Blink Marine PKP-1500-LI User Manual Download Page 22 | Manualshive

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Via Montefeltro, 6 – 20156 Milano (MI) – Italy

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Tel. +39 (02) 3088583 – Fax +39 (02) 33406697

www.blinkmarine.com

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[email protected]

FOR REFERENCE ONLY

Heartbeat message

The heartbeat mechanism for a CANopen device is established by transmitting cyclically the
heartbeat message by the heartbeat producer. One or more CANopen devices in the network
are aware of this heartbeat message. If the heartbeat cycle fails for the heartbeat producer,
the local application on the heartbeat consumer will be informed about that event.

If a CANopen device starts with a value for the heartbeat producer time unequal to 0 the boot-
up message is regarded as first heartbeat message.

Identifier

700h + current CAN ID

Default 715h

Byte 0

XXh

XXh: State of heartbeat producer
00h: Boot-up
04h: Stop
05h: Operational
7Fh: Pre-operational

Example:

Direction

Identifier

Format Message

Data

From Keypad

715h

Std

00h

Boot up

From Keypad

715h

Std

7Fh

Pre-operational

To Keypad

00h

Std

01h 15h

Start keypad with CAN ID 15h

From Keypad

715h

Std

05h

Operational

28.

Object 1000h: Device Type

Identifier

600h + current CAN ID

Default 615h

Byte 0

40h

Read Device Register

Byte 1

00h

CAN Object 1000h

Byte 2

10h

Byte 3, 7

00h

Not used

Example:

Direction

Identifier

Format

Data

To Keypad

615

Std

40 00 10 00 00 00 00 00

Keypad reply

595

Std

43 00 10 00 91 01 0B 00

Device profile number 0xB0191h.

29.

Object 1001h: Error Register

This object is not yet implemented in the device.

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Summary of Contents for PKP-1500-LI

Page 1: ...583 Fax 39 02 33406697 www blinkmarine com info blinkgroup com FOR REFERENCE ONLY PKP 1500 LI CANOPEN USER MANUAL THE PRESENT MANUAL IS FOR REFERENCE ONLY AND MIGHT BE NOT UP TO DATE TO THE LATEST VERSION PLEASE CONTACT US FOR GETTING THE MOST UPDATED FILE ...

Page 2: ...nc message 7 PDO messages 7 11 Keys state message 7 PKP 1500LI 7 12 Set LED ON message 8 PKP 1500LI 8 13 Set LED Blink message 8 PKP 1500LI 8 14 LED indicators brightness level 9 15 Backlight brightness level 9 SDO Messages 9 16 Object 2000h Digital input module keys states 9 PKP 1500LI 9 17 Object 2001h Digital output module 10 a Set LED ON 10 PKP 1500LI 10 b Read LED ON 11 PKP 1500LI 11 18 Objec...

Page 3: ...008h Manufacturer Device Name 23 31 Object 1009h Manufacturer Hardware Revision 23 32 Object 100Ah Manufacturer Firmware Revision 24 33 Object 100Bh Model ID 24 34 Object 1011h Restore default parameters 25 35 Object 1018h Identity Data 25 36 Object 1400h Receive PDO Communication Parm 0 26 37 Object 1401h Receive PDO communication Parm 1 27 38 Object 1402h Receive PDO communication Parm 2 28 39 O...

Page 4: ... bus is terminated with 120Ω resistors in compliance with the standard to minimize signal reflections on the bus You may need to place a 120Ω resistor between CAN L and CAN H Warning to avoid breakage do not tighten the backshell nuts with a torque exceeding 0 8 Nm 2 Reference Front view PKP1500LI PIN COLOUR FUNCTION 1 Blue CAN L 2 White CAN H 3 Black Negative battery 4 Red Vbatt 12 24V ...

Page 5: ...ot up service Active Object 2011h RPDO 200h transmission type Event driven Object 1400h RPDO 300h transmission type Event driven Object 1401h TPDO 180h transmission type Event driven Object 1800h NMT MESSAGES The Network Management messages follow a master slave structure Through NMT services CANopen devices are initialized started reset or stopped NMT messages have CAN ID always equal to 00h 4 St...

Page 6: ...YYh Keypad CAN ID 00h stop all the keypads 15h stop the keypad with CAN ID 15h Byte 2 7 00h Not used Example Direction Identifier Format Message To Keypad 0 Std 02 15 8 Boot up service This service is used to signal that a NMT slave has entered the NMT state Pre operational Identifier 700h current CAN ID Default 715h Byte 0 00h One data byte is transmitted with value 0 Example Direction Identifier...

