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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]

PK-1400_CANOpen_UM_REV1.3

32.

Object 1018h: Identity Data

Identifier

615h (600h + current CAN ID)

Byte 0

40h

Read Device Register

Byte 1

18h

CAN Object 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

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

33.

Object 1400h: Receive PDO communication Parm 0

Describes the Receive Parameters for the red 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

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

To Keypad

615

Std

40 00 14 01 00 00 00 00

Keypad reply

595

Std

43 00 14 01 15 02 00 40

4000 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

Receive PDO communication Parm 0:

•

Number of mapped objects: 2;

•

COB id: 200h + NODE ID;

•

Transmission Type: FEh.

Содержание PKP-1400

Страница 1: ...3 Fax 39 02 33406697 www blinkmarine com info blinkgroup com PK 1400_CANOpen_UM_REV1 3 PKP 1400 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 ...

Страница 2: ...open node 6 8 Boot up service 7 PDO messages 7 9 Keys state message 7 PK 1400 7 10 Set LED ON message 8 PK 1400 RED 8 PK 1400 GREEN 8 11 Indicator LEDs brightness level 9 12 Backlight brightness level 9 SDO Messages 10 13 Object 2000h Digital input module keys states 10 PK 1400 10 14 Object 2001h Digital output module 11 a Set LED ON 11 PK 1400 11 b Read LED ON 12 PK 1400 12 15 Object 2002h Digita...

Страница 3: ...8h Manufacturer Device Name 23 29 Object 1009h Manufacturer Hardware Revision 23 30 Object 100Ah Manufacturer Firmware Revision 24 31 Object 100Bh Model ID 24 32 Object 1018h Identity Data 25 33 Object 1400h Receive PDO communication Parm 0 25 34 Object 1401h Receive PDO communication Parm 1 26 35 Object 1402h Receive PDO communication Parm 2 26 36 Object 1403h Receive PDO communication Parm 3 27 ...

Страница 4: ...w 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 PowerKey front view PK 1400 PIN COLOUR FUNCTION 1 Blue CAN L 2 White CAN H 3 Black Negative battery 4 Red Vbatt 12 24V ...

Страница 5: ...D Sequence Object 2014h Periodic Message Transmission Disable Object 1800h DEMO mode Disable Object 2100h 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 All CANopen devices are regarded as NMT slaves NMT messages have...

Страница 6: ...mat Message To Keypad 0 Std 80 15 6 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 0 Std 81 15 7 Stop CANopen node Identifier 00h Byte 0 XXh 02h Stop CANopen node 00h Stop CANopen node old sw compatibility Byte 1 YYh Ke...

Страница 7: ...ortant functions There are no answers for this kind of messages Each PDO message has an equivalent Service Data Object message 9 Keys state message The keypad must be activated see NMT Start CANopen Node message PK 1400 Identifier 180 current CAN ID Default 195h Byte 0 Keys from 1 to 8 K8 K7 K6 K5 K4 K3 K2 K1 Keys 1 pressed 0 released Byte 1 Keys from 9 to 14 0 0 K14 K13 K12 K11 K10 K9 Keys 1 pres...

Страница 8: ... Only red LED 14 ON To Keypad 215 Std 00 00 01 00 00 00 00 00 Only red LED 17 ON To Keypad 215 Std 00 00 00 33 00 00 00 00 Red LED 25 26 29 30 ON To Keypad 215 Std 00 00 00 00 44 00 00 00 Red LED 35 and 39 ON PK 1400 GREEN Identifier 300 current CAN ID Default 315h Byte 0 G8 G7 G6 G5 G4 G3 G2 G1 Green LED Byte 1 G16 G15 G14 G13 G12 G11 G10 G9 Green LED Byte 2 G24 G23 G22 G21 G20 G19 G18 G17 Green ...

Страница 9: ... used Examples Direction Identifier Format Message LED To Keypad 415 Std 08 00 00 00 00 00 00 00 Brightness 12 5 To Keypad 415 Std 10 00 00 00 00 00 00 00 Brightness 25 12 Backlight brightness level The keypad must be activated see NMT Start CANopen Node message Identifier 500 current CAN ID Default 515h Byte 0 XXh Intensity 00h 3Fhà 0 100 Byte 1 7 00h Not used Examples Direction Identifier Format...

Страница 10: ... switch state is reported in the Keypad reply message from byte 4 to byte 5 The mapping is the same of the PDO Key state message PK 1400 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 ...

Страница 11: ...L32 L31 L30 L29 L28 L27 L26 L25 Examples Direction Identifier Format Message Data To Keypad 615 Std 23 01 20 01 04 10 20 80 Set red LED 3 13 22 and 31 ON Keypad reply 595 Std 60 01 20 01 00 00 00 00 To Keypad 615 Std 23 01 20 02 80 20 10 01 Set green LED 8 14 21 and 25 ON Keypad reply 595 Std 60 01 20 02 00 00 00 00 LED From L33 to L40 Identifier 600h current CAN ID Default 615h Byte 0 2Fh Set Dev...

Страница 12: ...D from L33 to L40 Byte 4 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 01 20 01 00 00 00 00 Read red LED from 1 to 32 Keypad reply 595 Std 43 01 20 01 FF FF FF FF All red LED from 1 to 32 are ON To Keypad 615 Std 40 01 20 02 00 00 00 00 Read green LED from 1 to 32 Keypad reply 595 Std 43 01 20 02 0A 0B 0C 00 Green LED 2 4 9 10 12 19 20 are ON To Keypad 615 S...

