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Blink Marine PKP-2300-SI-FR, User Manual

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Blink Marine PKP-2300-SI-FR User Manual Download Page 18

 

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

 

 

 

www.blinkmarine.com

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[email protected]

 

 

 

PKP-2300-SI-FR_CANopenUM_REV1.3

 

25.

 

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 

2B 

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 
MSByte 

Byte 5  

XXh 

XXh: Heartbeat time in milliseconds LSByte 

Byte 5, 7  

00h 

Not used 

Heartbeat time: XXYYh (from 000Ah to FFFEh: 10ms to 65534 ms) 
 
Examples: 

Direction 

Identifier  Format  Message 

Data 

To Keypad 

615 

Std 

40 17 10 00 00 00 00 00  Read heartbeat time 

Keypad Reply 

595 

Std 

4B 17 10 00 64 00 00 00  Heartbeat time = 100ms 

To Keypad 

615 

Std 

2B 17 10 00 00 00 00 00  Switch off the heartbeat 

Keypad Reply 

595 

Std 

60 17 10 00 00 00 00 00   

To Keypad 

615 

Std 

2B 17 10 00 32 00 00 00  Set heartbeat time = 

50ms 

Keypad Reply 

595 

Std 

60 17 10 00 00 00 00 00   

To Keypad 

615 

Std 

2B 17 10 00 F4 01 00 00  Set heartbeat time = 

500ms 

Keypad Reply 

595 

Std 

60 17 10 00 00 00 00 00   

 

Heartbeat message 

The heartbeat mechanism for a CANopen device is established by cyclically transmitting 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: 

Summary of Contents for PKP-2300-SI-FR

Page 1: ...39 02 33406697 www blinkmarine com info blinkgroup com PKP 2300 SI FR_CANopenUM_REV1 3 PKP 2300 SI FR 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: ...ode 6 8 Boot up service 6 9 Heartbeat message 7 PDO messages 7 10 Keys state message 7 PKP 2300 SI FR 7 11 Set LED ON message 8 PKP 2300 SI 8 12 Set LED Blink message 9 PKP 2300 SI FR 9 13 Indicator LEDs brightness level 9 14 Backlight brightness level 10 SDO Messages 10 15 Object 2000h Digital input module keys states 10 PKP 2300 SI FR 10 16 Object 2001h Digital output module 11 a Set LED ON 11 P...

Page 3: ...e Type 19 27 Object 1001h Error Register 19 28 Object 1008h Manufacturer Device Name 19 29 Object 1009h Manufacturer Hardware Revision 20 30 Object 100Ah Manufacturer Firmware Revision 20 31 Object 100Bh Model ID 21 32 Object 1018h Identity Data 22 33 Object 1400h Receive PDO Communication Parm 0 22 34 Object 1401h Receive PDO communication Parm 1 23 35 Object 1402h Receive PDO communication Parm ...

Page 4: ...1 How to connect Deutsch 4 pin Each end of the CAN 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 2 Reference Front view PKP 2300 SI FR PIN COLOUR FUNCTION 1 Blue CAN L 2 White CAN H 3 Black Negative battery 4 Red Vbatt 12 24V ...

Page 5: ...00h Heartbeat Message Disable Object 1017h Boot up service Active Object 2011h 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 Start CANopen node keypad activation message Identifier 00h Byte 0 01h Start CANopen node Byte 1 XXh Keypad CAN ID 00h ...

Page 6: ...e Identifier 00h Byte 0 XXh 02h Stop CANopen node 00h Stop CANopen node old PKP sw compatibility Byte 1 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 curre...

Page 7: ...tant functions There are no answers for this kind of messages Each PDO message has an equivalent Service Data Object message 10 Keys state message The keypad must be activated see NMT Start CANopen Node message PKP 2300 SI FR Identifier 180 current CAN ID Default 195h Byte 0 Keys from 1 to 4 0 0 K6 K5 K4 K3 K2 K1 Keys 1 pressed 0 released Byte 1 3 00h Not used Byte 4 XXh Tick Timer Examples Direct...

Page 8: ... 0 0 G6 G5 G4 G3 G2 G1 Green LED Byte 2 0 0 B6 B5 B4 B3 B2 B1 Blue LED Byte 2 7 00h Not used Examples Direction Identifier Format Message LED To Keypad 215 Std 00 00 00 00 00 00 00 00 Turn OFF all the LED To Keypad 215 Std 01 00 00 00 00 00 00 00 Only red LED 1 ON To Keypad 215 Std 05 00 00 00 00 00 00 00 Red LED 1 and 3 ON other LED OFF To Keypad 215 Std 00 20 00 00 00 00 00 00 Only green LED 6 O...

