Cdios controller commands

This commands sets the outputs direct or after a central synchronization pulse (by bus or Cdios controller).

 

Command	Module ID	3	4	5	6	7	8
10h	0 - 15	Latch	Data	0	0	0	0

Parameter	Bit	Description
Latch	0	Write data directly into outputs
	1	Write data into output latches, outputs will be updated after SYNC command. After this command the outputs are updated after receiving a SYNC pulse directly from the CAN bus (e.g. CANopen SYNC message) or from the Cdios controller's SYNC command. When a SYNC pulse is received without prior reception of the Write output latches command, the outputs remain unchanged.

Parameter	Bit	Description
Data	0	contains the state for output 1, 0 is off, 1 is on.
	until	contains ...
	7	contains the state for output 8, 0 is off, 1 is on.

Confirmation reply message (suppressed when 'Confirm' is 0):

 

Reply	Module ID	3	4	5	6	7	8
10h	0 - 15	0	0	0	0	0	0

Possible error message:

 

Error	Module ID	3	4	5	6	7	8
90h	0 - 15	0	Error Status	0	0	0	0

Parameter	Bit	Description
Error Status	0	1 =  Latch parameter out of range

 

This commands reads a part of the internal output module status

 

Command	Module ID	3	4	5	6	7	8
11h	0 - 15	Selector	0	0	0	0	0

 

Reply	Module ID	3	4	5	6	7	8
11h	0 - 15	Selector	Status	0	0	0	0

Parameter	Value	Description
Selector	0	read actual output status byte, bit = 1: active
	1	read output short circuit status byte, bit = 1: output is short circuited (note 1)
	2	read output noload status byte, bit = 1: output has no load (note 2)
	3	read output transistor overtemperature status byte, bit = 1: internal output driver temperature > 145°C (note 3)
	4	read output transistor overvoltage status byte, bit = 1: output driver supply > 35V (note 3)

Parameter	Bit	Description
Status	0	contains the status for output 1
	until	contains ...
	7	contains the status for output 8

Possible error message:

This commands defines the outputs to scan for status change, all of the 4 error states (Selector 1-4 of the above Read output status command) will be scanned if enabled.

 

Command	Module ID	3	4	5	6	7	8
12h	0 - 15	0	Mask	0	0	0	0

Parameter	Bit	Default	Description
Mask	0	0	contains the state for output 1, 0 is off, 1 is on.
	until		contains ...
	7	0	contains the state for output 8, 0 is off, 1 is on.

Confirmation reply message (suppressed when 'Confirm' is 0):

 

Reply	Module ID	3	4	5	6	7	8
12h	0 - 15	0	0	0	0	0	0

 

This commands defines the output one-shot times per output.

 

Command	Module ID	Selector	4	5	6	7	8
13h	0 - 15	0	One-shot 1		One-shot 2		0
		1	One-shot 3		One-shot 4		0
		2	One-shot 5		One-shot 6		0
		3	One-shot 7		One-shot 7		0

 

Parameter	Value	Default	Description
Selector	0-3		Select two one-shots
One-shot1 - One-shot8	0-65535	0	range is 0 - 65535 milliseconds, lsb first (0 is no one-shot time), power-on default is zero for all outputs.

When an output one-shot time is nonzero, the corresponding output will be set after a write outputs command
(with it's bit set), or when the output should be set after a SYNC command.
The output will switch off when the one-shot time is reached.
To switch off the output before the end of one-shot time: write outputs with zero bit.
To prevent output switching off: write outputs command with set bit before end of one-shot time.

Confirmation reply message (suppressed when 'Confirm' is 0):

 

Reply	Module ID	3	4	5	6	7	8
13h	0 - 15	0	0	0	0	0	0

Possible error message:

 

Error	Module ID	3	4	5	6	7	8
93h	0 - 15	0	0	Error Status	0	0	0

Parameter	Bit	Description
Error Status	0	1 =  Selector parameter out of range

 

If an enabled output status changes state, a read output status event message is sent:

 

Event	Module ID	Selector	4	5	6	7	8
51h	0 - 15	0 - 4	Status	0	0	0	0

Parameter	Value	Description
Selector	0	actual output status byte, bit = 1: active
	1	output short circuit status byte, bit = 1: output is short circuited  (note 1)
	2	output noload status byte, bit = 1: output has no load (note 2)
	3	output transistor overtemperature status byte, bit = 1: internal output driver temperature > 145°C (note 3)
	4	output transistor overvoltage status byte, bit = 1: output driver supply > 35V (note 3)

Parameter	Bit	Description
Status	0	contains the status for output 1
	until	contains ...
	7	contains the status for output 8

All status data is given, so the application has to find out itself which status actually changed.