Cdios Controller Commands
| Cdios Firmware Page
| 6164 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.
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 |
Command code 16h: Read analog outputs
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 |
Command code 17h: Read analog output slope
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 |
Command code 11h: Read output status
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.
Command code 12h: Set event on output status change mask
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:
|
Error |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
52h |
0 - 15 |
0 |
0 |
Error Status |
0 |
0 |
0 |
|
Parameter |
Bit |
Description |
|
Error status |
0 |
1 = Selector parameter out of range |
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:
|
Error |
Module ID |
3 |
4 |
5 |
6 |
7 |
8 |
|
52h |
0 - 15 |
0 |
0 |
Error Status |
0 |
0 |
0 |
|
Parameter |
Bit |
Description |
|
Error status |
0 |
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
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. |