Cdios 6152 Controller Commands 

This command reads/writes A/D converter and calibration values.
 

Command	Module ID	3	4	5	6	7	8
2Fh	0 - 15	Selector	Data or zero (lsb)         (msb)		0	0	0

Parameter	Value	Description	Data in Command	Data in Reply
Selector	00h 01h 02h 03h FEh FFh	Read Motor Voltage Offset calibration value Write Motor Voltage Offset calibration value Read Motor Current Offset calibration value Write Motor Current Offset calibration value Activate calibration mode Store calibration values	- X - X - -	X - X - - -

Normal reply is:

 

Reply	Module ID	3	4	5	6	7	8
2Fh	0 - 15	Selector (copy of command)	Data or zero (lsb)        (msb)		0	0	0

 Possible error message:

 

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

Parameter	Bit	Description
Error status	0	1 = Selector parameter out of range
	2	1 = FLASH EPROM programming failed

 

Calibration protocol

1. Apply power-supply to the 6167 and connect a Volt meter to the motor output. The supply voltage may be the supply voltage of the final application (12-28V) or 20V when application supply is unknown (or variable).
   
2. Send 'Activate calibration mode' Command (2Fh, Selector code FEh).
   
3. Adjust motor output offset voltage by writing new values in the motor voltage offset calibration value until the motor voltage is as close to zero as possible (should be possible within 50 mV).
   The resolution of the offset calibration value is approx. 25 mV / bit.
   
4. Adjust motor current offset by writing new values in the motor current offset calibration value until the motor current is as close to 128 as possible ('Read motor status' command code 26h, selector = 1, returned value in byte 6).
   
5. Send the 'Store calibration' Command (2Fh, Selector code FFh) to resume normal operation

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