Cdios Controller Commands  |  Cdios Firmware Page

6156 Cdios Module V1.1  |  6156 Cdios Module V1.2  |  6156 Cdios Module V2.0  |  6156 Cdios Module V2.5

Addition to V2.5:

• Output driver power failure status added
• Output action on power failure configuration added
  
  NOTE: latest hardware version of 6156, with separate output power connection, required

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.
  

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)
	5	read driver power failure status bit = 1: output driver supply power failure (note 4)

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
	5	enable change of state event of output driver power failure

 

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):

Possible error message:

This commands reads the outputs to scan for status change.
 

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

Parameter	Value	Description
Selector	80h	read enable change of state event of actual output state
	81h	read enable change of state event of short circuit status
	82h	read enable change of state event of noload status
	83h	read enable change of state event of over temperature status
	84h	read enable change of state event of over voltage status
	85h	read enable change of state event of output driver power failure

Normal reply:

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 8		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

 

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

Command	Module ID	Selector	4	5	6	7	8
13h	0 - 15	80h - 83h	0	0	0	0	0

Normal reply:

Command	Module ID	Selector	4	5	6	7	8
13h	0 - 15	80h	One-shot 1		One-shot 2		0
		81h	One-shot 3		One-shot 4		0
		82h	One-shot 5		One-shot 6		0
		83h	One-shot 7		One-shot 8		0

 

Parameter	Value	Description
Selector	80h-83h	Selected two one-shots
One-shot1 - One-shot8	0-65535	range is 0 - 65535 milliseconds, lsb first (0 is no one-shot time)

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

 

This commands defines the state of the outputs after power on / node reset / node stop.

For the failsafe value to work, a store command has to be given to store the value in EEPROM
 

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

Possible error message:

This commands reads the failsafe value
 

Command	Module ID	Selector	4	5	6	7	8
14h	0 - 15	80h	0	0	0	0	0

Normal reply:

Command	Module ID	Selector	4	5	6	7	8
14h	0 - 15	80h	Data	0	0	0	0

Possible error message:

This commands defines the state of the outputs after an output driver power failure
 

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

Parameter	Value	Description
PowerFail	0 (default)	The output will be cleared upon output driver power failure
	1	The output will be set to the Failsafe value upon output driver power failure (all one-shot timers will be cleared)
	2	The output will not be modified by a power failure. This also means that any one-shot timer continues to run and clear the output (and send a status event if enabled on clearing it)

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

Possible error message:

This commands reads the failsafe value
 

Command	Module ID	Selector	4	5	6	7	8
15h	0 - 15	80h	0	0	0	0	0

Normal reply:

Command	Module ID	Selector	4	5	6	7	8
15h	0 - 15	80h	PowerFail	0	0	0	0

Possible error message:

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.

 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

 

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)
	5	output driver power failure status byte, bit = 1: output driver supply power failure (note 4)

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.

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Last Modified: 26 November 2002