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PKP3500SI_CANopenUM_REV1.0

www.blinkmarine.com

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.

Start CANopen node (keypad activation message)

Identifier

00h

Byte 0

01h

Start CANopen node

Byte 1

XXh

Keypad 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

Std

01 15

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

Std

80 15

Reset CANopen node

Identifier

00h

Byte 0

81h

Reset CANopen node

Byte 1

XXh

Keypad CAN ID
00h: reset all the keypads

15h: reset the keypad with CAN ID = 15h.

Byte 2, 7

00h

Not used

Example:

Direction

Identifier

Format

Message

To Keypad

Std

81 15

Содержание CANopen PKP3500SI

Страница 1: ... PKP 3500SI 7 12 Set LED ON message 8 PKP 3500SI 8 13 Set LED Blink message 9 PKP 3500SI 9 14 LED indicators brightness level 9 15 Backlight brightness level 9 SDO Messages 10 16 Object 2000h Digital input module keys states 10 PKP 3500SI 10 17 Object 2001h Digital output module 11 a Set LED ON 11 PKP 3500SI 11 b Read LED ON 11 PKP 3500SI 11 18 Object 2002h Digital output module 12 a Set LED blink...

Страница 2: ...ect 1009h Manufacturer Hardware Revision 25 32 Object 100Ah Manufacturer Firmware Revision 25 33 Object 100Bh Model ID 26 34 Object 1011h Restore default parameters 26 35 Object 1018h Identity Data 27 36 Object 1400h Receive PDO Communication Parm 0 28 37 Object 1401h Receive PDO communication Parm 1 29 38 Object 1402h Receive PDO communication Parm 2 30 39 Object 1403h Receive PDO communication P...

Страница 3: ...pliance 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 PKP3500SI PIN COLOUR FUNCTION 1 Blue CAN L 2 White CAN H 3 Black Negative battery 4 Red Vbatt 12 24V ...

Страница 4: ...t backlight brightness 00h OFF Object 2003h Default backlight color Amber Object 2003h Startup LED Light Show Complete LED Sequence Object 2014h Periodic key state transmission Disabled Object 1800h DEMO mode Disabled Object 2100h Heartbeat producer Disabled Object 1017h Heartbeat consumer Disabled Object 1016h Boot up service Active Object 2011h RPDO 200h transmission type Event driven Object 140...

Страница 5: ... 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 0 Std 80 15 6 Reset CANopen node Identifier 00h ...

Страница 6: ...rmat 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 operation in the following way both the RPDOs and T...

Страница 7: ... 00h Not used Byte 4 XXh Tick Timer Examples Direction Identifier Format Message Key state From Keypad 195 Std 00 00 00 00 XX Any Key released 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 00 01 00 00 XX Only Key 9 pressed From Keypad 195 Std 11 00 00 00 XX Keys 1 and 5 pressed From keypad 195 Std 00 41 00 00 XX Keys...

Страница 8: ...es 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 00 50 00 00 00 00 00 00 Red LED 14 and 15 ON To Keypad 215 Std 00 00 0F 00 00 00 00 00 Green LED 1 2 3 4 ON To Keypad 215 Std 00 00 00 70 00 00 00 00 Green LED 13 14 15 ON To Keypad 215 Std 00 00 00 00 11 00 00 00 Bl...

Страница 9: ...o Keypad 315 Std 00 00 00 60 00 00 00 00 Green LED 14 and 15 blink To Keypad 315 Std 00 00 00 00 09 00 00 00 Blue LED 1 and 4 blink To Keypad 315 Std 00 00 00 00 00 01 00 00 Blue LED 9 blinks To Keypad 215 315 Std Std FF 7F 00 00 00 00 00 00 FF 7F 00 00 FF 7F 00 00 All LED blink red and blue in alternate mode 14 LED indicators brightness level The keypad must be activated see NMT Start CANopen Nod...

