Cdios controller commands | Cdios download page

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.

Command code 16h: Write analog outputs

This command modifies the outputs direct or after a central synchronization pulse (by bus or Cdios controller).

 

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

Parameter	Value	Description
Selector	00h	Write analog output #1 direct
	01h	Write analog output #1 latched, output will be updated after SYNC command.
	10h	Write analog output #2 direct
	11h	Write analog output #2 latched, output will be updated after SYNC command.
	20h	Write analog output #3 direct
	21h	Write analog output #3 latched, output will be updated after SYNC command.
	30h	Write analog output #4 direct
	31h	Write analog output #4 latched, output will be updated after SYNC command.
Data	32767	Analog output will be set to it's maximum (+10.922V if possible)
	30000	Analog output will be set to +10.000 V
	0	Analog output will be set to     0.000 V
	-30000	Analog output will be set to  -10.000 V
	-32768	Analog output will be set to it's minimum (-10.923V if possible)

After a latched command the outputs are updated after receiving a SYNC pulse directly from the CAN bus (e.g. CANopen SYNC 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.

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

 

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

Possible error message:

 

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

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

 

This command reads the written value of one of the 4 outputs, this is not the actual value when sloping is selected and the output is still sloping....

 

Command	Module ID	3	4	5	6	7	8
16h	0 - 15	Selector	0	0	0	0	0

Parameter	Value	Description
Selector	80h	Read value of output #1
	90h	Read value of output #2
	A0h	Read value of output #3
	B0h	Read value of output #4

Normal reply is:

 

Reply	Module ID	3	4	5	6	7	8
16h	0 - 15	Selector	Data (lsb)         (msb)		0	0	0

Parameter	Value	Description
Selector	x	Copy of value of the command
Data	30000	Analog output is +10.000 V
	0	Analog output is     0.000 V
	-30000	Analog output is -10.000 V

Possible error message:

 

Error	Module ID	3	4	5	6	7	8
56h	0 - 15	0	0	Error Status	0	0	0

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

 

Command code 17h: Set analog output slope

This command sets the analog outputs rise / fall speed.

 

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

Parameter	Value	Description
Selector	00h	Set slope of output #1
	10h	Set slope of output #2
	20h	Set slope of output #3
	30h	Set slope of output #4
Data	32767	Output will rise / fall with 10.922V per second after output update
	30000	Output will rise / fall with 10V per second after output update
	3	Output will rise / fall with 1mV per second after output update
	0	Output sloping is disabled, analog output will settle to new value as fast as possible.

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

 

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

Possible error message:

 

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

Parameter	Bit	Description
Error Status	0	1 = Selector parameter out of range
	1	1 = Data parameter is negative

 

This command reads the current setting of the analog output slope.

Command	Module ID	3	4	5	6	7	8
17h	0 - 15	Selector	0	0	0	0	0

Parameter	Value	Description
Selector	80h	Read slope of output #1
	90h	Read slope of output #2
	A0h	Read slope of output #3
	B0h	Read slope of output #4

Normal reply is:

 

Reply	Module ID	3	4	5	6	7	8
17h	0 - 15	Selector	Data (lsb)         (msb)		0	0	0

Parameter	Value	Description
Selector	x	Copy of value of the command
Data		Same value as with 'Set analog output slope' above.

Possible error message:

 

Error	Module ID	3	4	5	6	7	8
57h	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 'slope active' 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	status of output #1	when 1: the output is still sloping, endvalue not yet reached when 0: output is not sloping, endvalue reached
	until	status of output #..
	3	status of output #4

When sloping is disabled for an output, the corresponding statusbit will never be high.

This commands defines the output status to scan for status change.

 

Command	Module ID	Selector	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

Possible error message:

Command code 12h: Read event on output status change mask

This commands reads the output status to scan for 'change of state'.
 

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

Normal reply is:
 

Reply	Module ID	Selector	4	5	6	7	8
12h	0 - 15	80h	Mask	0	0	0	0

Parameter	Description
Mask
	Same format as in the 'Set event on output status change mask' command above

Possible error message:

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.

 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

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 sloping status for output 1
	until	contains ...
	3	contains the sloping status for output 4

All status data is given, so the application has to find out itself which status actually changed.