Cdios controller commands | Cdios download page | 6159 Cdios Module V1.0 Commands

Addition to V1.0:

• Store configuration / set default configuration commands added
• Support added to update module firmware via the CAN bus
• Configuration can be read back, using the same command code that sets it (bit 7 of the selector byte set)
• Failsafe output value, sets output after reset or stop command...

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/lightgray 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. 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 de-energize corresponding relay, no action if bit is 0
	5	Clear outputs latched, outputs will be updated after 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; 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 reads the outputs to scan for status change.
 

Command	Module ID	3	4	5	6	7	8
12h	0 - 15	80h	0	0	0	0	0

Normal reply:

Command	Module ID	3	4	5	6	7	8
12h	0 - 15	80h	Mask	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

 

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

 

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

Command	Module ID	Selector	4	5	6	7	8
13h	0 - 15	80h - 81h	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

 

Parameter	Value	Description
Selector	80h-833	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 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	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.