Страница 10: ... 20 01 00 00 00 00 Read keys state Keypad reply 595 Std 4B 00 20 01 00 00 00 00 No Key pressed 4B 00 20 01 01 00 00 00 Key 1 pressed 4B 00 20 01 02 00 00 00 Key 2 pressed 4B 00 20 01 04 00 00 00 Key 3 pressed 4B 00 20 01 08 00 00 00 Key 4 pressed 4B 00 20 01 10 00 00 00 Key 5 pressed 4B 00 20 01 20 00 00 00 Key 6 pressed 4B 00 20 01 40 00 00 00 Key 7 pressed 4B 00 20 01 80 00 00 00 Key 8 pressed 4...

Страница 11: ...ED 4 ON Keypad reply 595 Std 60 01 20 01 00 00 00 00 Command accepted To Keypad 615 Std 2B 01 20 03 00 40 00 00 Set blue LED 15 ON Keypad reply 595 Std 60 01 20 03 00 00 00 00 Command accepted b Read LED ON The LED have the same mapping of Set LED ON message PKP 3500SI 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 XX S...

Страница 12: ...ssage Data To Keypad 615 Std 2B 02 20 01 01 00 00 00 Set red LED 1 blink Keypad reply 595 Std 60 02 20 01 00 00 00 00 Command accepted To Keypad 615 Std 2B 02 20 03 00 01 00 00 Set blue LED 9 blink Keypad reply 595 Std 60 02 20 03 00 00 00 00 Command accepted b Read LED blink PKP 3500SI Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 02h CAN Object 2002h Byte 2 2...

Страница 13: ... 00 Command accepted To Keypad 615 Std 40 03 20 01 00 00 00 00 Read brightness level set Keypad reply 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 3Fh 0 100 Byte 5 7 00h Not used Read message Identifier 615...

Страница 14: ...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 color d Default backlight color 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 04h Sub index Byte 4 XXh Color 01h red 02h green 03h blue 04h yellow 05h cyan 06h violet 07h white light blue 08 amber orang...

Страница 15: ... To Keypad 615 Std 40 03 20 05 00 00 00 00 Read brightness level set Keypad reply 595 Std 4F 03 20 05 2D 00 00 00 Brightness 75 f Default 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 06h Sub index Byte 4 XXh Intensity 00h 3Fh 0 100 Byte 5 7 00h Not used Read message Identifier 615h 600h curre...

Страница 16: ...Reserved force to 125k 06h 50k 07h 20k Byte 5 7 00h Not used Read message Identifier 615h 600h current CAN ID Byte 0 40h Read Device Register Byte 1 10h CAN Object 2010h 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 10 20 00 02 00 00 00 Baud rate 500k Keypad reply 595 Std 60 10 20 00 00 00 00 00 Command accepted To Keypa...

Страница 17: ...dex 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 Read Device Register Byte 1 11h CAN Object 2011h 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 11 20 00 00 00 00 00 Boot up service not active Keypad reply 595 Std 60 11 20 00 00 00 00 00 Com...

Страница 18: ... XXh 00h Not active 01h Active Byte 5 7 00h Not used Read message Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 12h CAN Object 2012h 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 accepte...

Страница 19: ... Not used Read message Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 13h CAN Object 2013h 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 13 20 00 17 00 00 00 CANopen node ID set to 17h Keypad reply 597 Std 60 13 20 00 00 00 00 00 Command accepted To Keypad 617 Std 40 13 20 00 00 00 00 ...

Страница 20: ...sh 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 Example Direction Identifier Format Message Data To Keypad 615 Std 2F 14 20 00 00 00 00 00 Startup LED show disabled Keypad reply 595 Std 60 14 20 00 00 00 00 00 Command accepted To Keypad 615 Std 40 14 2...

Страница 21: ...nnect the keypad after the sending the message to enter this mode To exit the Demo mode send the Disable Demo mode command or another command message Identifier 600h current CAN ID Default 615h Byte 0 2Fh Set Device Register Byte 1 00h CAN Object 2100h Byte 2 21h 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 Keyp...

