Cdios Controller Commands | 6156 Cdios Module V1.1 Commands

Modification of / addition to V1.1:

• Set output latched / clear output latched commands now collect (logical OR) latched set/clear commands in the latches, until a SYNC command is given.
  After a SYNC or any direct set/clear/write command, the latches will be cleared.
  When different latch commands are pending, the will be executed as follows; set, clear, write.

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.

This command modifies 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	Selector	Data	0	0	0	0

Parameter	Value	Description
Selector	0	Write outputs direct, one-shot counters disabled....
	1	Write outputs latched, outputs will be updated after a SYNC command.
	2	Set outputs direct, one shot counters enabled Any bit set to 1 will set corresponding output, no action when bit is 0
	3	Set outputs latched, one shot counters enabled, outputs will be updated after a SYNC command. Data will be logically ORred with data already present in the set latch. The latch will be cleared after the SYNC or a write outputs direct command.
	4	Clear outputs direct. Any bit set to 1 will clear corresponding output, no action when bit is 0
	5	Clear outputs latched, outputs will be updated after a SYNC command. Data will be logically ORred with data already present in the clear latch. The latch will be cleared after the SYNC or a write outputs direct command.

After a latched command the outputs are updated after receiving a SYNC pulse directly from the CAN bus (CANopen SYNC or DeviceNet Bit-strobe message) or from the Cdios controller's SYNC command.
When a SYNC pulse is received without prior reception of a latched command, the outputs remain unchanged. When multiple latch commands are given they are executed as follows; set, clear, write.

Parameter	Bit	Description
Data	0	contains the state for output 1, 0 is off/no action, 1 is on/action.
	until	contains ...
	7	contains the state for output 8, 0 is off/no action, 1 is on/action

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	0	Error Status	0	0	0

Parameter	Bit	Description
Error Status	0	1 =  Selector 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 over temperature status byte, bit = 1: internal output driver temperature > 145°C (note 3)
	4	read output transistor over voltage 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.

 

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

Parameter	Value	Description
Selector	0	enable change of state event of actual output state
	1	enable change of state event of short circuit status
	2	enable change of state event of noload status
	3	enable change of state event of over temperature status
	4	enable change of state event of over voltage status

 

Parameter	Bit	Default	Description
Mask	0	0	enables change of state event for output 1, 0 is off, 1 is on.
	until
	7	0	enables change of state event 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

 

Possible error message:

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 'set 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: send 'write outputs' command with zero bit or use the 'clear outputs' command.
To prevent an output switching off: send 'set outputs' command 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	3	4	5	6	7	8
51h	0 - 15	Selector	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 over temperature status byte, bit = 1: internal output driver temperature > 170°C (note 3)
	4	output transistor over voltage 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.

When the user polls the status with the 'read output status' command and events are enabled, it is possible that an event is not send.
This occurrs when the user has read the status after the state change and before the event should be sent.