Page 7: ...ervice Data Object message 11 Keys state message The keypad must be activated see NMT Start CANopen Node message PKP 1500LI Identifier 180h current CAN ID Default 195h Byte 0 Keys from 1 to 8 0 0 0 K5 K4 K3 K2 K1 Key state 1 pressed 0 released Byte 1 3 00h Not used Byte 4 XXh Tick Timer Examples Direction Identifier Format Message Key state From Keypad 195 Std 00 00 00 00 XX No Key pressed From Ke...

Page 8: ...en LED 1 and 5 ON other LEDs OFF To Keypad 215 Std 1F 1F 1F 00 00 00 00 00 All LED white ON 13 Set LED Blink message The keypad must be activated see NMT Start CANopen Node message Note if the blink message is sent when the LED is already ON the LED blinks in alternate mode PKP 1500LI Identifier 300h current CAN ID Default 315h Byte 0 0 0 0 R5 R4 R3 R2 R1 Red LED Byte 1 0 0 0 G5 G4 G3 G2 G1 Green ...

Page 9: ... CANopen Node message Identifier 500h current CAN ID Default 515h Byte 0 XXh Intensity 00h 3Fhà 0 100 Byte 1 7 00h Not used Examples Direction Identifier Format Message LED To Keypad 515 Std 00 00 00 00 00 00 00 00 Turn off the backlight To Keypad 515 Std 10 00 00 00 00 00 00 00 Backlight brightness 25 SDO Messages A SDO Service Data Object is providing direct access to object entries of a CANopen...

Page 10: ... 01 1F 00 00 00 All Keys pressed 17 Object 2001h Digital output module This module sets and reads the LED Outputs States Each bit position represents the corresponding LED A one indicates the LED is ON a zero indicates the LED is OFF a Set LED ON PKP 1500LI Examples Direction Identifier Format Message Data To Keypad 615 Std 2F 01 20 01 04 00 00 00 Set red LED 3 ON Keypad reply 595 Std 60 01 20 01 ...

Page 11: ...td 40 01 20 02 00 00 00 00 Read green LED Keypad reply 595 Std 4F 01 20 02 01 00 00 00 Only green LED 1 ON To Keypad 615 Std 40 01 20 03 00 00 00 00 Read blue LED Keypad reply 595 Std 4F 01 20 03 04 00 00 00 Only blue LED 3 ON 18 Object 2002h Digital output module This module sets and reads the LED Blink States Each bit position represents the corresponding LED A one indicates the LED is blinking ...

Page 12: ... XXh XX Sub index 01h Red LED 02h Green LED 03h Blue LED Byte 4 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 02 20 01 00 00 00 00 Read red LED blink Keypad reply 595 Std 4F 02 20 01 1F 00 00 00 All red LED blink To Keypad 615 Std 40 02 20 02 00 00 00 00 Read green LED blink Keypad reply 595 Std 4F 02 20 02 02 00 00 00 Only green LED 2 blinks To Keypad 615 S...

Page 13: ...eply 595 Std 4F 03 20 01 0D 00 00 00 Brightness 25 b Backlight brightness level Set message Identifier 615h 600h current CAN ID Byte 0 2Fh Set Device Register Byte 1 03h CAN Object 2003h Byte 2 20h Byte 3 02h Sub index Byte 4 XXh Intensity 00h 3Fhà 0 100 Byte 5 7 00h Not used Read message Identifier 615h 600h current CAN ID Byte 0 40h Read Device Register Byte 1 03h CAN Object 2003h Byte 2 20h Byt...

Page 14: ...e Register Byte 1 03h CAN Object 2003h Byte 2 20h Byte 3 03h Sub index Byte 4 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 2F 03 20 03 06 00 00 00 Violet backlight color Keypad reply 595 Std 60 03 20 03 00 00 00 00 Command accepted To Keypad 615 Std 40 03 20 03 00 00 00 00 Read backlight color set Keypad reply 595 Std 4F 03 20 03 06 00 00 00 Violet backlight co...

Page 15: ...ly 595 Std 4F 03 20 04 04 00 00 00 Yellow backlight color e Default LED indicators brightness level Set message Identifier 615h 600h current CAN ID Byte 0 2Fh Set Device Register Byte 1 03h CAN Object 2003h Byte 2 20h Byte 3 05h Sub index Byte 4 XXh Intensity 00h 3Fhà min 100 Byte 5 7 00h Not used Read message Identifier 615h 600h current CAN ID Byte 0 40h Read Device Register Byte 1 03h CAN Objec...

Page 16: ...2003h Byte 2 20h Byte 3 06h Sub index Byte 5 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 2F 03 20 06 00 00 00 00 Backlight level 0 Keypad reply 595 Std 60 03 20 06 00 00 00 00 Command accepted To Keypad 615 Std 40 03 20 06 00 00 00 00 Read backlight level set Keypad reply 595 Std 4F 03 20 06 00 00 00 00 Backlight level 0 20 Object 2010h Baud rate setting Set m...

