The central 6152 Cdios controller contains our 6172 CAN Core Module, which is programmed (with the internal standard sequencer) as an interface between the CAN bus and the Cdios I/O modules.
To send commands to the Cdios controller, it just needs a single CAN message with 8 bytes of data (this is a fixed format).
The Cdios controller itself can send a single (fixed format) CAN message with
8 bytes of data as a reply to a command or after an internal event (like a
change of an input).
Cdios controller command / reply / event messages
The 6172 CAN Core Module of the 6152 Cdios controller is fully programmed and configured by CD Systems before shipment:
In this paragraph it is assumed that the Cdios controller's node ID is set to 1.
Before the Cdios controller can operate, it has to be started with an NMT start node command. This CAN message (with 2 bytes of data) looks like this:
| CAN message header | CAN message data | ||
| iiiiiiiiiiirdddd | data 1 | data 2 | |
| iiiiiiiiiii r dddd |
11 bits CAN ID = 0 (NMT command) 1 bit remote request = 0 4 bits data length code = 2 |
NMT command code (start_remote_node) | Node ID |
| 00000000000 0 0010 (binary) | 1 | 1 | |
After the transmission of the 'start_remote_node' command, a delay of 100 mS has to be obtained before further communication commences.
A command message to the Cdios controller is transmitted using the receive PDO1 COB-ID:
| CAN message header | CAN message data | |
| iiiiiiiiiirdddd | Data 1 - Data 8 | |
| iiiiiiiiiii r dddd |
11 bits CAN ID = 200h + Node ID 1 bit remote request = 0 4 bits data length code = 8 |
Cdios command message |
| 01000000001 0 1000 (binary) (Node ID is underlined) |
||
A reply / error / event message from the Cdios controller is transmittted using the transmit PDO1 COB-ID
| CAN message header | CAN message data | |
| iiiiiiiiiirdddd | Data 1 - Data 8 | |
| iiiiiiiiiii r dddd |
11 bits CAN ID = 180h + Node ID 1 bit remote request = 0 4 bits data length code = 8 |
Cdios reply / error / event message |
| 00110000001 0 1000 (binary) (Node ID is underlined) |
||
NMT commands
Version 1.21 or higher of the CDIOS controller sequence will handle the NMT commands 'Start_Remote_Node' and 'Reset_Node'.
Stop_Remote_Node
After the 'Stop_Remote_Node' command, the CDIOS controller will signal this to all 16 possible I/O modules with the following result:
- Any digital output will be cleared (off)
- Any analog outputs will be zero
- Any motor will decellerate and stop
- The 'Reset' and 'Change of State' checking enable bits of the CDIOS controller will be cleared (see CDIOS controller command code 02h).
The configuration of the I/O modules will stay unchanged.
Because the node is stopped, the communication with the CDIOS controller itself is disabled.
Reset_Node
After the 'Reset_Node' command, the CDIOS controller will signal this to all 16 possible I/O modules with the following result:
- Any digital output will be cleared (off)
- Any analog outputs will be zero
- Any motor will decellerate and stop
- The 'Reset' and 'Change of State' checking enable bits of the CDIOS controller will be cleared (see CDIOS controller command code 02h).
All configuration will be set to the default / power on values.
Because the node is now in 'pre-operational state', the communication with the CDIOS controller itself is disabled.
Start_Node
After the 'Start_Node' command, the communication with the CDIOS controller will be enabled. To (re)enable the events from the I/O modules, the 'Change of State' checking enable bit of the CDIOS controller has to be set (see CDIOS controller command code 02h).
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Last Modified: 18 July 2002 |