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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]

PKP-2400-LI_CANOpen_UM_REV1.1

•

PKP-2400-LI

Identifier

600h + current CAN ID

Default 615h

Byte 0

40h

Read Device Register

Byte 1

02h

CAN Object 6002h

Byte 2

60h

Byte 3

00h

Sub index

Byte 4,7

00h

Not Used

Examples:

Direction

Identifier Format Message

Data

To Keypad

615

Std

40 02 60 00 00 00 00 00

Keypad reply

595

Std

43 02 60 00 FF 00 00 00

Only red LED blink

To Keypad

615

Std

40 02 60 00 00 00 00 00

Keypad reply

595

Std

43 02 60 00 00 FF 00 00

Only green LED blinks

To Keypad

615

Std

40 02 60 00 00 00 00 00

Keypad reply

595

Std

43 02 60 00 00 01 00 00

Green LED #1 blink

17.

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

Byte 5

XXh

XXh: Heartbeat time in milliseconds

Byte 6, 7

00h

Not used

Heartbeat time: XXYYh minimum 000Ah maximum FFFFh milliseconds.

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

Содержание PKP-2200-LI

Страница 1: ...x 39 02 33406697 www blinkmarine com info blinkgroup com PKP 2400 LI_CANopen_UM_REV1 1 PKP 2400 LI 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: ... LED ON message 9 PKP 2200 LI 9 PKP 2400 LI 9 12 Set LED Blink message 10 PKP 2200 LI 10 PKP 2400 LI 10 SDO Messages 11 13 Object 6500h Command Module 11 a Set single LED state 01h 11 b Set LED brightness level 02h 11 c Set backlight brightness level 03h 12 d Set backlight color 04h 12 e Set device active on startup 10h 13 f Set device baud rate 11h 13 g Set periodic transmission 12h 13 h Set Boot...

Страница 3: ...cturer Device Name 23 20 Object 1009h Manufacturer Hardware Revision 24 21 Object 100Ah Manufacturer Firmware Revision 25 22 Object 100Bh Model ID 25 23 Object 1018h Identity Data 26 24 Object 1400h Receive PDO Communication Parm 0 28 25 Object 1401h Receive PDO communication Parm 1 28 26 Object 1600h Output Descriptions 29 27 Object 1800h Transmit PDO Communication Parm 0 30 28 Object 1A00h Input...

Страница 4: ... 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 2400 LI PIN COLOUR FUNCTION 1 Green CAN L 2 Yellow CAN H 3 Black Negative battery 4 Red Vbatt 12 24V ...

Страница 5: ...ble Object 6500h Command 7Ah Heartbeat Message Disable Object 1017h Boot up service Active Object 6500h Command 13h 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 CAN ID always equal to 00h 4 Start CANopen node keypad activatio...

Страница 6: ...de Identifier 00h Byte 0 XXh 02h Stop CANopen node 00h Stop CANopen node old 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 current ...

Страница 7: ...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 Example Direction Identifier Format Message Data From Keypad 715h Std 00h Boot up From Keypad 715h Std 7Fh Pre operational To keypad 00h Std ...

Страница 8: ...K3 K2 K1 Keys 1 on 0 off 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 04 00 00 00 XX Key 3 pressed From Keypad 195 Std 02 00 00 00 XX Key 2 pressed From Keypad 195 Std 05 00 00 00 XX Keys 1 and 3 pressed PKUP 2400 LI Identifier 180 current CAN ID Default 195h Byte 0 Keys from...

Страница 9: ...ED 1 2 3 on To Keypad 215 Std 33 03 00 00 00 00 00 00 White LED 1 2 on PKP 2400 LI Identifier 200 current CAN ID Default 215h Byte 0 R8 R7 R6 R5 R4 R3 R2 R1 Red LED Byte 1 G8 G7 G6 G5 G4 G3 G2 G1 Green LED Byte 2 B8 B7 B6 B5 B4 B3 B2 B1 Blue LED Byte 3 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...

Страница 10: ...00 00 Only white LED 1 blinks To Keypad 215 315 Std Std 80 00 00 00 00 00 00 00 88 00 00 00 00 00 00 00 Only LED 4 blinks red and green in alternate mode 2 PKP 2400 LI Identifier 300 current CAN ID Default 315h Byte 0 R8 R7 R6 R5 R4 R3 R2 R1 Red LED Byte 1 G8 G7 G6 G5 G4 G3 G2 G1 Green LED Byte 2 B8 B7 B6 B5 B4 B3 B2 B1 Blue LED Byte 3 7 00h Not used Examples Direction Identifier Format Message LE...

