Cdios Controller Commands  |  Cdios Firmware Page

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)

These 6182 commands are a subset of the 6167/6168 commands

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

Possible error message:

 

Error	Module ID	3	4	5	6	7	8
A0h	0 - 15	0	0	Error Status1	Error Status 2	0	0

Parameter	Bit	Description (unused bits remain zero)
Error Status1	2	1 = Selector parameter out of range
	5	1 = Pulses per revolution parameter out of range
	7	1 = Autozero parameter out of range
Error Status 2	6	1 = Failsafe parameter out of range

 

Possible error message: 

Command code 21h: Read current position

This command returns the current 32 bits (signed) 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 position
	1	Read latched position, latched by the latest SYNC command

Normal reply:

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) position and the current setpoint.

 

Command	Module ID	3	4	5	6	7	8
22h	0 - 15	0	position				0

Allowable range for 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

Command code 24h: Start

This command is only used for resetting the motor position on the first active I input edge:

Command	Module ID	3	4	5	6	7	8
24h	0 - 15	0	0	Option	0	0	0

 

Parameter	Value	Description
Option	4	The motor position is set to zero (one time only) when the I (index) input becomes active
	6	The motor position is set to zero (one time only) when the I (index) and the Z (Zero) input are active

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	0	0	0

Parameter	Bit	Description
Error Status1	5	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

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

 

Command	Module ID	3	4	5	6	7	8
27h	0 - 15	0	Mask1	Mask 2	Mask 3	Mask 4	Timer

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' interval
	7	0	0 = MotorSpeed is send on timer interval 1 = MotorSpeed 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 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	0	Mask 2	Mask 3	Mask 4	Timer

 

Parameter	Description
All	Same format as in the 'Set event on 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 260 up to 750 milliseconds, 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 status bit changes state, a read 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 (unimplemented bits remain zero)
Status 1	2	1 = A start command with option 4 or 6 is given. The position will be set to zero when the I input or the Z+I inputs become active
Status 2	0	1 = Forward end switch active
	1	1 = Reverse end switch active
	2	1 = Emergency stop input is active
Status 3	0	1 = 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).
	5	1 = Encoder input frequency is too high, pulses may be missed
Status 4	0	1 = Z input active
	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

 

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

If a timer interval expires one of two possible timer events is send: