Cdios controller commands | Cdios firmware page

6167 Cdios Module V2.0 Commands

Addition to V2.0:

• START / STOP commands have an 'ENABLE' option to enable/disable the motor. It will not run when it is not enabled.
• GOTO commands now have a maximum speed parameter
• Relative GOTO commands are relative to actual position or current setpoint (e.g. last GOTO command)
• HOLD configuration removed. HOLD is now inherently ON while using GOTO commands and off when using START/STOP control.
• FAILSAFE parameter to select endswitch / emergency and ZERO inputs active high or active low
• Current limiting active status bit added
• Logic and motor power supply will be separated; a 'no motor power supply' status bit is added
• Z-input hardware position changed, status bit added
• Motor not running status bits changed (now only one)

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	reserved
	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
	6	1 = Failsafe parameter out of range
	7	reserved

 

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 - 2	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
	2	Read current setpoint (e.g. latest GOTO position)

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 and the current setpoint.

 

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)	Speed
			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.
	4	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 setpoint (e.g. last GOTO position) position, as long this is in the motor position range of -2147483648 up to 2147483647 (motor will move to the limit)
	5	Write setpoint 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	Range	Description
Speed	0 - 255	Sets the maximum speed for this GOTO command, the speed parameter is internally multiplied by 100 to get the maximum speed to use. This speed is checked against and clamped to the configured minimum and maximum speeds. When speed is zero, the configured maximum speed is used...
Motor Position	-2147483648 up to 2147483647	32 bits long integer

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, power failure or watchdog status active (note 2)
	2	1 = Selector parameter out of range
	3 - 6	reserved
	7	1 = Motor is not enabled

  

Command code 24h: Start

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

After a start command the Hold status (status 4 bit 2) will be zero

 

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.
	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 probably will run a bit further after the I input became active.
	5	Enable the motor (it may run from now on). The current position will be transferred to the setpoint.
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 Status1	Error Status2	0	0

Parameter	Bit	Description
Error Status1	0	1 = Motor is running
	1	1 = Emergency stop,  watchdog status active or still motor power failure (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
Error Status2	0 -6	reserved
	7	1 = Motor is not enabled

  

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 or 2).

 

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. The current position will be transferred to the setpoint. This option also stops the motor when is was started with a goto command, the motor will be held at the setpoint
	2	Fast stop. The current position will be transferred to the setpoint. This option also stops the motor when is was started with a goto command, the motor will be held at the setpoint
	3	Release emergency stop condition, the emergency stop and power failure status have to be inactive (note 2).
	4	Clear Hold status (status 4 bit 2). The motor is not held at the setpoint any more.
	5	Disable the motor, it may not run anymore. If it's running it does a fast stop... The Hold status is also cleared.

 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 4 selected)
	1	1 = Emergency stop or power failure status active (note 2)
	2	1 = Motor is not running (when option 0,1 or 2 selected)
	3	1 = Selector parameter out of range
	4	1 = Option parameter out of range
	5	1 = No emergency stop condition to release (when option 3 selected)
	6	reserved
	7	1 = Motor is not enabled

 

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	Status 4	0
		1	MotorSpeed (lsb)              (msb)		Motor Current	Heatsink Temperature	0

 

Parameter	Bit / value	Description
Status 1	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
Status 2	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 emergency stop, power failure or watchdog time-out. 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. When this bit is set, the motor will be disabled, so to start againg the user must give; - a 'Stop' command (option = 3) to release the emergency - a 'Start' command (option = 5) to enable the motor
	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 will also set the emergency bit (status2 bit 5). This bit is cleared when the emergency bit is cleared.
	7	1 = Motor was stopped by motor power supply failure. This will also set the emergency bit (status2 bit 5). This bit is cleared when the emergency bit is cleared.
Status 3	0	1 = Motor position was set to zero by I input (start command) or Z and I inputs (AutoZero). 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
	3	Reserved
	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
	6	1 = Motor current limiting is active (motorcurrent = maximum current). This bit may also become set when heatsink temperature is above 85°C.
	7	1 = Motor is enabled
Status 4	0	1 = Z input active
	1	1 = Power failure active, motor has no power
	2	1 = Hold active, controller keeps motor at the setpoint
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	Mask 1	Mask 2	Mask 3	Mask 4	0

Parameter	Bit	Description
Mask 1	0	1 = enable bit 0 of the status 1 byte
	until	1 = enable ...
	7	1 = enable bit 7 of the status 1 byte
Mask 2	0	1 = enable bit 0 of the status 2 byte
	until	1 = enable ...
	7	1 = enable bit 7 of the status 2 byte
Mask 3	0	1 = enable bit 0 of the status 3 byte
	until	1 = enable ...
	7	1 = enable bit 7 of the status 3 byte
Mask 4	0	1 = enable bit 0 of the status 4 byte
	until	1 = enable ...
	7	1 = enable bit 7 of the status 4 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	Mask 1	Mask 2	Mask 3	Mask 4	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	Status 1	Status 2	Status 3	Status 4	0

Parameter	Bit	Description
Status 1	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
Status 2	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 emergency stop, power failure or watchdog time-out 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. When this bit is set, the motor will be disabled, so to start againg the user must give; - a 'Stop' command (option = 3) to release the emergency - a 'Start' command (option = 5) to enable the motor
	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 will also set the emergency bit (status2 bit 5). This bit is cleared when the emergency bit is cleared.
	7	1 =  Motor was stopped by motor power supply failure. This will also set the emergency bit (status2 bit 5). This bit is cleared when the emergency bit is cleared.
Status 3	0	1 = Motor position was set to zero by I input (start command) or Z and I inputs (AutoZero) 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
	3	Reserved
	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
	6	1 = Motor current limiting is active (motorcurrent = maximum current) This bit may also become set when heatsink temperature is above 85°C.
	7	1 = Motor is enabled
Status 4	0	1 = Z input active
	1	1 = Power failure active, motor has no power
	2	1 = Hold active, controller keeps motor at the setpoint

 

 All status data is given, 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.