Страница 11: ...9h alt blink 0Ah RED GREEN blink 0Ah 0Ch AMBER RED blink 0Ch 0Eh GREEN AMBER blink 0Eh Byte 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 01 08 01 00 Switch on LED 8 red Keypad reply 595 Std 60 00 65 01 00 00 00 00 Switch off LED To Keypad 615 Std 23 00 65 01 01 09 04 00 Switch on LED 9 green Keypad reply 595 Std 60 00 65 01 00 09 07 00 Switch on LE...

Страница 12: ...ection Identifier Format Message Data To Keypad 615 Std 23 00 65 01 03 2F 00 00 Backlight brightness 75 Keypad reply 595 Std 60 00 65 01 00 00 00 00 c Set backlight color 04h Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte 3 01h Sub index Byte 4 04h Command Set backlight color Byte 5 XXh Color 01h red 02h green 03h blue 04h yel...

Страница 13: ...11h Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte 3 01h Sub index Byte 4 11h Command Set baud rate Byte 5 XXh 00h 125k default 01h 250k 02h 500k Byte 6 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 11 01 00 00 Baud rate 250k Keypad reply 595 Std 60 00 65 01 00 00 00 00 f Set per...

Страница 14: ...yte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte 3 01h Sub index Byte 4 70h Command Set CAN ID Byte 5 XXh New ID 00h 7Fh default 15h Byte 6 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 70 18 00 00 New Id 18 Keypad reply 595 Std 60 00 65 01 00 00 00 00 Keypad reply 718 Std 00 Boot up message with the new ID set The first repl...

Страница 15: ...Format Message Data To Keypad 615 Std 23 00 65 01 7B 00 00 00 Backlight off at startup Keypad reply 595 Std 60 00 65 01 00 00 00 00 k Set default startup backlight color 7Dh Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte 3 01h Sub index Byte 4 7Dh Command Set backlight color Byte 5 XXh Color 01h red 02h green 03h blue 04h yell...

Страница 16: ... Byte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte 3 01h Sub index Byte 4 7Ah Command Set DEMO mode Byte 5 XXh 01h on 00h off Byte 6 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 7A 01 00 00 Set demo mode on Keypad reply 595 Std 60 00 65 01 00 00 00 00 m Set startup LED show 50h Identifier 600h current CAN ID Default 615h Byt...

Страница 17: ...y 4 pressed 43 00 60 00 03 00 00 00 Key 1 and 2 pressed 43 00 60 00 0A 00 00 00 Key 2 and 4 pressed 43 00 60 00 07 00 00 00 Key 1 2 and 3 pressed 43 00 60 00 0F 00 00 00 All keys pressed PKP 2400 LI Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 00h CAN Object 6000h Byte 2 60h Byte 3 00h Sub index Byte 4 7 00h Not used Examples Direction Identifier Format Messag...

Страница 18: ... 60 00 00 00 00 00 Set all LED off Keypad reply 595 Std 60 01 60 00 00 00 00 00 To Keypad 615 Std 23 01 60 00 80 00 00 00 Set green LED 4 ON Keypad reply 595 Std 60 01 60 00 00 00 00 00 To Keypad 615 Std 23 01 60 00 04 00 00 00 Set red LED 3 ON Keypad reply 595 Std 60 01 60 00 00 00 00 00 PKP 2400 LI Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 01h CAN Object 6...

Страница 19: ... ON To Keypad 615 Std 40 01 60 00 00 00 00 00 Keypad reply 595 Std 43 01 60 00 F0 00 00 00 All green LED ON To Keypad 615 Std 40 01 60 00 00 00 00 00 Keypad reply 595 Std 43 01 60 00 00 0F 00 00 All blue LED ON PKP 2400 LI Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 01h CAN Object 6001h Byte 2 60h Byte 3 00h Sub index Byte 4 7 00h Not Used Examples Direction ...

Страница 20: ...ALT blink a Set LED blink PKP 2200 LI Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 02h CAN Object 6002h Byte 2 60h Byte 3 00h Sub index Byte 4 XYh X G4 G3 G2 G1 Green LED Y R4 R3 R2 R1 Red LED Byte 5 0Zh Z B4 B3 B2 B1 Blue LED Byte 6 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 23 02 60 00 00 00 00 00 No LED blinks Keypad r...

Страница 21: ...0 00 00 00 To Keypad 615 Std 23 02 60 00 01 00 00 00 Only red LED 1 blinks Keypad reply 595 Std 60 02 60 00 00 00 00 00 To Keypad 615 Std 23 02 60 00 00 FF 00 00 All green LED blink Keypad reply 595 Std 60 02 60 00 00 00 00 00 b Read LED blink PKP 2200 LI Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 02h CAN Object 6002h Byte 2 60h Byte 3 00h Sub index Byte 4 7...

Страница 22: ...he 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 Byte 5 XXh XXh Heartbeat time in milliseconds Byte 6 7 00h Not used Heartbeat time XXYYh minimum 000Ah maximu...

