6166 Cdios commands

Stepper Motor Controller
Cdios 6166

Command / Reply / Event messages V1.1

Addition to V1.0:

Goto relative option in command code 23h
Motor can be stopped by stop command with option 1, when it was started with a goto command
Stop node / reset node commands implemented

Command code 20h: Stepper motor configuration

Command	Module ID	Selector	4	5	6	7	8
20h	0 - 15	0	Minimum Speed (lsb) (msb)		Maximum Speed (lsb) (msb)		Slope
20h	0 - 15	1	On current	Off current	Forward end switch	Reverse end switch	0

Parameter	Range	Default	Units	Description
Minimum Speed	62 - 2500	100	half steps per second
Maximum Speed	62 - 30000	5000	half steps per second
Slope	1 - 255	5	half steps per milli- second	Acceleration / Deceleration speed. Start at Minimum speed until Maximum speed.
Run Current	1 - 40	10	0.1A	Set maximum motor current while motor is running, 0.1 - 4.0 A
Stop Current	0 - 40	3	0.1A	Set maximum motor current (holding current) when motor is stopped, this can be used to save energy.
Forward End switch	0 - 1	1		Enable/disable (1/0) forward end switch checking
Reverse End switch	0 - 1	1		Enable/disable (1/0) reverse end switch checking

This command is only valid when the stepper motor is not running.

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

Reply
Module ID
3
4
5
6
7
8

20h
0 - 15
0
0
0
0
0
0

If any error occurs, the current speed settings remain unchanged and an error message is returned

Possible error message:

Error
Module ID
3
4
5
6
7
8

A0h
0 - 15
0
0
Error Status1
Error Status2
0
0

Parameter
Bit
Description

Error Status1
0
1 = Motor is running

1
1 = Selector parameter out of range

2
1 = Minimum speed parameter out of range

3
1 = Maximum speed parameter out of range

4
1 = Slope parameter out of range

Parameter
Bit
Description

Error Status2
0

1 = Run current parameter out of range

1
1 = Stop current parameter out of range

2

1 = Forward end switch parameter out of range

3

1 = Reverse end switch parameter out of range

Command code 21h: Get position

This command returns the current 24 bits (signed) stepper motor position.
A 32 bits long-int is sent in the message for application layer compatibility.

Command
Module ID
3
4
5
6
7
8

21h
0 - 15
0
0
0
0
0
0

Reply
Module ID
3
4
5
6
7
8

21h
0 - 15
0
Stepper motor position
(lsb) (msb)
0

Parameter
Value
Description

Stepper Motor Position
32 bits-long-int
This command returns the current 24 bits (signed) stepper motor position

Command code 22h: Set position

This command sets the current 24 bits (signed) stepper motor position.
A 32 bits long-int is sent in the message for application layer compatibility.

Command
Module ID
3
4
5
6
7
8

22h
0 - 15
0
Stepper motor position
(lsb) (msb)
0

This command is only valid when the stepper motor is not running.

Allowable range for stepper motor position: -8388608 up to 8388607

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

Reply
Module ID
3
4
5
6
7
8

22h
0 - 15
0
0
0
0
0
0

If any error occurs, the current setting remains unchanged and an error message is returned

Possible error message:

Error
Module ID
3
4
5
6
7
8

A2h
0 - 15
0
0
Error Status
0
0
0

Parameter
Bit
Description

Error Status
0
1 = Motor is running

1
1 = Stepper motor position parameter out of range

Command code 23h: Goto position

This command causes the stepper motor to move to the given 24 bits (signed) stepper motor position.
A 32 bits long-int is sent in the message for application layer compatibility.

Command
Module ID
3
4
5
6
7
8

23h
0 - 15
Selector

Stepper motor position or amount of steps
(lsb) (msb)
0

This command is only valid when the stepper motor is not running.

Parameter
Bit
Description

Selector

0
Move motor absolute to the given position

1
Write position into internal latch, motor will move after SYNC command (note 1)
When a SYNC pulse is received without prior reception of the goto command with selector = 1, the motor state remains unchanged.

2

Move motor relative, motor moves forward when given amount of steps is positive.
New motor position is calculated by adding the amount of steps to the current position, as long this is in the stepper motor position range of -8388608 up to 8388607 (motor will move to the limit)

3

Write relative position into internal latch, motor will move after SYNC command (note 1)
When a SYNC pulse is received without prior reception of the goto command with selector = 3, the motor state remains unchanged.

Parameter
Value
Description

Stepper Motor Position
32 bits-long -int
Allowable range: -8388608 up to 8388607

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

Reply
Module ID
3
4
5
6
7
8

23h
0 - 15
0
0
0
0
0
0

If any error occurs, the current setting remains unchanged and an error message is returned

Possible error message:

Error
Module ID
3
4
5
6
7
8

A3h
0 - 15
0
0
Error Status
0
0
0

Parameter
Bit
Description

Error Status
0
1 = Motor is running

1
1 = Emergency stop or watchdog status active (note 2)

2
1 = Selector parameter out of range

3
1 = Stepper motor position parameter out of range

Command code 24h: Start

This command is used to control the motor motion 'manually'
Do not combine this command with the 'goto position' command.

