Cdios Controller Commands V3.0

Cdios Controller Commands V2.8             Cdios download page

Addition to V2.8:

• Support added for 6170 V2.5 quad mV/V input
• Support added for 6166 V2.6 update
• Support added for 6182 V2.5 incremental encoder

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.

Cdios command / reply / event / error messages

• Any Cdios command or reply is a CAN message with a maximum of 8 data bytes.
  The first 3 data bytes contain:
  • a command / reply / event / error code
  • a module ID
  • sometimes a selector
    
• The module address can be 0-15 to address an I/O module (selected by it's DIPSWITCH).
  Anything above 15 (0FFh is preferred) will address the Cdios controller itself.

 

Command reply- event- error code	Module ID	3	4	5	6	7	8
	0-15	Selector or zero	additional bytes

• A command only returns a single reply / error message. (confirmation)
• A reply code is just the copy of the command code (can be suppressed)
• An event code is similar to a reply code, with bit 6 set to one
• An error code is similar to a reply code, with bit 7 set to one (always reported)
  

General Cdios error messages:

When a command to the Cdios controller somehow generates an error, the error reply message is sent back.

The reply code will be a copy of the command code with bit 7 set:

Error	Module ID	3	4	5	6	7	8
Command with bit 7 set	Copy of Module ID	0	General Error Code	Error status1	Error status2	0	0

Parameter	Value	Description
General Error Code	0	Identifies that 'Error status' contains bitwise command specific error indications. 'Error status' will be zero when 'General Error Code' is nonzero.
	1	Module ID is not connected to any module
	2	Module ID is connected to an unsupported module
	3	Command is unknown in addressed module
	4	Cdios system is still in it's initialization phase (500 mS after power-up or Cdios controller reset)
	5	Addressed Module contains an unsupported version number
	6	Command is not supported by this software version of the module
	7	I/O module communication error
	8	CDIOS controller is busy with EEPROM programming, cannot evaluate the command

Error status 1

Bit no

Bit function description

Error status 2

Bit no

Bit function description

Command code 01h: Identify I/O modules

This commands reads a part of the internal module type, serial number and software version table.

 

Command	Module ID	3	4	5	6	7	8
01h	FFh	Selector	0	0	0	0	0

Selector selects one of twenty five parts of the table
 

Reply	Module ID	Selector	4	5	6	7	8
01h	FFh	0	type 0	version 0	type 1	version 1	0
		1	type 2	version 2	type 3	version 3	0
		2	type 4	version 4	type 5	version 5	0
		3	type 6	version 6	type 7	version 7	0
		4	type 8	version 8	type 9	version 9	0
		5	type 10	version 10	type 11	version 11	0
		6	type 12	version 12	type 13	version 13	0
		7	type 14	version 14	type 15	version 15	0
		8	1	version of Cdios controller	0	0	0
		9	Serial number of  I/O module #0 (lsb first)				0
		10 - 23	Serial numbers of  I/O modules #1 - #14				0
		24	Serial number of  I/O module #15 (lsb first)				0

To read the complete table, 25 command messages have to be given (total 50 messages over the bus), note:

• selector value 8 is supported by Cdios controller version 1.2 and higher
• selector value 9 - 24 is supported by Cdios controller version 2.0 and higher

Currently the following module types will be returned (module type will be type number - 6000, decimal) :

• 000: no module found at this ID
• 001: Cdios controller
• 153: Octal digital input module 6153
• 156: Octal digital output module 6156
• 159: Quad relay output module 6159
• 160: Quad analog (V/mA) input module 6160
• 162: Triple Pt100 input module 6162
• 163: Triple load cell input module 6163
• 164: Quad analog output module 6164
• 166: Single stepper motor controller/driver module 6166
• 167: Single analog servo motor controller/driver module 6167
• 168: Single analog servo motor controller 6168
• 170: Quad analog (mV/V) input module 6170
• 182: Single incremental encoder input module 6182
• 190: Single RS232 interface module 6190
• 254: unsupported module software version found at this ID
• 255: unsupported module found at this ID

