1Alarm) must be used to
acknowledge for the alarm state. For more details:
Read about the Alarm signal for an APPLICATOR
device.
133225 - DMC error
Following Digital Motor Controller – Check cables to the DMC.
(DMC) error message was sent to IPS: – Check power supply to the DMC.
<DMC error text>. – For more info, see the Unit Description, Paint
IPS has lost communication or manual.
discovered an error sent from the
named DMC driver.
133226 - <device name /signal
name>. – Check if signal is available for named device.
Setpoint error.
IPS has discovered an error to set a
signal on the named device.
133250 - <device name>:Comm. err
IPS has discovered an internal CAN- – Check CAN-bus cables for IPS nodes.
communication error. – Check IPS nodes for correct Mac ID.
Communication on CAN-bus between – Check CAN-bus termination resistors.
IPS nodes is lost.
System will try to reconnect if possible.
133251 - <device name> New curve
IPS has created a new dynamic or Comment: This is a warning message, and will occur
calibrated curve, number <curve>, for when no curve is already saved on the actual IPS
named device. board.
Message category: Warning
133252 - <device name> Calc. curve
IPS has recalculated a dynamic or Comment: This is a warning message, and will occur
calibrated curve, number <curve>, for when change in curve range is done.
named device.
The range of curve is modified due to
modified range of regulator.

6.2 Messages

133253 - <device name>:Resizing
IPS has resized a dynamic or Comment: This is a warning message, and will occur
calibrated curve, number <curve>, for when change in curve size is done.
named device.
Due to change in curvesize parameter,
the existing curves are transformed to
the new curvepoint size.
133254 - <device name>:DMC error
IPS has lost communication or – Check DMC-driver status LEDs.
discovered an error sent from named – Check power supply on the DMC-driver.
DMC-driver. – Turn off and on the DMC-driver power.
DMC error code is: <number>.
133255 - Apmb error
IPS has discovered an Apmb-driver – Check the fault LEDs codes on the Berger-Lahr
(Berger-Lahr driver) error. drive unit.
Apmb-driver, number: <driver – Check stepper motor.
number>, has issued an error. – Check wiring for Berger-Lahr driver.
133256 - <device name>:Curve err
IPS has discovered a number format – Check if an already saved curve on the IPS node
on named dynamic/calibrated curve has an incompatible number format than expected.
that is not correct. – Delete the saved curve on the IPS board.
133257 - SDI error
SDI board have issued following – Check SDI board for errors.
error:<SDI error text>, with error
code:<number>.
133258 - VCD error,MacID:<number>
IPS has discovered an error on a VCD – Check VCD board for the error reason given.
board with following details:<VCD error – Replace the VCD board.
text>.
Message category: Error Comment: A VCD board (with a specific Can-bus
address) has issued a hardware problem. This
problem can be too high voltage or a short-circuit on
the valve output of the VCD board.
133259 - File Access Error
IPS has discovered a File Access Error – Check if named file exists.
on following file:<filename>. – Check if file is currently in use.
133260 - File Defaulted
IPS has created a default file of type:
"<type text>" with following file
name:<filename>.
133261 - File Parse Error
IPS failed to load the following – Check that named file has the correct format for its
file:<filename>. use.
133262 - New index entry in file
IPS has created in file: <filename>
a new index entry with value: <index
number>

6.2 Messages

133263 - PPRU CAN Error
PPRU unit: <unit name>,
register '<register name>' = <register
value>
133264 - PPRU Error
PPRU unit: <unit name>,
message = '<message text>'
133265 - SPI down: <string>
IPS on node <number> has discovered - Check serial cable to SPI board.
an - Check power cable to SPI board.
SPI-communication error. - Check/replace SPI board.
<string text>
System will try to reconnect if
possible.
133265 - SPI up: <string>
SPI reconnected on node <number>
Message category: Info