Страница 13: ...6 XXh L24 L23 L22 L21 L20 L19 L18 L17 Byte 7 XXh L32 L31 L30 L29 L28 L27 L26 L25 Examples Direction Identifier Format Message Data To Keypad 615 Std 23 02 20 01 04 00 00 00 Set red LED 3 blink Keypad reply 595 Std 60 02 20 01 00 00 00 00 To Keypad 615 Std 23 02 20 02 00 20 00 00 Set green LED 14 blink Keypad reply 595 Std 60 02 20 02 00 00 00 00 To Keypad 615 Std 23 02 20 01 00 00 88 00 Set red LE...

Страница 14: ... 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 blinking from 1 to 32 Keypad reply 595 Std 43 02 20 01 3F 00 00 00 Red LED from 1 to 6 are blinking To Keypad 615 Std 40 02 20 02 00 00 00 00 Read green LED blinking from 1 to 32 Keypad reply 595 Std 43 02 20 02 03 00 00 00 Green LED 1 2 are blinking To Keypad 615 Std 40 02 20...

Страница 15: ... 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 Example Direction Identifier Format Message Data To Keypad 615 Std 2F 03 20 02 10 00 00 00 Backlight brightness 25 Keypad reply 595 Std 60 03 20 02 00 00 00 00 c Backlight color Identifier 615h 600h current CAN ID Byte 0 2Fh ...

Страница 16: ...95 Std 60 03 20 04 00 00 00 00 e Set startup Indicator LEDs 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 05h Sub index Byte 4 XXh Intensity 00h 3Fhà min 100 Byte 5 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 2F 03 20 05 10 00 00 00 Brightness 25 Keypad reply 595 Std 60 03 20 0...

Страница 17: ... used Example Direction Identifier Format Message Data To Keypad 615 Std 2F 10 20 00 03 00 00 00 Baud rate 250k Keypad reply 595 Std 60 10 20 00 00 00 00 00 18 Object 2011h Set Boot up service Object 2011h message enables 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...

Страница 18: ...Xh 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 Set device active on startup Keypad reply 595 Std 60 12 20 00 00 00 00 00 20 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 XX...

Страница 19: ...a To Keypad 615 Std 2F 14 20 00 00 00 00 00 Startup LED show not active Keypad reply 595 Std 60 14 20 00 00 00 00 00 22 Object 2015h LED Power supply This feature enables or disables the power supply of the LEDs When the power supply is disabled the LED are not accessible and the keypad enters low power mode Identifier 600h current CAN ID Default 615h Byte 0 2Fh Set Device Register Byte 1 15h CAN ...

Страница 20: ...entifier 600h current CAN ID Default 615h Byte 0 2Fh Set Device Register Byte 1 00h CAN Object 2100 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 Keypad 615 Std 2F 00 21 00 01 00 00 00 Set DEMO mode active Keypad reply 595 Std 60 00 21 00 00 00 00 00 24 Object 2BFFh BUS setting Identifier 600h current ...

Страница 21: ...0 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 ...

Страница 22: ...r 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 191h Generic I O module I O functionality Digital input implemented Digital output implemented Analogue input not implemented Analogue output not implemented 27 Object 1001h Error Registe...

Страница 23: ... Example 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...

Страница 24: ... Keypad reply 595 Std 43 0A 10 00 30 2E 32 56 V2 0 Manufacturer Firmware Revision V2 0 31 Object 100Bh Model ID Identifier 600h current CAN ID 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 Example Direction Ident...

Страница 25: ... 00 00 000003E2h Blink Marine Vendor Id 000003E2h 33 Object 1400h Receive PDO communication Parm 0 Describes the Receive Parameters for the red 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...

Страница 26: ...td 40 01 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 300h 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...

Страница 27: ... Std 4F 03 14 02 FE 00 00 00 FEh Receive PDO communication Parm 3 Number of mapped objects 2 COB id 500h NODE ID Transmission Type FEh 37 Object 1600h Receive PDO mapping Parameter 0 Describes the mapping of red LED state PDO Message Identifier 615h 600h current CAN ID Byte 0 40h Read Device Register Byte 1 00h CAN Object 1600h Byte 2 16h Byte 3 00h Number of mapped objects 01h PDO Mapping Entry 1...

Страница 28: ...e PDO mapping Parameter 1 Number of mapped objects 2 Set LED green 1 32 Object 2001h Sub index 02h Length 20h Set LED green 33 40 Object 2001h Sub index 05h Length 08h 39 Object 1602h Receive PDO mapping Parameter 2 Describes the mapping of red LED blink state 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 Number of...

Страница 29: ... 03 16 02 00 00 00 00 Keypad reply 595 Std 43 03 16 02 08 05 02 20 2002 05 08 Receive PDO mapping Parameter 3 Number of mapped objects 3 Set LED green blink 1 32 Object 2002h Sub index 02h Length 20h Set LED green blink 33 40 Object 2002h Sub index 05h Length 08h 41 Object 1604h Receive PDO mapping Parameter 4 Describes the mapping of Indicator LED brightness PDO Message Identifier 615h 600h curre...

Страница 30: ...apped objects 1 Set Backlight brightness Object 2003h Sub index 02h Length 08h 43 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 Highest sub index supported 01h COB Id 02h Transmission Type 05h Event Timer Byte 4 7 00h Not used Example Direction Identifier Format Message Data To ...

Страница 31: ...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 mapping of KEY state PDO Message Identifier 615h 600h current CAN ID Byte 0 40h Read Device Register...

Страница 32: ...egister 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 CAN...

Страница 33: ...red then green color 03 and at the end color 04 2 Turning on off each single key LED with the possibility to change color pressing key 1 3 Pause step 2 4 Return to the starting demo mode state If you press the other keys you have no effect 47 Revision history Date Manual Revision Comment Related SW version 20 06 2016 1 0 Preliminary 12 07 2016 1 1 Added PDO 400h and 500h Updated examples for the o...

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