Page 9: ...ll the LED To Keypad 315 Std 01 00 00 00 00 00 00 00 Only red LED 1 blinks To Keypad 315 Std 05 00 00 00 00 00 00 00 Red LED 1 and 3 blink To Keypad 315 Std 00 20 00 00 00 00 00 00 Only green LED 6 blinks To Keypad 315 Std 00 00 01 00 00 00 00 00 Only blue LED 1 blinks To Keypad 315 Std 00 11 00 00 00 00 00 00 Green LED 1 and 5 blink To Keypad To Keypad 215 315 Std Std 01 00 00 00 00 00 00 00 01 0...

Page 10: ...ject 2000h Digital input module keys states This module contains all the Switch State information A one indicates the switch is pressed a zero indicates the switch is released PKP 2300 SI FR Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 00h CAN Object 2000h Byte 2 20h Byte 3 01h Sub index Byte 4 7 00h Not used Examples Direction Identifier Format Message Data T...

Page 11: ...615 Std 2F 01 20 01 04 00 00 00 Set red LED 3 ON Keypad Reply 595 Std 60 01 20 00 00 00 00 00 To Keypad 615 Std 2F 01 20 03 20 00 00 00 Set blue LED 6 ON Keypad Reply 595 Std 60 01 20 00 00 00 00 00 b Read LED ON The LED have the same mapping of Set LED ON message PKP 2300 SI FR Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 01h CAN Object 2001h Byte 2 20h Byte ...

Page 12: ... used Examples Direction Identifier Format Message Data To Keypad 615 Std 2F 02 20 01 01 00 00 00 Set red LED 1 blink Keypad Reply 595 Std 60 02 20 00 00 00 00 00 To Keypad 615 Std 2F 02 20 02 08 00 00 00 Set green LED 4 blink Keypad Reply 595 Std 60 02 20 00 00 00 00 00 b Read LED blink PKP 2300 SI FR Identifier 600h current CAN ID Default 615h Byte 0 2Fh Set Device Register Byte 1 02h CAN Object...

Page 13: ...ntensity 00h 3Fhà min 100 Byte 5 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 2F 03 20 01 10 00 00 00 Brightness 25 Keypad Reply 595 Std 60 03 20 01 00 00 00 00 b Backlight brightness level 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 0...

Page 14: ...7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 2F 03 20 03 01 00 00 00 Red Backlight color Keypad Reply 595 Std 60 03 20 03 00 00 00 00 d Set default backlight color Identifier 615h 600h current CAN ID Byte 0 2Fh Set Device Register Byte 1 03h CAN Object 2003h Byte 2 20h Byte 3 04h Sub index Byte 4 XXh Color 01h red 02h green 03h blue 04h yellow 05h cyan 06h viol...

Page 15: ...ier 615h 600h current CAN ID Byte 0 2Fh Set Device Register Byte 1 03h CAN Object 2003h Byte 2 20h Byte 3 06h Sub index Byte 4 XXh Intensity 00h 3Fhà 0 100 Byte 5 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 2F 03 20 06 10 00 00 00 Brightness 25 Keypad Reply 595 Std 60 03 20 06 00 00 00 00 19 Object 2010h Baud rate setting Identifier 615h 600h current CAN ID By...

Page 16: ...2012h Set device active on startup If keypad is active on startup don t need the Start CANopen command from host Identifier 600h current CAN ID Default 615h Byte 0 2Fh Set Device Register Byte 1 12h CAN Object 2012h Byte 2 20h Byte 3 00h Sub index Byte 4 XXh 00h Not active 01h Active Byte 5 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 2F 12 20 00 01 00 00 00 De...

Page 17: ... 00 00 00 24 Object 2100h Set DEMO mode This message enables the Demo mode function Demo mode is a special feature that consists in different LED states for each button pressing Refer to the appendix Demo mode instructions to try these special features Disconnect and reconnect the keypad after the enable message to enter this mode To exit the Demo mode send the Disable Demo mode command or another...

Page 18: ... To Keypad 615 Std 2B 17 10 00 00 00 00 00 Switch off the heartbeat Keypad Reply 595 Std 60 17 10 00 00 00 00 00 To Keypad 615 Std 2B 17 10 00 32 00 00 00 Set heartbeat time 50ms Keypad Reply 595 Std 60 17 10 00 00 00 00 00 To Keypad 615 Std 2B 17 10 00 F4 01 00 00 Set heartbeat time 500ms Keypad Reply 595 Std 60 17 10 00 00 00 00 00 Heartbeat message The heartbeat mechanism for a CANopen device i...