6.2 Messages

Manual Status
Manual Status
Reference Manual
IPS Structure
3HNA013099-001 en Rev.02
Documents included in manual:
Chp.: Subject: File Identification: Page:
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . A013099.fm 9
1 Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . T02770 Rev.02 11
2 Description of configuration types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . T02765 Rev.03 13
3 Configuration guidelines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . T02766 Rev.01 153
4 Configuration examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . T02767 Rev.01 187
5 I/O overview. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . T02768 Rev.01 189
6 IPS system and error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . T02769 Rev.03 195

Manual Status

List of Imported Graphics
List of Imported Graphics
Reference Manual
IPS Structure
3HNA013099-001 en Rev.02
Graphic files imported in manual:
Pg.: Illustration: Pg.: Illustration: Pg.: Illustration:
1 FrontPict.jpg @ 220 dpi
16 T0276501.wmf
19 T0276502.wmf
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The heart

IPS Version 4.30 -

First Edition: 15 April 2008

Reference Manual, IPS Structure

© Copyright 2008-2009 ABB All right reserved.

Reference Manual, IPS Structure

2 Description of Configuration Types 13

Reference Manual, IPS Structure 3HNA013099-001 en Rev.02 5

2.43 iDrive. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149

3 Configuration Guidelines 153

6 IPS System and Error Messages 195

6 3HNA013099-001 en Rev.02 Reference Manual, IPS Structure

6.2 Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196

Reference Manual, IPS Structure 3HNA013099-001 en Rev.02 7

8 3HNA013099-001 en Rev.02 Reference Manual, IPS Structure

Reference Manual, IPS Structure 3HNA013099-001 en Rev.02 9

Usage This manual should be used during:

Who Should Read This This manual is intended for:

Prerequisites The reader should:

• Be a trained installation engineer, programmer or operator.

Organization of The manual is organized in the following chapters.

References Following manuals are referred to in this manual.:

Reference Manual, IPS Structure 3HNA013099-001 en Rev.02 11

1.2 General Information

This manual applies for control cabinet of type IRC5P.

12 3HNA013099-001 en Rev.02 Reference Manual, IPS Structure

2 Description of Configuration Types

Figure 1 IPS file structure

The autoexec.bat file (located on root) will typically contain following:

Reference Manual, IPS Structure 3HNA013099-001 en Rev.02 13

In argument parts, these definitions will apply:

“<coeff name>” - refers to a coefficient set made in IIRCOEFF section.

14 3HNA013099-001 en Rev.02 Reference Manual, IPS Structure

• b0[Real]: b0 value in an iir filter

Reference Manual, IPS Structure 3HNA013099-001 en Rev.02 15

This is a data item type and is dependent on IIRCOEFF. Several instances of

16 3HNA013099-001 en Rev.02 Reference Manual, IPS Structure

• size[Num]: Specifies the meanfilter size value used.

Reference Manual, IPS Structure 3HNA013099-001 en Rev.02 17

• factor[Real]: Factor value for the linear curve

18 3HNA013099-001 en Rev.02 Reference Manual, IPS Structure

Scaling of a Pressure The following example shows scaling of a pressure sensor.

Pressure range: 0->25 Bar

Configuration will be as follows:

Figure 3 Linear curve

Reference Manual, IPS Structure 3HNA013099-001 en Rev.02 19

Pressure output range: 0-6.9 Bar

Configuration will be as follows:

Figure 4 Linear Curve for I/P transducer

20 3HNA013099-001 en Rev.02 Reference Manual, IPS Structure

Specification for rotation sensor1 (A1AtomRS1):

Specification for rotation sensor2 (A1AtomRS2):

The conversion from a pulses/sec signal to a rotation speed value in [kRpm] is

Configuration will be as follows:

Figure 5 Scaling of bell rotation sensors

Reference Manual, IPS Structure 3HNA013099-001 en Rev.02 21

Example of format for “A1BTab.ndx” file:

22 3HNA013099-001 en Rev.02 Reference Manual, IPS Structure

Description STROBEDEVICE is used as an input signal device with strobing/toggling. This is

Note: A1Material is created as a STROBEDEVICE and A1Brush as an

Signals and Parameters

Reference Manual, IPS Structure 3HNA013099-001 en Rev.02 23

24 3HNA013099-001 en Rev.02 Reference Manual, IPS Structure