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

- 20 - 

 

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

 

 

 

www.blinkmarine.com

 – 

[email protected]

 

 

 

PKP-2200-SI_CANopenUM_REV1.0 

Keypad 
reply 

595 

Std 

43 16 10 01 F4 01 01 
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: Heartbeat time in milliseconds 
MSByte 

Byte 6, 7  

00h 

Not used 

  Heartbeat time: XXYYh (from 000Ah to FEFFh: 10ms to 65534 ms) 
  When the period is set to 0000h, the producer heartbeat function is disabled. 
 

                 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 

Summary of Contents for PKP-2200-SI

Page 1: ...PKP 2200 SI 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: ... 11 Keys state message 8 PKP 2200 SI 8 12 Set LED ON message 8 PKP 2200 SI 8 13 Set LED Blink message 9 PKP 2200 SI 9 14 Indicator LEDs brightness level 9 15 Backlight brightness level 9 SDO Messages 10 16 Object 2000h Digital input module keys states 10 PKP 2200 SI 10 17 Object 2001h Digital output module 11 a Set LED ON 11 PKP 2200 SI 11 b Read LED ON 11 PKP 2200 SI 11 18 Object 2002h Digital ou...

Page 3: ...Manufacturer Device Name 21 31 Object 1009h Manufacturer Hardware Revision 22 32 Object 100Ah Manufacturer Firmware Revision 22 33 Object 100Bh Model ID 23 34 Object 1018h Identity Data 23 35 Object 1400h Receive PDO Communication Parm 0 25 36 Object 1401h Receive PDO communication Parm 1 26 37 Object 1402h Receive PDO communication Parm 2 27 38 Object 1403h Receive PDO communication Parm 3 27 39 ...

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 PK P2200 SI PIN COLOUR FUNCTION 1 Blue CAN L 2 White CAN H 3 Black Negative battery 4 Red Vbatt 12 24V ...

Page 5: ...t active Object 2012h Key Brightness 3Fh Maximum Brightness Object 2003h Backlight Brightness 00h OFF Object 2003h Backlight Color Amber Object 2003h Startup LED Light Show Complete LED Sequence Object 2014h Periodic State Transmission Disable Object 1800h DEMO mode Disable Object 2100h Heartbeat Producer Disable Object 1017h Heartbeat Consumer Disable Object 1016h Boot up service Active Object 20...

Page 6: ...eypad CAN ID 00h start all the Keypads 15h start the Keypad with CAN ID 15h Byte 2 7 00h Not used Example Direction Identifier Format Message To Keypad 0 Std 01 15 5 Enter pre operational Identifier 00h Byte 0 80h Enter pre operational Byte 1 XXh Keypad CAN ID 00h enter all the Keypads 15h enter the Keypad with CAN ID 15h Byte 2 7 00h Not used Example Direction Identifier Format Message To Keypad ...

Page 7: ...ted with value 0 Example Direction Identifier Format Message From Keypad 715h Std 00h The keypad with CAN ID 15h has entered the NMT state Pre operational 9 Heartbeat message The heartbeat mechanism for a CANopen device is established by cyclically transmitting the heartbeat message by the heartbeat producer Refer to Object 1017h for more details 10 Sync message This mechanism modifies the PDO ope...

Page 8: ...ssed From Keypad 195 Std 01 00 00 00 XX Key 1 pressed From Keypad 195 Std 08 00 00 00 XX Key 4 pressed From Keypad 195 Std 05 00 00 00 XX Keys 1 and 3 pressed From Keypad 195 Std 0F 00 00 00 XX All Keys pressed 12 Set LED ON message The keypad must be activated see NMT Start CANopen Node message PKP 2200 SI Identifier 200h current CAN ID Default 215h Byte 0 0 0 0 0 R4 R3 R2 R1 Red LED Byte 1 0 0 0...

Page 9: ...en LED 2 blinks To Keypad 315 Std 00 00 08 00 00 00 00 00 Only blue LED 4 blinks To Keypad 315 Std 0F 0F 0F 00 00 00 00 00 All white LED blink To Keypad 215 315 Std Std 03 00 00 00 00 00 00 00 03 00 03 00 00 00 00 00 LED 1 and 2 blink green and red in alternate mode 14 Indicator LEDs brightness level The keypad must be activated see NMT Start CANopen Node message Identifier 400h current CAN ID Def...

Page 10: ...tes the switch is released PKP 2200 SI 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 To Keypad 615 Std 40 00 20 01 00 00 00 00 Keypad reply 595 std 4F 00 20 01 00 00 00 00 No Key pressed 4F 00 20 01 01 00 00 00 Key 1 pressed 4F 00 20 01 0...

Page 11: ... 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 01 00 00 00 Set blue LED 1 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 2200 SI Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 01h CAN Object 2001h Byte 2 20h Byte 3 XXh ...

Page 12: ... 2002h Byte 2 20h Byte 3 XXh XX Sub index 01h Red Led 02h Green Led 03h Blue Led Byte 4 YYh 0 0 0 0 L4 L3 L2 L1 LED position Byte 5 7 00h Not used Examples Direction Ident Format Message Data To Keypad 615 Std 2F 02 20 01 01 00 00 00 Set red LED 1 in blinking mode 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 in blinking mode Keypad reply 59...