Page 19: ...e 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 B0191h 27 Object 1001h Error Register This object is not yet implemented in the device 28 Object 1008h Manufacturer Device Name Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 08h CAN O...

Page 20: ... message replied is 17h 29 Object 1009h Manufacturer Hardware Revision Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 09h CAN Object 1009h Byte 2 10h Byte 3 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 09 10 00 00 00 00 00 Keypad Reply 595 Std 43 09 10 00 33 30 5F 56 V_03 Manufacturer Hardware Revision V_03 30 Object 100Ah...

Page 21: ... 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 Message Data To Keypad 615 Std 40 0B 10 00 00 00 00 00 Keypad Reply 595 Std 41 0B 10 00 09 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad Reply 595 Std 00 50 4B 50 ...

Page 22: ...03 00 00 000003E2h Blink Marine Vendor Id 000003E2h 33 Object 1400h Receive PDO Communication Parm 0 Describes the Receive Parameters for the LED state PDO Message Identifier 615h 600h current CAN ID Byte 0 40h Read Device Register Byte 1 00h CAN Object 1400h Byte 2 14h Byte 3 00h Number of mapped objects 01h COB Id 02h Transmission Type Byte 4 7 00h Not used Examples Direction Identifier Format M...

Page 23: ... 14 02 00 00 00 00 Keypad Reply 595 Std 4F 01 14 02 FE 00 00 00 FEh Receive PDO communication Parm 1 Number of mapped objects 2 COB id 0000 0300h NODE ID Transmission Type FEh 35 Object 1402h Receive PDO communication Parm 2 Describes the Receive Parameters for Indicator LED brightness Identifier 615h 600h current CAN ID Byte 0 40h Read Device Register Byte 1 02h CAN Object 1402h Byte 2 14h Byte 3...

Page 24: ...ect 1403h Byte 2 14h Byte 3 00h Highest sub index supported 01h COB Id 02h Transmission Type Byte 4 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 03 14 00 00 00 00 00 Keypad Reply 595 Std 4F 03 14 00 02 00 00 00 2 To Keypad 615 Std 40 03 14 01 00 00 00 00 Keypad Reply 595 Std 43 03 14 01 15 05 00 40 40000 0515h To Keypad 615 Std 40 03 14 02 00 00 00 00 Keypa...

Page 25: ...yte 4 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 00 16 00 00 00 00 00 Keypad Reply 595 Std 4F 00 16 00 03 00 00 00 3 To Keypad 615 Std 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 01 08 02 01 20 2001 02 08 To Keypad 615 Std 40 00 16 03 00 00 00 00 Ke...

Page 26: ... 02 02 20 2002 02 08 To Keypad 615 Std 40 00 16 03 00 00 00 00 Keypad Reply 595 Std 43 00 16 03 08 03 02 20 2002 03 08 Receive PDO mapping Parameter 1 Number of mapped objects 3 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 39 Object 1602h Receive PDO mapping Parameter 2 Des...

Page 27: ...r of mapped objects 1 Set backlight brightness Object 2003h Sub index 02h Length 08h 41 Object 1800h a Transmit PDO Communication Parm 0 Identifier 615h 600h current CAN ID Byte 0 40h Read Device Register Byte 1 00h CAN Object 1800h Byte 2 18h Byte 3 00h Number of mapped objects 01h COB Id 02h Transmission Type 05h Event Timer Byte 4 7 00h Not used Example Direction Identifier Format Message Data ...

Page 28: ...95 Std 60 00 18 00 00 00 00 00 To Keypad 615 Std 2B 00 18 00 32 00 00 00 Set period 50ms Keypad Reply 595 Std 60 00 18 00 00 00 00 00 To Keypad 615 Std 2B 00 18 00 F4 01 00 00 Set period 500ms Keypad Reply 595 Std 60 00 18 00 00 00 00 00 42 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 ...

Page 29: ...e Register third byte Byte 1 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 41 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 44 Set ...

Page 30: ...tton you can change the color of backlight with this sequence 1 Red 2 Green 3 Blue 4 Yellow 5 Cyan 6 Magenta 7 White light blue 8 Amber 9 Yellow green 10 OFF For the key 4 each time that you press the button 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 keys pressing button 1 3 Alte...

Page 31: ...5 2016 1 0 First Release 1 4 25 07 2016 1 1 Updated wrong paragraphs numbering 1 4 21 11 2016 1 2 Added PDO 400h and 500h added heartbeat state 04 stop 1 4 29 01 2018 1 3 Added objects 1402h 1403h 1602h 1603h Corrected minimum value for Indicator LEDs brightness Corrected limit values for heartbeat and periodic state transmission messages Added APPENDIX DEMO MODE instructions Corrected command mes...

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