Cdios controller commands | Cdios download page | 6162 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)

Addition to V2.0

• Minor bug fix: command 2Dh 'set event on input limit mask' reported an error when trying to set mask bit 4 ('send message when input becomes open loop').

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 3 inputs or latched inputs.

Note that temperature data is represented by an signed integer (temperature * 20 or * 40).

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
	0Fh	Read open loop status of input #1
	10h	Read current value of input #2
	11h	Read latched value of input #2, latched by the latest SYNC command
	1Fh	Read open loop status of input #2
	20h	Read current value of input #3
	21h	Read latched value of input #3, latched by the latest SYNC command
	2Fh	Read open loop status of input #3

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	-8000 - 32760 -6560 - 30124 0 - 1	Possible data values: Data is temperature (in °C) * 40 (-200 - 819 °C) Data is temperature (in °F) * 20 (-328 - 1506.2 °F) When 1; open loop exists

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	Selector	4	5	6	7	8
29h	0 - 15	0	Config	C_F	OpenLoop	W3_4	0

Param.	Value	Default	Measured channel(s)	Samples rate per channel	Effective resolution	Notes
Config	0	14	1	100	11 bits 0.4°C 0.8°F	4 lsb's are noisy
	1		1 - 2	50
	2		1 - 3	33.3
	4		1	50	13 bits 0.1°C 0.2°F	2 lsb's are noisy
	5		1 - 2	25
	6		1 - 3	16.7
	8		1	30	15 bits 0.025°C 0.05°F	Optimized for 60Hz line frequency suppression
	9		1 - 2	15
	10		1 - 3	10
	12		1	25	15 bits 0.025°C 0.05°F	Optimized for 50Hz line frequency suppression
	13		1 - 2	12.5
	14		1 - 3	8.3

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
	1	1 = C_F parameter out of range
	2	1 = OpenLoop parameter out of range
	3	1 = W3_4 parameter out of range
	7	1 = Selector parameter out of range

  

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	C_F	OpenLoop	W3_4	0

Parameter	Description
Config C_F OpenLoop W3_4	Same format as in the 'Configure sample rate and amount of channels' command

Possible error message: 

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.

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 7	1 =  Filter 1 parameter out of range 1 =  Filter 2 parameter out of range 1 =  Filter 3 parameter out of range 1 =  Selector parameter out of range

 

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)	0	0

 

Parameter	Description
Filter 1-3	Same format as in the 'Set input filter length' command

Possible error message: 

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 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 (lsb)              (msb)		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

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 7	1 =  Mask 1 parameter out of range 1 =  Mask 2 parameter out of range 1 =  Mask 3 parameter out of range 1 =  Selector parameter out of range

 

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

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

 

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 06h	Input #1, upper limit exceeded Input #1, lower limit exceeded Input #1, delta limit exceeded Input #1, new measurement ready Input #1, open loop	0 1 2 3 4
	12h 13h 14h 15h 16h	Input #2, upper limit exceeded Input #2, lower limit exceeded Input #2, delta limit exceeded Input #2, new measurement ready Input #2, open loop	0 1 2 3 4
	22h 23h 24h 25h 26h	Input #3, upper limit exceeded Input #3, lower limit exceeded Input #3, delta limit exceeded Input #3, new measurement ready Input #3, open loop	0 1 2 3 4

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

Calibration

The 6162 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 6162-calibration.