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- 7 -
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www.blinkmarine.com
–
FOR REFERENCE ONLY
10.
Sync message
This mechanism modifies the PDO operation in the following way: both the RPDOs and
TPDOs are stored at the receiving of the 1
st
SYNC message but, while the RPDOs are
always processed with the arrival of next one, the TPDOs are transmitted each n-th
time the SYNC message is received depending on the value chosen for transmission
type. The structure of the SYNC message is:
Refer to
Objects 1400-1401-1800h
for more details.
PDO messages
PDO (Process Data Object) are fast telegram messages that can simply manage most
important functions. There are no answers for this kind of messages. Each PDO
message has an equivalent Service 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 Keypad
195
Std
01 00 00 00 XX
Only Key #1 pressed
From Keypad
195
Std
10 00 00 00 XX
Only Key #5 pressed
From Keypad
195
Std
11 00 00 00 XX
Keys #1 and #5
pressed
*= this hexadecimal value increases each 100ms regardless a key state variation has
occurred or not. This parameter can be used to evaluate the time interval elapsed
between two consecutive key states through the difference of the related two tick timer
values. Since this counter is coded on 1-byte length, the maximum time interval which can
be monitored is about 25 seconds.
Identifier
80h
-
-
No data byte is transmitted