Страница 22: ... 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 000Ah to FFFFh from 10 to 65535 milliseconds When the period is set to 0000h t...

Страница 23: ...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 Command accepted 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 Command accepted Heartbeat message The heartbeat mechanism for a CANopen device is established by transmitting cyclically the heartbeat message by the heartbeat pr...

Страница 24: ...0h Read Device Register Byte 1 08h CAN Object 1008h 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 Next Byte Byte 1 7 00h Not used 2 additional byte Identifier 600h current CAN ID Default 615h Byte 0 70h Read Device Register Next Byte Byte 1 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 ...

Страница 25: ...To Keypad 615 Std 40 09 10 00 00 00 00 00 Keypad reply 595 Std 43 09 10 00 56 5F 30 30 V_00 Manufacturer Hardware Revision V_00 32 Object 100Ah Manufacturer Firmware Revision Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 0Ah CAN Object 100Ah Byte 2 10h Byte 3 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 0A 10 00 00 00 00 ...

Страница 26: ...yte of the last data message replied is 1Bh 34 Object 1011h Restore default parameters With this object the default values of parameters according to the communication profile device profile and application profile are restored This procedure shall only be executed when the specific signature load is written to the sub index 01h When the message shown in the following table is transmitted the defa...

Страница 27: ...1018h Byte 2 10h Byte 3 00h Number of mapped objects 01h Vendor Id 04h Serial number Byte 4 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 18 10 00 00 00 00 00 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 ...

Страница 28: ...ifier 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 Synchronous RPDO 0 Keypad reply 595 Std 60 00 14 0...

Страница 29: ...r 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 RPDO 1 Keypad reply 595 Std 60 01 14 02 00...

Страница 30: ... 00 00 FEh Receive PDO communication Parm 2 Number of mapped objects 2 COB id 0000 0400h NODE ID Transmission Type event driven 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 Highest sub index supported 01h COB Id 02h ...

Страница 31: ... 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 10 01 01 20 2001 01 10 To Keypad 615 Std 40 00 16 02 00 00 00 00 Keypad reply 595 Std 43 00 16 02 10 02 01 20 2001 02 10 To Keypad 615 Std 40 00 16 03 00 00 00 00 Keypad reply 595 Std 43 00 16 03 10 03 01 20 2001 03...

Страница 32: ...t Message Data To Keypad 615 Std 40 01 16 00 00 00 00 00 Keypad reply 595 Std 4F 01 16 00 03 00 00 00 3 To Keypad 615 Std 40 01 16 01 00 00 00 00 Keypad reply 595 Std 43 01 16 01 10 01 02 20 2002 01 10 To Keypad 615 Std 40 01 16 02 00 00 00 00 Keypad reply 595 Std 43 01 16 02 10 02 02 20 2002 02 10 To Keypad 615 Std 40 01 16 03 00 00 00 00 Keypad reply 595 Std 43 01 16 03 10 03 02 20 2002 03 10 Re...

Страница 33: ...01 08 Receive PDO mapping Parameter 2 Number of mapped objects 1 Set Indicator LED brightness Object 2003h Sub index 01h Length 08h 43 Object 1603h Receive PDO mapping Parameter 3 Describes the mapping of backlight brightness PDO Message 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 Ent...

Страница 34: ...d 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 event driven type To Keypad 615 Std 40 00 18 05 00 00 00 00 Keypad reply 595 Std 4B 00 18 05 00 00 00 00 0000h Periodic transmissi...

Страница 35: ...ypad 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 Command accepted 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 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 By...

Страница 36: ...at 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 replied is 1Dh 47 Set CAN protocol This set ...

Страница 37: ...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 and the color of the backlight by pressing key 5 3 Alternate blinking of LED keys nu...

Страница 38: ...www blinkmarine com PKP3500SI_CANopenUM_REV1 0 38 38 48 Revision history Date Manual Revision Comment Related SW version 01 03 2021 1 0 First release x x ...

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