Page 17: ...ot up service Object 2011h message enables or disables the boot up message sent by the keypad at power up to the CAN network Set message Identifier 600h current CAN ID Default 615h Byte 0 2Fh Set Device Register Byte 1 11h CAN Object 2011h Byte 2 20h Byte 3 00h Sub index Byte 4 XXh 00h Not active 01h Active Byte 5 7 00h Not used Read message Identifier 600h current CAN ID Default 615h Byte 0 40h R...

Page 18: ...h Byte 2 20h Byte 3 00h Sub index Byte 4 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 2F 12 20 00 01 00 00 00 Device active on startup Keypad reply 595 Std 60 12 20 00 00 00 00 00 Command accepted To Keypad 615 Std 40 12 20 00 00 00 00 00 Read command set Keypad reply 595 Std 4F 12 20 00 01 00 00 00 Device active on startup 23 Object 2013h Set CANopen node ID S...

Page 19: ...Identifier 600h current CAN ID Default 615h Byte 0 2Fh Set Device Register Byte 1 14h CAN Object 2014h Byte 2 20h Byte 3 00h Sub index Byte 4 XXh 00h Disable 01h Complete LED Show default 02h Fast Flash Byte 5 7 00h Not used Read message Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 14h CAN Object 2014h Byte 2 20h Byte 3 00h Sub index Byte 4 7 00h Not used Exam...

Page 20: ...he consumer heartbeat time object shall indicate the expected heartbeat cycle times Monitoring of the heartbeat producer shall start after the reception of the first heartbeat NOTE 1 the heartbeat consumer time should be greater typically twice than the related heartbeat time to be monitored coming from the producer NOTE 2 if the keypad does not receive the heartbeat message producer anymore it tu...

Page 21: ... 00 Heartbeat consumer time set to 500ms 27 Object 1017h Producer heartbeat time The producer heartbeat time shall indicate the configured cycle time of the heartbeat Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register 2Bh Set device Register Byte 1 17h CAN Object 1017h Byte 2 10h Byte 3 00h Sub index Byte 4 YYh YYh Heartbeat time in milliseconds LSByte Byte 5 XXh XXh Heart...

Page 22: ...essage is regarded as first heartbeat message Identifier 700h current CAN ID Default 715h Byte 0 XXh XXh State of heartbeat producer 00h Boot up 04h Stop 05h Operational 7Fh Pre operational Example Direction Identifier Format Message Data From Keypad 715h Std 00h Boot up From Keypad 715h Std 7Fh Pre operational To Keypad 00h Std 01h 15h Start keypad with CAN ID 15h From Keypad 715h Std 05h Operati...

Page 23: ...ample Direction Identifier Format Message Data To Keypad 615 Std 40 08 10 00 00 00 00 00 Keypad reply 595 Std 41 08 10 00 0B 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad reply 595 Std 00 42 6C 69 6E 6B 4D 61 BlinkMa To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad reply 595 Std 17 72 69 6E 65 00 00 00 rine Manufacturer Device Name BlinkMarine The first byte of the last data message re...

Page 24: ... Default 615h Byte 0 40h Read Device Register Byte 1 0Bh CAN Object 100Bh Byte 2 10h Byte 3 7 00h Not used 1 additional byte Identifier 600h current CAN ID Default 615h Byte 0 60h Read Device Register second byte Byte 1 7 00h Not used 2 additional byte Identifier 600h current CAN ID Default 615h Byte 0 70h Read Device Register third byte Byte 1 7 00h Not used Example Direction Identifier Format Me...

Page 25: ...dex supported 01h Restore all parameters Byte 4 6Ch Character 1 l Byte 5 6Fh Character 2 o Byte 6 61h Character 3 a Byte 7 64h Character 4 d Examples Direction Identifier Format Message Data To Keypad 615 Std 40 11 10 00 00 00 00 00 Read highest sub index Keypad reply 595 Std 4F 11 10 00 01 00 00 00 1 To Keypad 615 Std 23 11 10 01 6C 6F 61 64 load Keypad reply 595 Std 43 11 10 01 00 00 00 00 Comma...

Page 26: ...e 5 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 00 14 00 00 00 00 00 Keypad reply 595 Std 4F 00 14 00 02 00 00 00 2 To Keypad 615 Std 40 00 14 01 00 00 00 00 Keypad reply 595 Std 43 00 14 01 15 02 00 00 0000 0215h To Keypad 615 Std 40 00 14 02 00 00 00 00 Keypad reply 595 Std 4F 00 14 02 FE 00 00 00 FEh To Keypad 615 Std 2F 00 14 02 01 00 00 00 Set Synchro...

