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/lightgray text.

This command reads one of the 4 inputs or latched inputs.

 

Command	Module ID	3	4	5	6	7	8
28h	0 - 15	Selector	0	0	0	0	0

Parameter	Value	Description
Selector	00h	Read current value of input #1
	01h	Read latched value of input #1, latched by the latest SYNC command
	10h	Read current value of input #2
	11h	Read latched value of input #2, latched by the latest SYNC command
	20h	Read current value of input #3
	21h	Read latched value of input #3, latched by the latest SYNC command
	30h	Read current value of input #4
	31h	Read latched value of input #4, latched by the latest SYNC command

Normal reply is:

 

Reply	Module ID	3	4	5	6	7	8
28h	0 - 15	Selector	Data (lsb)         (msb)		0	0	0

Parameter	Value	Description
Selector	x	Copy of value of the command
Data	30000	Analog input is +10.000 V or +20.00 mA
	0	Analog input is     0.000 V or     0.00 mA
	-30000	Analog input is -10.000 V or  -20.00 mA

Possible error message:

 

Error	Module ID	3	4	5	6	7	8
A8h	0 - 15	0	0	Error Status	0	0	0

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

 

This command sets the A/D converter sample rate and amount of channels to scan.

 

Command	Module ID	3	4	5	6	7	8
29h	0 - 15	0	Config	0	0	0	0

Param.	Value	Default	Measured channel(s)	Samples rate per channel	Effective resolution	Notes
Config	0	15	1	200	11 bits (+sign)	Results in upper 12 bits of data word, lower 4 bits are noisy.
	1		1 - 2	100
	2		1 - 3	66.7
	3		1 - 4	50
	4		1	100	13 bits (+sign)	Results in upper 14 bits of data word, lower 2 bits are noisy.
	5		1 - 2	50
	6		1 - 3	33.3
	7		1 - 4	25
	8		1	60	15 bits (+sign)	Optimized for 60Hz line frequency suppression
	9		1 - 2	30
	10		1 - 3	20
	11		1 - 4	15
	12		1	50	15 bits (+sign)	Optimized for 50Hz line frequency suppression
	13		1 - 2	25
	14		1 - 3	16.7
	15		1 - 4	12.5

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

 

Reply	Module ID	3	4	5	6	7	8
A9h	0 - 15	0	0	0	0	0	0

Possible error message:

 

Error	Module ID	3	4	5	6	7	8
A9h	0 - 15	0	0	Error Status	0	0	0

Parameter	Bit	Description
Error status	0	1 =  Config parameter out of range

  

This command sets the input range (V or mA) per input channel.

By selecting V or mA, the appropriate calibration factor is used. The user must connect the signal to the correct input terminals.

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

 

Reply	Module ID	3	4	5	6	7	8
2Ah	0 - 15	0	0	0	0	0	0

Possible error message:

 

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

Parameter	Bit	Description
Error status	0 1 2 3	1 =  Range 1 parameter out of range 1 =  Range 2 parameter out of range 1 =  Range 3 parameter out of range 1 =  Range 4 parameter out of range

 

This command sets the input 'moving average' filters per input channel.

These filters can be used to stabilize fluctuating input signals.

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

 

Reply	Module ID	3	4	5	6	7	8
2Bh	0 - 15	0	0	0	0	0	0

Possible error message:

 

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

Parameter	Bit	Description
Error status	0 1 2 3	1 =  Filter 1 parameter out of range 1 =  Filter 2 parameter out of range 1 =  Filter 3 parameter out of range 1 =  Filter 4 parameter out of range

 

This command sets the upper / lower / delta limit values per input channel.

These limit values can be used to generate an CAN message (event) when the analog input changes or when a limit has exceeded.

See also next command code (2Dh)

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

 

Reply	Module ID	3	4	5	6	7	8
2Ch	0 - 15	0	0	0	0	0	0

Possible error message:

 

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

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

 

This command defines which situations will send a 'change of state' event (more then one allowed)

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

 

Reply	Module ID	3	4	5	6	7	8
2Dh	0 - 15	0	0	0	0	0	0

Possible error message:

 

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

Parameter	Bit	Description
Error status	0 1 2 3	1 =  Mask 1 parameter out of range 1 =  Mask 2 parameter out of range 1 =  Mask 3 parameter out of range 1 =  Mask 4 parameter out of range

 

Events

A 'change of State' event can be configured with the 'Set event on input limit mask' command.
If an enabled limit is reached, a read input event message is sent:

 

Event	Module ID	3	4	5	6	7	8
68h	0 - 15	Indicator	Data (lsb)            (msb)		0	0	0

Parameter	Value	Description	Enabled by 'limit mask' bit
Indicator	02h 03h 04h 05h	Input #1, upper limit exceeded Input #1, lower limit exceeded Input #1, delta limit exceeded Input #1, new measurement ready	0 1 2 3
	12h 13h 14h 15h	Input #2, upper limit exceeded Input #2, lower limit exceeded Input #2, delta limit exceeded Input #2, new measurement ready	0 1 2 3
	22h 23h 24h 25h	Input #3, upper limit exceeded Input #3, lower limit exceeded Input #3, delta limit exceeded Input #3, new measurement ready	0 1 2 3
	32h 33h 34h 35h	Input #4, upper limit exceeded Input #4, lower limit exceeded Input #4, delta limit exceeded Input #4, new measurement ready	0 1 2 3

Input events react directly on the actual inputs, not on latched inputs.

Calibration

The 6160 is calibrated by CD Systems before delivery.

All calibration values are stored in the internal calibration FLASH EEPROM.

Calibration commands and protocol are described in 6160-calibration.