Cdios controller commands

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 relay 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 SYNC command.
	2	Set outputs direct, one shot counters enabled Any bit set to 1 will energize corresponding relay, no action if bit is 0
	3	Set outputs latched, one shot counters enabled, outputs will be updated after SYNC command.
	4	Clear outputs direct. Any bit set to 1 will de-energize corresponding relay, no action if bit is 0
	5	Clear outputs latched, outputs will be updated after SYNC command.

 

• After a latched 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 a latched command, the outputs remain unchanged.
• A second latch command to the same latch will overwrite the previous contents of the latch.
• When multiple latch commands are given they are executed as follows; clear, set, 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 the current relay energized status

 

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

 

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

Parameter	Bit	Description
Status	0	contains the status for output 1
	until	contains ...
	3	contains the status for output 4

This commands defines the outputs to scan for status change.

 

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	enables change of state event for output 1, 0 is off, 1 is on.
	until
	3	0	enables change of state event for output 4, 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

 

Parameter	Value	Default	Description
Selector	0-1		Select two one-shots
One-shot1 - One-shot4	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 relay will be energized after a 'set outputs' command (with it's bit set), or when the output should be set after a SYNC command.
• The relay will be de-energized 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	0	Status	0	0	0	0

Parameter	Bit	Description
Status	0	contains the status for output 1
	until	contains ...
	3	contains the status for output 4

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 occurs when the user has read the status after the state change and before the event should be sent.