Page 13: ...nks 19 Object 2003 Brightness Level a Set Indicator LED 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 01h Sub index Byte 4 YYh Intensity 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...

Page 14: ...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 violet...

Page 15: ...ghtness level Identifier 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 20 Object 2010h Baud rate setting Identifier 615h 6...

Page 16: ...nables or disables the boot up message sent by the keypad at power up to the CAN network 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 default Byte 5 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 2F 11 20 00 00 00 00 00 Boot up service no...

Page 17: ...h 00h Not active default 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 Device active on startup Keypad reply 595 Std 60 12 20 00 00 00 00 00 23 Object 2013h Set CANopen node ID Identifier 600h current CAN ID Default 615h Byte 0 2Fh Set Device Register Byte 1 13h CAN Object 2013h Byte 2 20h Byte 3 00h Sub index Byte 4 XXh...

Page 18: ...00 00 00 25 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 19: ...nt CAN ID Default 615h Byte 0 40h Read Device Register 23h Set device register Byte 1 16h CAN Object 1016h Byte 2 10h Byte 3 ZZh 00h Highest sub index supported read only 01h Sub index read write Byte 4 YYh YYh Heartbeat time in milliseconds LSByte Byte 5 XXh XXh Heartbeat time in milliseconds MSByte Byte 6 NNh Node to be monitored 01h 7Fh 01h default Byte 7 00h Reserved Heartbeat time XXYYh from ...

Page 20: ...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 Se...

Page 21: ... 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 B0191h 29 Object 1001h Error Register This object is not yet implemented in the device 30 Obje...

Page 22: ...ine Manufacturer Device Name BlinkMarine The first byte of the last data message replied is 17h 31 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...

Page 23: ...yte 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 32 32 30 30 PKP2200 To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad reply 595 Std 1B 53 49 00 00 00 00 00 SI Model ID PKP2200SI The first byte of the last data me...

Page 24: ...ax 39 02 33406697 www blinkmarine com info blinkgroup com PKP 2200 SI_CANopenUM_REV1 0 Keypad reply 595 Std 4F 18 10 00 04 00 00 00 4 To Keypad 615 Std 40 18 10 01 00 00 00 00 Keypad reply 595 Std 43 18 10 01 E2 03 00 00 000003E2h Blink Marine Vendor Id 000003E2h ...

Page 25: ...n Byte 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 Sy...

Page 26: ...te 5 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 Synchr...

Page 27: ... 02 14 02 00 00 00 00 Keypad reply 595 Std 4F 02 14 02 FE 00 00 00 FEh Receive PDO communication Parm 2 Number of mapped objects 2 COB id 0000 0400h NODE ID Transmission Type FEh 38 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 Byt...

Page 28: ...e 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 Keyp...

Page 29: ...0 00 00 Keypad reply 595 Std 43 01 16 01 08 02 02 20 2002 02 08 To Keypad 615 Std 40 01 16 03 00 00 00 00 Keypad reply 595 Std 43 01 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 41 Objec...

Page 30: ...e Identifier 615h 600h current CAN ID Byte 0 40h Read Device Register Byte 1 03h CAN Object 1603h Byte 2 16h Byte 3 00h Number of mapped objects 01h PDO Mapping Entry 1 Byte 4 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 03 16 00 00 00 00 00 Keypad reply 595 Std 4F 03 16 00 01 00 00 00 1 To Keypad 615 Std 40 03 16 01 00 00 00 00 Keypad reply 595 Std 43 03 1...

Page 31: ... cyclic every 240 th SYNC FEh event driven default Byte 5 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 00 18 00 00 00 00 00 Keypad reply 595 Std 4F 00 18 00 05 00 00 00 5 To Keypad 615 Std 40 00 18 01 00 00 00 00 Keypad reply 595 Std 43 00 18 01 95 01 00 00 0000 0195h To Keypad 615 Std 40 00 18 02 00 00 00 00 Keypad reply 595 Std 4F 00 18 02 FE 00 00 00 FEh...

Page 32: ... To Keypad 615 Std 2B 00 18 05 00 00 00 00 Switch off the periodic state transmission Keypad reply 595 Std 60 00 18 05 00 00 00 00 To Keypad 615 Std 2B 00 18 05 32 00 00 00 Set period 50ms Keypad reply 595 Std 60 00 18 05 00 00 00 00 To Keypad 615 Std 2B 00 18 05 F4 01 00 00 Set period 500ms Keypad reply 595 Std 60 00 18 05 00 00 00 00 44 Object 1A00h Transmit PDO Mapping Parameter Describes the m...

Page 33: ...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 46 Set CA...

Page 34: ...llow 5 Cyan 6 Magenta 7 White light blue 8 Amber 9 Yellow green 10 OFF Pressing key 2 you can increase LED and backlight brightness Pressing key 4 you can decrease LED and backlight brightness For the key 3 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 o...

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