Cdios controller software version will be 30 for version 3.0

Cdios controller version

1.0

1.1

1.2

1.3

2.0

2.1

2.2

2.3

2.4

2.5

2.6

2.7

2.8

3.0

Supported I/O Module

Type

version

6153

1.0

x

x

x

x

x

x

x

x

x

x

x

x

x

x

1.1

x

x

x

x

x

x

x

x

x

x

x

x

2.0

x

x

x

x

x

x

x

x

x

x

2.5

x

x

x

x

6156

1.0

x

x

x

x

x

x

x

x

x

x

x

x

x

x

1.1

x

x

x

x

x

x

x

x

x

x

x

x

1.2

x

x

x

x

x

x

x

x

x

x

x

2.0

x

x

x

x

x

x

x

x

x

x

2.5

x

x

x

x

2.6

x

x

x

6159

1.0

x

x

x

x

x

x

x

x

x

x

x

2.0

x

x

x

x

x

x

x

x

x

x

2.5

x

x

x

x

6160

1.0

x

x

x

x

x

x

x

x

x

x

x

x

x

2.0

x

x

x

x

x

x

x

x

x

x

2.1

x

x

x

x

x

x

2.5

x

x

x

x

6162

1.0

x

x

x

x

x

x

x

x

x

x

x

2.0

x

x

x

x

x

x

x

x

x

x

2.1

x

x

x

x

x

x

x

x

2.5

x

x

x

x

6163

1.0

x

x

x

x

x

x

x

x

x

x

x

x

2.0

x

x

x

x

x

x

x

x

x

x

2.5

x

x

x

x

6164

2.0

x

x

x

x

x

x

x

x

2.5

x

x

x

x

6166

1.0

x

x

x

x

x

x

x

x

x

x

x

x

x

x

1.1

x

x

x

x

x

x

x

x

x

x

x

x

1.2

x

x

x

x

x

x

x

x

x

x

x

2.0

x

x

x

x

x

x

x

x

x

x

2.5

x

x

x

x

2.6

x

6167

2.0

x

x

x

x

x

x

x

x

x

2.1

x

x

x

x

x

x

x

2.2

x

x

x

x

x

x

2.5

x

x

x

x

2.6

x

x

6168

2.0

x

x

x

x

x

2.5

x

x

x

x

6170

2.5

x

6182

2.5

x

6190

2.0

x

x

x

x

x

x

x

2.5

x

x

x

x

Possible error message:

This command sets internal Cdios controller configuration

Command	Module ID	3	4	5	6	7	8
02h	FFh	0	Confirm	Reset	Change of State	Variable Length	0

Parameter	Value	Default	Description
Confirm	0	1	disable confirmation reply messages
	1		enable confirmation reply messages (default) error and event messages cannot be disabled
Reset	0	0	No I/O module reset checking
	1		Reset event is sent when any I/O module has an internal low power supply (brown out) or software failure reset (default)
Change of State	0	0	No I/O module change of state checking
	1		Modules are checked for change of state (internal status or input change). Individual state checking mask bits in the I/O modules have to be set also to enable change of state event messages.
Variable Length	0	0	All CDIOS command / reply / event / error messages are 8 bytes long (unused bytes are filled with zero)
	1		The last 1-6 bytes of the CDIOS messages will be suppressed, this will reduce CAN bus load. The suppressed bytes will be represented in italic / lightgray text.

 

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

Possible error message:
 

Error	Module ID	3	4	5	6	7	8
82h	FFh	0	0	Error Status	0	0	0

Parameter	Bit	Description
Error Status	0	1 = Confirm parameter out of range
	1	1 = Error parameter out of range
	2	1 = Change of state parameter out of range

This commands gives a SYNC pulse to all I/O modules or enables/disables the SYNC pulse directly from the CAN bus.

Command	Module ID	3	4	5	6	7	8
03h	FFh	0	Sync	0	0	0	0

 

Parameter	Value	Description
Sync	0	Synchronizes all I/O modules; outputs are updated (if output latches are written), inputs are latched. This enables synchronization on a module level
	1	Disable CAN generated Sync pulse
	2	Enable CAN generated Sync pulse This enables synchronization on a bus wide level

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

Reply	Module ID	3	4	5	6	7	8
03h	FFh	0	0	0	0	0	0

Possible error message:
 

Error	Module ID	3	4	5	6	7	8
83h	FFh	0	0	Error Status	0	0	0

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

 

This command stores the current or the default CDIOS controller 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	FFh	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 up to 20 milli-seconds, 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	FFh	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
	7	1 = Programming already busy (on another module)

 

If an I/O module for some reason fails or resets itself (or has an internal configuration checksum error) and the reset parameter is set to one, the reset event message is sent:

 

Event	Module ID	3	4	5	6	7	8
42h	0 - 15	0	Reset Status	0	0	0	0

Parameter	Bit	Description
Reset Status	0	1 = I/O module was reset by internal software failure (crash)
	1	1 = I/O module was reset by an internal low power supply (brown out)
	2	1 = I/O module has an configuration checksum error, the default configuration is used
	3	1 = I/O module failed (does not communicate any more)
	4	1 = I/O module came on-line (after it failed...). Bit 0-2 may be set also...

 

If the DeviceNet I/O connection's expected packet rate is nonzero, the CDIOS controller will send an empty message to keep the connection alive when the trigger timer expires. Note that all eight bytes of this message will be transmitted, the 'variable length' configuration is ignored