Cdios controller commands  

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/light gray text.

This command is only valid when the 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
	5	1 = Pulses per revolution parameter out of range
	6	1 = Hold parameter out of range
	7	1 = Autozero parameter out of range
Error Status2	0	1 = Run current parameter out of range
	1	1 = Slope Profile parameter out of range
	2	1 = Forward end switch parameter out of range
	3	1 = Reverse end switch parameter out of range
	4	1 = Positioning Error parameter out of range
	5	1 = Gain Factor parameter out of range

 

Possible error message: 

This command returns the current 32 bits (signed) motor position.

Command	Module ID	Selector	4	5	6	7	8
21h	0 - 15	0 - 1	0	0	0	0	0

 

Parameter	Value	Description
Selector	0	Read current motor position
	1	Read latched motor position, latched by the latest SYNC command

Possible error message:

 

Error	Module ID	3	4	5	6	7	8
A1h	0 - 15	0	0	Error Status	0	0	0

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

  

Command code 22h: Set position

This command sets the current 32 bits (signed) motor position.

 

Command	Module ID	3	4	5	6	7	8
22h	0 - 15	0	(lsb)			(msb)	0
			motor position

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

Allowable range for motor position: -2147483648 up to 2147483647

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

  

This command causes the motor to move to the given 32 bits (signed) motor position.
 

Command	Module ID	3	4	5	6	7	8
23h	0 - 15	Selector	(lsb)			(msb)	0
			motor position or amount of steps

This command is only valid when the 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 motor position range of -2147483648 up to 2147483647 (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
Motor Position	32 bits- long-int	Allowable range: -2147483648 up to 2147483647

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

  

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	MotorSpeed (lsb)             (msb)		0

This command is only valid when the 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)
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
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. The motor will run a bit further after the endswitch was activated. By setting the Hold parameter (command 20h) to 1 (before the START command is given), the motor will be moved to the position where the endswitch became active
	3	Motor will accelerate / decellerate from its current speed to the selected motor speed. MotorSpeed is zero; the motor will stop MotorSpeed < minimum speed; minimum speed is used MotorSpeed > maximum speed, maximum speed is used This option is not allowed to be given when the motor was already started with option 2 or the motor is performing a GOTO operation. Otherwise it can be given at any time.
	4	Motor starts and remains at minimum speed until the I (index) input becomes active. The motor position is set to zero. The motor will run a bit further after the I input became active. By setting the Hold parameter (command 20h) to 1 (before the START command is given), the motor will be moved to the zero position.
MotorSpeed	0 - 30000	Target MotorSpeed (Option = 3)

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
	7	1 = MotorSpeed parameter out of range, only checked if Option = 3

  

This command is used to control the motor motion 'manually'
This command can be used to abort a still executing 'goto position' command (Option = 1).

 

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)
Option	0	Motor decelerates to minimum speed and remains at minimum speed
	1	Motor decelerates to minimum speed and then stops This option also stops the motor when is was started with a goto command.
	2	reserved
	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

 

This commands reads the internal motor controller module status

 

Command	Module ID	Selector	4	5	6	7	8
26h	0 - 15	0 - 1	0	0	0	0	0

 

Reply	Module ID	Selector	4	5	6	7	8
26h	0 - 15	0	Status 1	Status 2	Status 3	0	0
		1	MotorSpeed (lsb)              (msb)		Motor Current	Heatsink Temperature	0

 

Parameter	Bit / value	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
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 6167 with a short interval, when this fails, the 6167 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.
Status3	0	1 = Motor position was set to zero by I input (start command) or Z and I inputs (AutoZero) This status bit can only become one when Mode = 0 and (AutoZero = 1 or a Start command with option 4 was given). This status bit will be automatically cleared when the status is read (note).
	1	1 = Heatsink temperature too high (note)
	2	1 = Motor does not run and uses no current (probably not connected)
	3	1 = Motor does not run but uses current (probably blocked or encoder defect)
	4	1 = Motor runs in opposite direction (+ and - terminals should be changed). When this happens, the motor stops with an emergency stop, to clear this status a STOP command with option=3 has to be given.
	5	1 = Encoder input frequency is too high, pulses may be missed
Motor Speed	0 - 30000	The actual motor speed, value depends on the Pulses Per Revolution setting
Motor Current	0 - 255	Measured motor current, resolution is 0.01A
Heatsink Temperature	0 - 100	Heatsink temperature in ºC, bit 1 of Status3 will be high when Heatsink Temperature > 81ºC (note)

 

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	Mask3	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
Mask2	0	1 = enable bit 0 of the status 2 byte
	until	1 = enable ...
	7	1 = enable bit 7 of the status 2 byte
Mask3	0	1 = enable bit 0 of the status 3 byte
	until	1 = enable ...
	7	1 = enable bit 7 of the status 3 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

 

This command reads back the motor controller status bits to scan for change.

 

Command	Module ID	Selector	4	5	6	7	8
27h	0 - 15	80h	0	0	0	0	0

Normal reply:

 

Reply	Module ID	Selector	4	5	6	7	8
27h	0 - 15	80h	Mask1	Mask2	Mask3	0	0

 

Parameter	Description
All	Same format as in the 'Set event on motor status change mask' command

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 milliseconds, then the reply message is send.

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

 

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
66h	0 - 15	0	Status1	Status2	Status3	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
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 6167 with a short interval, when this fails, the 6167 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.
Status3	0	1 = Motor position was set to zero by I input (start command) or Z and I inputs (AutoZero) This status bit can only become one when Mode = 0 and (AutoZero = 1 or a Start command with option 4 was given). This status bit will be automatically cleared when the status is read (note).
	1	1 = Heatsink temperature too high (note).
	2	1 = Motor does not run and uses no current (probably not connected)
	3	1 = Motor does not run but uses current (probably blocked or encoder defect)
	4	1 = Motor runs in opposite direction (+ and - terminals should be changed). When this happens, the motor stops with an emergency stop, to clear this status a STOP command with option=3 has to be given.
	5	1 = Encoder input frequency is too high, pulses may be missed

 

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

Calibration

The 6167 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 6167-calibration.