Cdios Controller Commands  |  Cdios Firmware Page 

6163 Cdios Module V1.0  |  6163 Cdios Module V2.0

Addition to V2.0:

• Internal programming software updated for Micro-Controller update. V2.5 up runs in all modules,
  <V2.5 cannot run in newer hardware

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.

 

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

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 positive full-scale = 2mV/V
	0	Analog input is zero
	-30000	Analog input is negative full-scale = -2mV/V

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	0	0	0	0

Param.	Value	Default	Samples per second	Measured channel(s)	Samples rate per channel	Effective resolution	Notes
Config	0	14	200	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
	4		100	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
	8		60	1	60	15 bits (+sign)	Optimized for 60Hz line frequency suppression
	9			1 - 2	30
	10			1 - 3	20
	12		50	1	50	15 bits (+sign)	Optimized for 50Hz line frequency suppression
	13			1 - 2	25
	14			1 - 3	16.7

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 7	1 =  Config parameter out of range 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	0	0	0	0

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

Possible error message: 

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	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

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

Calibration

The 6163 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 6163-calibration.