Cdios Controller Commands  |  Cdios Firmware Page

6168 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
• Run Check Inhibit parameter added, to inhibit automatic disable when motor is not running
• I Factor added to motor control loop adjustments
• In Window status bit added
• PID parameters for position holding added
• Feed forward parameter for motor running added
• Traject status bits added (error and ready status bits are moved for this)
• Minimum speed is now Seek speed, minimum speed status bit removed

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.

All multibyte (16 / 32 bits) parameters are placed in the messages with the LSB first (little endian)

This command modifies the 4 digital outputs direct or after a central synchronization pulse (by bus or Cdios controller).

 

Command	Module ID	3	4	5	6	7	8
10h	0 - 15	Selector	Data	0	0	0	0

Parameter	Value	Description
Selector	0	Write outputs direct
	1	Write outputs latched, outputs will be updated after SYNC command.

 

• After a latched command the outputs are updated after receiving a SYNC pulse directly from the CAN bus (CANopen SYNC or DeviceNet Bit-strobe 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.
• Bit 0 (output 1 = enable motor) cannot be changed if the motor is enabled
  

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

 

Reply	Module ID	3	4	5	6	7	8
10h	0 - 15	0	0	0	0	0	0

Possible error message:

 

Error	Module ID	3	4	5	6	7	8
90h	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 out of range

 

This commands reads the current output state

 

Command	Module ID	Selector	4	5	6	7	8
10h	0 - 15	80h	0	0	0	0	0

 

Reply	Module ID	3	4	5	6	7	8
11h	0 - 15	0	State	0	0	0	0

Parameter	Bit	Description
State	0	contains the state for output 1
	until	contains ...
	3	contains the state for output 4

Possible error message:

 

Error	Module ID	3	4	5	6	7	8
90h	0 - 15	0	0	Error Status	0	0	0

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

 

Command code 16h: Set 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		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.
Data	-10000 - 10000	Analog output will be set from -10.00 up to +10.00 V (note)

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.

Note that analog output #1 can only be modified when the 6168 controller itself isn't controlling it. This is the case when the Enable status bit is inactive (status 3, bit 7).

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
	1	1 = Analog value out of range
	7	1 = Motor is enabled, analog output #1 cannot be modified

 

This command reads the value of one of the 2 outputs.

 

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

Normal reply is:

 

Reply	Module ID	3	4	5	6	7	8
16h	0 - 15	Selector	Data		0	0	0

Parameter	Value	Description
Selector	x	Copy of value of the command
Data	-10000 - 10000	Analog output value from -10.00 up to +10.00 V (note)

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

 

All data set with this command is stored in EEPROM after the 'Store Configuration Command', becoming the new power on default.

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: When motor is running, only configuration commands with selector value 1, 3 or 5 are allowed
	1	1 = Selector parameter out of range
	2	1 = Seek 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 On Enable parameter out of range	Ready parameter out of range
	7	1 = Autozero parameter out of range	Error parameter out of range
Error Status2	0	1 = Maximum Voltage 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 = P Factor or HP Factor parameter out of range
	6	1 = Failsafe parameter out of range
	7	1 = Traject configuration parameter out of range (Length or Speed)

 

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 / endpoint of traject)

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	motor position				0

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, starts a traject or sets the motor speed for the next goto command
 

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.
	6	Starts the execution of traject 0/1
	7	Starts the execution of traject 0/1, after the SYNC command (note 1)
	8	Sets the maximum speed for the next GOTO command.
	9	Sets the absolute motor position to change the motor speed. When an interruptable GOTO is running; - send a new GOTO speed with selector = 8. - send a speed change position with selector is 9. When this command is given and the current motor position is beyond the given speed change position (command given too late), the speed is changed immediately. In fact this is a subset of the internal traject function. This command is illegal when a traject is running or NO interruptable GOTO is running
	10	Immediately changes the motor speed of a running GOTO. This command is illegal when a traject is running or NO interruptable GOTO is running
Parameter	Range	Description
Motor Position	-2147483648 up to 2147483647	32 bits long integer
Traject	0 - 1	Defines the traject number to use
Speed	0 - 32767	Sets the maximum speed for the next GOTO command. This speed is checked against and clamped to the configured maximum speed. When the speed is zero, the configured maximum speed is used. After power on or reset, the speed is set to zero.

When 'Slope Profile' is zero, GOTO commands can be interrupted by other goto commands to change the speed or direction...
Change the motor speed while a GOTO command is executing can be done in 3 ways;

1. Send the new speed with selector = 10
2. Preset the new speed with selector = 8 and set the motor position to start the change with selector = 9
3. Preset the new speed with selector = 8 and resend the GOTO command (with same or other GOTO position).