Command
Module ID
3
4
5
6
7
8

24h
0 - 15
Selector

Direction
Option
0
0
0

This command is only valid when the stepper motor is not running.

Parameter
Value
Description

Selector

0
Motor starts directly according to 'Direction' and 'Option'

1
Motor starts after SYNC command (note 1)

Parameter
Value
Description

Direction
0
Motor starts in Forward direction, if forward end switch is inactive or forward end switch checking is disabled

1
Motor starts in Reverse direction, if reverse end switch is inactive or reverse end switch checking is disabled

Parameter
Value
Description

Option
0
Motor starts and remains at minimum speed

1
Motor starts at minimum speed and accelerates to maximum speed
This option is allowed to be given when the motor already was started with option 0, however, direction has to be the same.

2
Motor starts and remains at minimum speed until the forward (when direction if forward) or reverse (when direction is reverse) end switch is activated, even if end switch checking is disabled

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

Reply
Module ID
3
4
5
6
7
8

24h
0 - 15
0
0
0
0
0
0

If any error occurs, the current setting remains unchanged and an error message is returned

Possible error message:

Error
Module ID
3
4
5
6
7
8

A4h
0 - 15
0
0
Error Status
0
0
0

Parameter
Bit
Description

Error Status
0
1 = Motor is running

1
1 = Emergency stop or watchdog status active (note 2)

2
1 = Motor is running in opposite direction

3
1 = Selector parameter out of range

4
1 = Direction parameter out of range

5
1 = Option parameter out of range

6 1 = End switch active, cannot start

Command code 25h: Stop

This command is used to control the motor motion 'manually'
Do not combine this command with the 'goto position' command.

Command
Module ID
3
4
5
6
7
8

25h
0 - 15
Selector

Option
0
0
0
0

Parameter
Value
Description

Selector

0
Stop command is executed immediately

1
Stop command is latched and executed after receiving SYNC command (note 1)

Parameter
Value
Description

Option
0
Motor decelerates to minimum speed and remains at minimum speed

1
Motor decelerates to minimum speed and then stops (motor current will be set to 'stop current', 500 ms after the motor was stopped).
This option also stops the motor when is was started with a goto command.

2
Motor current is switched completely off

3
Release emergency stop condition, the emergency stop input has to be inactive (note 2).

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

Reply
Module ID
3
4
5
6
7
8

25h
0 - 15
0
0
0
0
0
0

If any error occurs, the current setting remains unchanged and an error message is returned

Possible error message:

Error
Module ID
3
4
5
6
7
8

A5h
0 - 15
0
0
Error Status
0
0
0

Parameter
Bit
Description

Error Status
0
1 = Motor is running (when option 2 selected)

1
1 = Emergency stop or watchdog status active (note 2)

2
1 = Motor is not running (when option 0 or 1 selected)

3
1 = Selector parameter out of range

4
1 = Option parameter out of range

Command code 26h: Read motor status

This commands reads the internal stepper motor controller module status

Command
Module ID
3
4
5
6
7
8

26h
0 - 15
0
0
0
0
0
0

Reply
Module ID
3
4
5
6
7
8

26h
0 - 15
0
Status 1
Status 2
0
0
0

Parameter
Bit
Description

Status1
0
1 = Motor is running forward

1
1 = Motor is running reverse

2
1 = Motor is running until end switch found

3
1 = Motor is running at minimum speed

4
1 = Motor is running at maximum speed

5
1 = Motor is accelerating

6
1 = Motor is decelerating

7
1 = Goto command is being executed

Parameter
Bit
Description

Status2
0
1 = Forward end switch active

1

1 = Reverse end switch active

2

1 = Emergency stop input is active (note 2)

3

1 = Motor was stopped by an active and enabled forward end switch,
These status bit will be cleared by a start command

4

1 = Motor was stopped by an active and enabled reverse end switch,
These status bit will be cleared by a start command

5

1 = Motor was stopped by an active emergency stop input
This status bit can only be cleared by a stop command with option 3, 'Goto' , 'Start' and other 'Stop' commands return an error is this bit is set.

6 1 = Motor was stopped by 0.5 second 'watchdog' time-out.
The Cdios controller checks the 6166 with a short interval, when this fails, the 6166 performs an emergency stop...
This status bit can only be cleared by a stop command with option 3, 'Goto' , 'Start' and other 'Stop' commands return an error is this bit is set.

Command code 27h: Set event on motor status change mask

This commands defines the motor controller status bits to scan for change.