Page 27: ...7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 01 14 00 00 00 00 00 Keypad reply 595 Std 4F 01 14 00 02 00 00 00 2 To Keypad 615 Std 40 01 14 01 00 00 00 00 Keypad reply 595 Std 43 01 14 01 15 03 00 00 0000 0315h To Keypad 615 Std 40 01 14 02 00 00 00 00 Keypad reply 595 Std 4F 01 14 02 FE 00 00 00 FEh To Keypad 615 Std 2F 01 14 02 00 00 00 00 Set Synchronous...

Page 28: ... 00 00 Keypad reply 595 Std 4F 02 14 02 FE 00 00 00 FEh Receive PDO communication Parm 2 a Number of mapped objects 2 b COB id 0000 0400h NODE ID c Transmission Type FEh 39 Object 1403h Receive PDO communication Parm 3 Describes the Receive Parameters for backlight LED brightness Identifier 615h 600h current CAN ID Byte 0 40h Read Device Register Byte 1 03h CAN Object 1403h Byte 2 14h Byte 3 00h H...

Page 29: ...d 40 00 16 01 00 00 00 00 Keypad reply 595 Std 43 00 16 01 08 01 01 20 2001 01 08 To Keypad 615 Std 40 00 16 02 00 00 00 00 Keypad reply 595 Std 43 00 16 02 08 02 01 20 2001 02 08 To Keypad 615 Std 40 00 16 03 00 00 00 00 Keypad reply 595 Std 43 00 16 03 08 03 01 20 2001 03 08 Receive PDO mapping Parameter 0 Number of mapped objects 3 Set LED red Object 2001h Sub index 01h Length 08h Set LED green...

Page 30: ...Set LED red blink Object 2002h Sub index 01h Length 08h Set LED green blink Object 2002h Sub index 02h Length 08h Set LED blue blink Object 2002h Sub index 03h Length 08h 42 Object 1602h Receive PDO mapping Parameter 2 Describes the mapping of Indicator LED brightness PDO Message Identifier 615h 600h current CAN ID Byte 0 40h Read Device Register Byte 1 02h CAN Object 1602h Byte 2 16h Byte 3 00h N...

Page 31: ...3 16 01 08 02 03 20 2003 02 08 Receive PDO mapping Parameter 3 Number of mapped objects 1 Set backlight brightness Object 2003h Sub index 02h Length 08h 44 Object 1800h a Transmit PDO Communication Parm 0 Describes the Transmission Parameters and sets the transmission type for the Key state PDO Message Identifier 615h 600h current CAN ID Byte 0 40h Read Device Register 2Fh Set Device Register Byte...

Page 32: ...Keypad reply 595 Std 60 00 18 02 00 00 00 00 ACK To Keypad 80 Std SYNC message received Key 1 pressed No message on the CAN bus From Keypad 195 Std 00 00 00 00 XX Key status sent Read key status To Keypad 80 Std SYNC message received From Keypad 195 Std 01 00 00 00 XX Key status sent Read key status Transmit PDO communication Parm 0 Highest sub index supported 5 Address base 195h 180h NODE ID Tran...

Page 33: ...period 500ms Keypad reply 595 Std 60 00 18 05 00 00 00 00 Command accepted 45 Object 1A00h Transmit PDO Mapping Parameter Describes the mapping of Key state PDO Message Identifier 615h 600h current CAN ID Byte 0 40h Read Device Register Byte 1 00h CAN Object 1A00h Byte 2 1Ah Byte 3 00h Number of mapped objects 01h PDO Mapping Entry 1 Byte 4 7 00h Not used Examples Direction Identifier Format Messa...

Page 34: ... Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 00 22 00 00 00 00 00 Keypad reply 595 Std 41 00 22 00 08 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad reply 595 Std 00 46 46 46 46 46 46 46 FFFFFFF To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad reply 595 Std 1D 46 00 00 00 00 00 00 F Serial number ascii FFFFFFFF The first byte of the last data message r...

Page 35: ...yan 6 Magenta 7 White light blue 8 Amber 9 Yellow green 10 OFF Holding down the key 2 you can increase LED brightness level Holding down the key 3 you can decrease LED brightness level If you press the key 4 there are different steps in this sequence 1 Complete LED show of all colors 2 Backlight active with keys on in sequence it is possible to change the color of LED indicators by pressing key 1 ...

Page 36: ...0156 Milano MI Italy 36 Tel 39 02 3088583 Fax 39 02 33406697 www blinkmarine com info blinkgroup com FOR REFERENCE ONLY 48 Revision history Date Manual Revision Comment Related SW version 27 01 2020 1 0 First release x x ...

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