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 When the motor is running, a TRAJECT cannot be started and a GOTO command or speed change cannot be given when: Slope Profile = 1 Traject is started Motor was started with a START command
	1	1 = Emergency stop,  watchdog status active, error input active, ready not active (note 2)
	2	1 = Selector parameter out of range
	3	1 = Traject parameter out of range
	4	1 = Speed parameter out of range
	5	1 = No GOTO running
	6	1 = Traject cannot start, slope profile = 1
	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		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 seek speed
	1	Motor starts 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 seek 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 < 50; 50 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 seek 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. When 'Hold On Enable' is set to 1, the motor position will be hold on the setpoint after this.
	6	Motor starts and remains at seek speed until the I (index) and the Z (Zero) input are active. The motor position is set to zero. The motor probably will run a bit further after the inputs became active.
MotorSpeed	0 - 32767	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, error input active, ready not 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
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 seek speed and remains at seek speed
	1	Motor decelerates and then stops. The current position will be transferred to the setpoint.When the 'Hold on Enable' configuration is 1, the motor will be hold at that position. This option also stops the motor when is was started with a goto command, the motor allways will be held at the setpoint
	2	Fast stop. The current position will be transferred to the setpoint.When the 'Hold on Enable' configuration is 1, the motor will be hold at that position. This option also stops the motor when is was started with a goto command, the motor allways will be held at the setpoint
	3	Reserved
	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 - 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		0	0	0
		2	MotorSpeed		RPM_Error		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	Reserved
	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 again the user must give a 'Start' command (option = 5) to enable the motor
	6	1 = Motor was stopped by 0.5 second 'watchdog' time-out (note 2). 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 active Error input or inactive Ready input (when checking enabled, note 2) 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 = Error input active
	2	1 = Motor does not run When this happens and the Run Check Inhibit parameter = 0, the motor stops with an emergency stop, to clear this status a START command with option=5 has to be given.
	3	1 = Motor was disabled while it was in holding mode and could not be kept within the error window (note) This will also set the emergency bit (status2 bit 5). This bit is cleared when the emergency bit is cleared.
	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 START command with option=5 has to be given.
	5	1 = Encoder input frequency is too high, pulses may be missed
	6	1 = Motor voltage limiting is active (abs(output voltage)  = maximum voltage)
	7	1 = Motor is enabled
Status 4	0	1 = Z input active
	1	1 = Ready input active
	2	1 = Hold active, controller keeps motor at the setpoint
	3	1 = A traject is running (started with a GOTO command)
	4	When a traject is running these bits indicate: b5 b4 Description 0 0 Traject phase 1 running 0 1 Traject phase 2 running 1 0 Traject phase 3 running 1 1 Traject phase 4 running
	5
	6	1 = Motor position is within allowed error range of the most recent GOTO target position (only set when Hold active (Status 4 bit 2) is 1)
	7	1 = Motor position is not initialized, may be incorrect. This bit is set after power on reset or node reset. It is cleared after: - a 'Set Position' command - an autoreset - a position reset caused by a start command with option 2, 4 or 6
Motor Speed	0 - 32767	The actual motor speed, value depends on the Pulses Per Revolution setting
RPM Error	-32767 - 32767	The difference between the (internal) desired motor speed and the actual motor speed. When RPM Error < 0 the motor runs too slow. When RPM Error > 0 the motor runs too fast . It is normal that this value is a bit negative during accelleration and a bit positive during decelleration.

 

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	Timers

Parameter	Bit	Default	Description
Mask 1	0	0	1 = enable bit 0 of the status 1 byte
	until		1 = enable ...
	7	0	1 = enable bit 7 of the status 1 byte
Mask 2	0	0	1 = enable bit 0 of the status 2 byte
	until		1 = enable ...
	7	0	1 = enable bit 7 of the status 2 byte
Mask 3	0	0	1 = enable bit 0 of the status 3 byte
	until		1 = enable ...
	7	0	1 = enable bit 7 of the status 3 byte
Mask 4	0	0	1 = enable bit 0 of the status 4 byte
	until		1 = enable ...
	7	0	1 = enable bit 7 of the status 4 byte
Timers	0 - 2	0	This value (0 - 7) determines the 'send current position' interval
	3	0	0 = current position is send on timer interval 1 = current position is send on timer interval only when it was changed
	4 - 6	0	This value (0 - 7) determines the 'send MotorSpeed/RPM Error' interval
	7	0	0 = MotorSpeed/RPM Error is send on timer interval 1 = MotorSpeed/RPM Error is send on timer interval only when one or both values were changed

 

Timer interval settings:

Value Interval 0 Value is never send 1 3.9 mS 2 7.8 mS 3 15.6 mS 4 31.25 mS 5 62.5 mS 6 125 mS 7 250 mS

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	Timers

 

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.

The motor must be disabled when executing this command

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.

 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	Reserved
	4	1 = Motor is running at maximum speed