Command
Module ID
3
4
5
6
7
8

27h
0 - 15
0
Mask1
Mask2
0
0
0

Parameter
Bit
Description

Mask1
0
1 = enable bit 0 of the status 1 byte

until
1 = enable ...

7
1 = enable bit 7 of the status 1 byte

Parameter
Bit
Description

Mask2
0
1 = enable bit 0 of the status 2 byte

until
1 = enable ...

7
1 = enable bit 7 of the status 2 byte

At power on or reset, the internal masks are cleared.

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

Reply
Module ID
3
4
5
6
7
8

27h
0 - 15
0
0
0
0
0
0

Events

If an enabled motor status bit changes state, a read motor status event message is sent:

Event
Module ID
3
4
5
6
7
8

6
6h
0 - 15
0
Status1
Status2
0
0
0

Parameter
Bit
Description

Status1
0
1 = Motor is running forward

1
1 = Motor is running reverse

2
1 = Motor is running until end switch found

3
1 = Motor is running at minimum speed

4
1 = Motor is running at maximum speed

5
1 = Motor is accelerating

6
1 = Motor is decelerating

7
1 = Goto command is being executed

Parameter
Bit
Description

Status2
0
1 = Forward end switch active

1

1 = Reverse end switch active

2

1 = Emergency stop input is active (note 2)

3

1 = Motor was stopped by an active and enabled forward end switch,
These status bit will be cleared by a start command

4

1 = Motor was stopped by an active and enabled reverse end switch,
These status bit will be cleared by a start command

5

1 = Motor was stopped by an active emergency stop input
This status bit can only be cleared by a stop command with option 3, 'Goto' , 'Start' and other 'Stop' commands return an error is this bit is set.

6 1 = Motor was stopped by 0.5 second 'watchdog' time-out.
The Cdios controller checks the 6166 with a short interval, when this fails, the 6166 performs an emergency stop...
This status bit can only be cleared by a stop command with option 3, 'Goto' , 'Start' and other 'Stop' commands return an error is this bit is set.

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

When the user polls the status with the 'read motor status' command and events are enabled, it is possible that an event is not send.
This occurrs when the user has read the status after the state change and before the event should be sent.

Note 1:	Any latched command (still waiting for SYNC) will be cleared when: A 'goto', 'start' or 'stop' command is given with a selector value of 0 or 2 A 'set position' command is given
Note 2:	Whenever the emergency stop input is active or a watchdog time-out occurs, the emergency status (status2 bit 5) is set and the motor is stopped. This condition can only be cleared by sending a 'stop' command with option 3

Home

Parameter	Bit	Description
Error Status1	0	1 = Motor is running
	1	1 = Selector parameter out of range
	2	1 = Minimum speed parameter out of range
	3	1 = Maximum speed parameter out of range
	4	1 = Slope parameter out of range

Parameter	Bit	Description
Error Status2	0	1 = Run current parameter out of range
	1	1 = Stop current parameter out of range
	2	1 = Forward end switch parameter out of range
	3	1 = Reverse end switch parameter out of range

Reply	Module ID	3	4	5	6	7	8
21h	0 - 15	0	Stepper motor position (lsb) (msb)				0

Parameter	Value	Description
Stepper Motor Position	32 bits-long-int	This command returns the current 24 bits (signed) stepper motor position

Parameter	Bit	Description
Error Status	0	1 = Motor is running
Error Status	1	1 = Stepper motor position parameter out of range

Parameter	Bit	Description
Status1	0	1 = Motor is running forward
	1	1 = Motor is running reverse
	2	1 = Motor is running until end switch found
	3	1 = Motor is running at minimum speed
	4	1 = Motor is running at maximum speed
	5	1 = Motor is accelerating
	6	1 = Motor is decelerating
	7	1 = Goto command is being executed

Parameter	Bit	Description
Status2	0	1 = Forward end switch active
	1	1 = Reverse end switch active
	2	1 = Emergency stop input is active (note 2)
	3	1 = Motor was stopped by an active and enabled forward end switch, These status bit will be cleared by a start command
	4	1 = Motor was stopped by an active and enabled reverse end switch, These status bit will be cleared by a start command
	5	1 = Motor was stopped by an active emergency stop input This status bit can only be cleared by a stop command with option 3, 'Goto' , 'Start' and other 'Stop' commands return an error is this bit is set.
	6	1 = Motor was stopped by 0.5 second 'watchdog' time-out. The Cdios controller checks the 6166 with a short interval, when this fails, the 6166 performs an emergency stop... This status bit can only be cleared by a stop command with option 3, 'Goto' , 'Start' and other 'Stop' commands return an error is this bit is set.

Parameter	Bit	Description
Mask1	0	1 = enable bit 0 of the status 1 byte
	until	1 = enable ...
	7	1 = enable bit 7 of the status 1 byte

Parameter	Bit	Description
Mask2	0	1 = enable bit 0 of the status 2 byte
	until	1 = enable ...
	7	1 = enable bit 7 of the status 2 byte