All multibyte (16 bits) parameters or values are placed in
the messages with the LSB first (little endian)
This command sets the A/D converter sample rate and amount of channels to
scan.
|
Command |
Module ID |
Selector |
4 |
5 |
6 |
7 |
8 |
|
29h |
0 - 15 |
0 |
Config |
Start |
0 |
0 |
0 |
NOTE: when the basic sample rate (200/100/60/50 SPS) is changed the A/D
converter is stopped and an internal auto-calibration is performed. This
takes up to 1 second before the A/D converter resumes it normal operation and
a new sample is ready.
When the amount of channels or the start channel is changed, it takes
approx. 15 mS plus the total sample time of all selected channels before a
new sample is ready.
Confirmation reply message (suppressed when 'Confirm' of CDIOS
controller is 0):
|
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 |
| 6 |
1 = Start parameter out of range |
| 7 |
1 = Selector parameter out of range |
Command code 29h: Read sample rate and amount of channels
This command gets the A/D converter sample rate and amount of channels to
scan.
|
Command |
Module ID |
Selector |
4 |
5 |
6 |
7 |
8 |
|
29h |
0 - 15 |
80h |
0 |
0 |
0 |
0 |
0 |
Normal reply:
|
Reply |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
29h |
0 - 15 |
80h |
Config |
Start |
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 |
7 |
1 = Selector parameter out of range |
Command code 2Ah: Set input 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.
|
Command |
Module ID |
Selector |
4 |
5 |
6 |
7 |
8 |
|
2Ah |
0 - 15 |
0 |
Range 1
(input 1) |
Range 2
(input 2) |
Range 3
(input 3) |
Range 4
(input 4) |
0 |
|
Parameter |
Value |
Default |
Description |
|
Range 1
-
Range 4 |
0 - 1 |
0 |
0: V input will be used
1: mA input will be used |
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 = Range 1 parameter out of range |
| 1 |
1 = Range 2 parameter out of range |
| 2 |
1 = Range 3 parameter out of range |
| 3 |
1 = Range 4 parameter out of range |
| 7 |
1 = Selector parameter out of range |
Command code 2Ah: Read input range
This command gets the input range (V or mA) per input channel.
|
Command |
Module ID |
Selector |
4 |
5 |
6 |
7 |
8 |
|
2Ah |
0 - 15 |
80h |
0 |
0 |
0 |
0 |
0 |
Normal reply:
|
Reply |
Module ID |
Selector |
4 |
5 |
6 |
7 |
8 |
|
2Ah |
0 - 15 |
80h |
Range 1
(input 1) |
Range 2
(input 2) |
Range 3
(input 3) |
Range 4
(input 4) |
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 |
7 |
1 = Selector parameter out of range |
Command code 2Bh: Set input filter length
This command sets the input 'moving average' filters per input channel.
These filters can be used to stabilize fluctuating input signals.
|
Command |
Module ID |
Selector |
4 |
5 |
6 |
7 |
8 |
|
2Bh |
0 - 15 |
0 |
Filter 1
(input 1) |
Filter 2
(input 2) |
Filter 3
(input 3) |
Filter 4
(input 4) |
0 |
|
Parameter |
Value |
Default |
Description |
|
Filter 1
-
Filter 4 |
0 - 4 |
0 |
0: no filtering
1: average of last 2 measurements
2: average of last 4 measurements
3: average of last 8 measurements
4: average of last 16 measurements |
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 = Filter 1 parameter out of range |
| 1 |
1 = Filter 2 parameter out of range |
| 2 |
1 = Filter 3 parameter out of range |
| 3 |
1 = Filter 4 parameter out of range |
| 7 |
1 = Selector parameter out of range |
Command code 2Bh: Read input filter length
This command gets the input 'moving average' filters per input channel.
