|
Cdios Controller Commands
| Cdios Firmware Page
6153 Cdios Module V1.0 | 6153
Cdios Module V1.1 | 6153 Cdios
Module V2.0
Addition to V2.0:
- Internal programming software updated for Micro-Controller update. V2.5
up runs in all modules, <V2.5 cannot run in newer hardware
All Cdios messages are presented as 8 bytes long. When variable
length messages are selected, the part of the message that is not send
over the CAN bus is represented in italic/light gray text.
Command code 08h: Read inputs
This commands reads the 8 inputs, latched inputs or change flags.
|
Command |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
08h |
0 - 15 |
Selector |
0 |
0 |
0 |
0 |
0 |
|
Parameter |
Value |
Description |
|
Selector |
0 |
Read 8 inputs directly |
|
1 |
Read latched inputs, latched by the latest SYNC
command |
|
2 |
Read change flags (and clear them after the read).
A change flag is set when an input changes from it's inactive to active
state (from 0 to 1).
The change flags can be used when the use of the change of state event
produces too much messages... |
Normal reply is:
|
Reply |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
08h |
0 - 15 |
Selector |
Data |
0 |
0 |
0 |
0 |
|
Parameter |
Bit |
Description |
| Selector |
x |
Copy of value of the command |
|
Data |
0 |
bit 0 contains the state of input 1, 0 is inactive, 1 is active |
|
until |
bit .... |
|
7 |
bit 7 contains the state of input 8, 0 is inactive, 1 is active |
Possible error message:
|
Error |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
88h |
0 - 15 |
0 |
0 |
Error Status |
0 |
0 |
0 |
|
Parameter |
Bit |
Description |
|
Error status |
0 |
1 = Selector parameter out of range |
Command code 09h: Set event on input change mask
This command defines the inputs to scan for 'change of state'.
|
Command |
Module ID |
Selector |
4 |
5 |
6 |
7 |
8 |
|
09h |
0 - 15 |
00h |
Mask |
0 |
0 |
0 |
0 |
|
Parameter |
Bit |
Default |
Description |
|
Mask |
0 |
0 |
when 1 it enables scanning input 1 for change |
|
until |
|
when ... |
|
7 |
0 |
when 1 it enables scanning input 8 for change |
Confirmation reply message (suppressed when 'Confirm' is 0):
|
Reply |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
09h |
0 - 15 |
0 |
0 |
0 |
0 |
0 |
0 |
Possible error message:
|
Error |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
89h |
0 - 15 |
0 |
0 |
Error Status |
0 |
0 |
0 |
|
Parameter |
Bit |
Description |
|
Error status |
0 |
1 = Selector parameter out of range |
Command code 09h: Read event on input change mask
This commands reads the inputs to scan for 'change of state'.
|
Command |
Module ID |
Selector |
4 |
5 |
6 |
7 |
8 |
|
09h |
0 - 15 |
80h |
0 |
0 |
0 |
0 |
0 |
Normal reply is:
|
Reply |
Module ID |
Selector |
4 |
5 |
6 |
7 |
8 |
|
08h |
0 - 15 |
80h |
Mask |
0 |
0 |
0 |
0 |
Possible error message:
|
Error |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
89h |
0 - 15 |
0 |
0 |
Error Status |
0 |
0 |
0 |
|
Parameter |
Bit |
Description |
|
Error status |
0 |
1 = Selector parameter out of range |
Command code 0Ah: Set Response Delay time
This commands configures the input Response Delay counters.
|
Command |
Module ID |
Group |
4 |
5 |
6 |
7 |
8 |
|
0Ah |
0 - 15 |
00h |
Response Delay 1 |
Response Delay 2 |
Response Delay 3 |
Response Delay 4 |
0 |
|
01h |
Response Delay 5 |
Response Delay 6 |
Response Delay 7 |
Response Delay 8 |
0 |
|
Parameter |
Value |
Default |
Description |
|
Response Delay 1-8 |
0-255 |
0 |
range is 0 - 255 milliseconds (0 is no Response Delay) |
Confirmation reply message (suppressed when 'Confirm' is 0):
|
Reply |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
0Ah |
0 - 15 |
0 |
0 |
0 |
0 |
0 |
0 |
Possible error message:
|
Error |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
8Ah |
0 - 15 |
0 |
0 |
Error Status |
0 |
0 |
0 |
|
Parameter |
Bit |
Description |
|
Error status |
0 |
1 = Group parameter out of range |
Command code 0Ah: Read Response Delay time
This command gets the configuration of the input Response Delay counters.
|
Command |
Module ID |
Group |
4 |
5 |
6 |
7 |
8 |
|
0Ah |
0 - 15 |
80h/81h |
0 |
0 |
0 |
0 |
0 |
Normal reply is:
|
Reply |
Module ID |
Group |
4 |
5 |
6 |
7 |
8 |
|
0Ah |
0 - 15 |
80h |
Response Delay 1 |
Response Delay 2 |
Response Delay 3 |
Response Delay 4 |
0 |
|
81h |
Response Delay 5 |
Response Delay 6 |
Response Delay 7 |
Response Delay 8 |
0 |
Confirmation reply message (suppressed when 'Confirm' is 0):
|
Reply |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
0Ah |
0 - 15 |
0 |
0 |
0 |
0 |
0 |
0 |
Possible error message:
|
Error |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
8Ah |
0 - 15 |
0 |
0 |
Error Status |
0 |
0 |
0 |
|
Parameter |
Bit |
Description |
|
Error status |
0 |
1 = Group parameter out of range |
Command code 05h: Store configuration
This command stores the current or the default I/O module configuration
into internal EEPROM memory.
The configuration is restored from this memory after power on or a reset
command.
|
Command |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
05h |
0 - 15 |
Selector |
43h |
44h |
53h |
0 |
0 |
|
Parameter |
Value |
Description |
|
Selector |
0 |
Store current configuration |
|
1 |
Change configuration into default and then store it. |
The internal EEPROM erasing / programming takes 120
up to 250 milli-seconds, then the reply message is send.
During programming I/O communication with this module is inhibited.
Sending a command will result in a general
error message with errorcode = 8.
The confirmation reply message for this command is NEVER
SUPPRESSED.
|
Reply |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
05h |
0 - 15 |
0 |
0 |
0 |
0 |
0 |
0 |
Possible error message:
|
Error |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
85h |
0 - 15 |
0 |
0 |
Error Status |
0 |
0 |
0 |
|
Parameter |
Bit |
Description |
|
Error status |
0 |
1 = Selector parameter out of range |
| 1 |
1 = 'password' bytes 4-6 in command are not equal to
43h,44h,53h |
| 2 |
1 = Configuration EEPROM programming error |
Events
A 'change of State' event can be configured with the 'Set event on input
change mask' command.
If an enabled input changes state, a read input event message is sent:
|
Event |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
48h |
0 - 15 |
0 |
Data |
0 |
0 |
0 |
0 |
|
Parameter |
Bit |
Description |
|
Data |
0 |
bit 0 contains the state of input 1, 0 is inactive, 1 is active |
|
until |
bit .... |
|
7 |
bit 7 contains the state of input 8, 0 is inactive, 1 is active |
All data is stored in one byte, so the application has to find out itself
which input actually changed.
Input change events react directly on the actual inputs, not on latched
inputs, and have nothing to do with the change flags.
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