|
Command |
Module ID |
Selector |
4 |
5 |
6 |
7 |
8 |
|
2Bh |
0 - 15 |
80h |
0 |
0 |
0 |
0 |
0 |
Normal reply:
|
Reply |
Module ID |
Selector |
4 |
5 |
6 |
7 |
8 |
|
2Bh |
0 - 15 |
80h |
Filter 1
(input 1) |
Filter 2
(input 2) |
Filter 3
(input 3) |
Filter 4
(input 4) |
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 |
7 |
1 = Selector parameter out of range |
Command code 2Ch: Set limits
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)
|
Command |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
2Ch |
0 - 15 |
Selector |
Data |
0 |
0 |
0 |
|
Parameter |
Value |
Default |
Description |
| Selector |
00h
01h
02h |
0 |
Input #1 upper limit value
Input #1 lower limit value
Input #1 delta value |
10h
11h
12h |
0 |
Input #2 upper limit value
Input #2 lower limit value
Input #2 delta value |
20h
21h
22h |
0 |
Input #3 upper limit value
Input #3 lower limit value
Input #3 delta value |
30h
31h
32h |
0 |
Input #4 upper limit value
Input #4 lower limit value
Input #4 delta value |
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 |
Command code 2Ch: Read limits
This command gets the upper / lower / delta limit values per input
channel.
|
Command |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
2Ch |
0 - 15 |
Selector |
0 |
0 |
0 |
0 |
0 |
Normal reply:
|
Reply |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
2Ch |
0 - 15 |
Selector |
Data |
0 |
0 |
0 |
|
Parameter |
Value |
Description |
| Selector |
80h
81h
82h |
Input #1 upper limit value
Input #1 lower limit value
Input #1 delta value |
90h
91h
92h |
Input #2 upper limit value
Input #2 lower limit value
Input #2 delta value |
A0h
A1h
A2h |
Input #3 upper limit value
Input #3 lower limit value
Input #3 delta value |
B0h
B1h
B2h |
Input #4 upper limit value
Input #4 lower limit value
Input #4 delta value |
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 |
Command code 2Dh: Set event on input limit mask
This command defines which situations will send a 'change of state' event
(more then one allowed)
|
Command |
Module ID |
Selector |
4 |
5 |
6 |
7 |
8 |
|
2Dh |
0 - 15 |
0 |
Mask 1
(input 1) |
Mask 2
(input 2) |
Mask 3
(input 3) |
Mask 4
(input 4) |
0 |
|
Parameter |
Bit |
Default |
Description (action when bit is set to one) |
|
Mask 1
-
Mask 4 |
0 |
0 |
send message when input becomes higher then 'upper limit' |
| 1 |
0 |
send message when input becomes lower then 'lower limit' |
| 2 |
0 |
send message when input has changed more then 'delta value'
since it was last send |
| 3 |
0 |
always send message when new measurement is ready
CAUTION! this can generate a lot of CAN messages and may slow down the
system if too many analog inputs are enabled to do this!! |
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 = Mask 1 parameter out of range |
| 1 |
1 = Mask 2 parameter out of range |
| 2 |
1 = Mask 3 parameter out of range |
| 3 |
1 = Mask 4 parameter out of range |
| 7 |
1 = Selector parameter out of range |
Command code 2Dh: Read event on input limit mask
This command gets which situations will send a 'change of state' event
(more then one allowed)
|
Command |
Module ID |
Selector |
4 |
5 |
6 |
7 |
8 |
|
2Dh |
0 - 15 |
80h |
0 |
0 |
0 |
0 |
0 |
Normal reply:
|
Reply |
Module ID |
Selector |
4 |
5 |
6 |
7 |
8 |
|
2Dh |
0 - 15 |
80h |
Mask 1
(input 1) |
Mask 2
(input 2) |
Mask 3
(input 3) |
Mask 4
(input 4) |
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 |
7 |
1 = Selector parameter out of range |
Command code 05h: Store configuration
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.
|
Reply |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
05h |
0 - 15 |
0 |
0 |
0 |
0 |
0 |
0 |
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 |
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.
NOTE: when the basic sample rate (200/100/60/50 SPS) is changed the A/D
converter is stopped and an internal auto-calibration is performed. This
takes up to 1 second before the A/D converter resumes it normal operation and
a new event is send.
When the amount of channels or the start channel is changed, it takes
approx. 15 mS plus the total sample time of all selected channels before a
new event is send.
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.