Страница 23: ...Byte 0 40h 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 Key...

Страница 24: ...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 09 10 00 00 00 00 00 Keypad reply 595 Std 41 09 10 00 0A 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad reply 595 Std 00 52 65 76 2...

Страница 25: ...fier Format Message Data To Keypad 615 Std 40 0A 10 00 00 00 00 00 Keypad reply 595 Std 41 0A 10 00 0A 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad reply 595 Std 00 52 65 76 20 31 2E 30 Rev 1 0 To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad reply 595 Std 19 00 52 00 00 00 00 00 R Manufacturer firmware revision Rev 1 0R The first byte of the last data message replied is 19h 22 Object...

Страница 26: ...dentity Data 1 Number of mapped objects Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 18h CAN Object 1018h Byte 2 10h Byte 3 00h Sub index Byte 4 7 00h Not used Example 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 Number of mapped objects 4 2 Vendor ID Identifier 600h current C...

Страница 27: ... 0 40h Read Device Register Byte 1 18h CAN Object 1018h Byte 2 10h Byte 3 03h Sub index Byte 4 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 18 10 03 00 00 00 00 Keypad reply 595 Std 43 18 10 03 10 16 12 00 00 10 16 12 Byte 0 App Revision Byte 1 Com Lib Rev Byte 2 HW Lib Rev Revision Number App revision 10h Com lib revision 16h HW lib revision 12h 5 Firmware ...

Страница 28: ...03 00 00 00 00 Keypad reply 595 Std 4B 00 14 03 00 00 00 00 0000 0000h Receive PDO communication Parm 0 Number of mapped objects 2 COB id 0000 0200h Inhibit Time 0000 0000h 25 Object 1401h Receive PDO communication Parm 1 Describes the receive parameters for the LED Blink States PDO message Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 01h CAN Object 1401h Byte...

Страница 29: ...er of mapped objects 01h Set LED outputs 02h Set LED blink Byte 4 7 00h Not used Example 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 02 00 00 00 2 To Keypad 615 Std 40 00 16 01 00 00 00 00 Keypad reply 595 Std 43 00 16 01 20 00 01 60 6001 00 20h To Keypad 615 Std 40 00 16 02 00 00 00 00 Keypad reply 595 Std 43 00 16 02 20 00 0...

Страница 30: ...h Event Timer Writeable Int Value ms Byte 4 7 00h Not used Example 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 02 00 00 00 2 To Keypad 615 Std 40 00 18 01 00 00 00 00 Keypad reply 595 Std 4B 00 18 01 80 01 00 00 180h To Keypad 615 Std 40 00 18 02 00 00 00 00 Keypad reply 595 Std 4B 00 18 02 FD 00 00 00 Async RTR only To Keypad...

Страница 31: ...ister Byte 1 00h CAN Object 1A00h Byte 2 1Ah Byte 3 XXh 00h Number of mapped objects 01h Switch state Byte 4 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 00 1A 00 00 00 00 00 Keypad reply 595 Std 4F 00 1A 00 01 00 00 00 1 To Keypad 615 Std 40 00 1A 01 00 00 00 00 Keypad reply 595 Std 43 00 1A 01 20 00 00 60 6000 00 20h Inputs description Number of mapped obj...

Страница 32: ...0 00 2 To Keypad 615 Std 40 00 61 01 00 00 00 00 Keypad reply 595 Std 43 00 61 01 00 00 00 00 00 00 00 00h To Keypad 615 Std 40 00 61 02 00 00 00 00 Keypad reply 595 Std 40 00 61 02 08 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad reply 595 Std 00 50 4B 55 32 34 30 30 PKU2400 To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad reply 595 Std 1D 00 00 00 00 00 00 00 Number of mapped objects...

Страница 33: ...r Format Message Data To Keypad 615 Std 40 01 62 01 00 00 00 00 Keypad reply 595 Std 4F 01 62 01 3F 00 00 00 3Fh default To Keypad 615 Std 40 01 62 02 00 00 00 00 Keypad reply 595 Std 4F 01 62 02 00 00 00 00 0h default 2 Set brightness level Identifier 600h current CAN ID Default 615h Byte 0 2Fh Set Device Register Byte 1 01h CAN Object 6201h Byte 2 62h Byte 3 XXh 01h key LED brightness level 02h ...

Страница 34: ...Example Direction Identifier Format Message Data To Keypad 615 Std 41 00 63 00 00 00 00 00 Keypad reply 595 Std 41 00 63 00 06 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad reply 595 Std 00 30 30 30 30 30 30 00 000000 To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad reply 595 Std 1D 00 00 00 00 00 00 00 Serial number ascii 000000 32 Object 6301h Bootloader presence Identifier 600h curr...

Страница 35: ...00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 02 63 00 00 00 00 00 Keypad reply 595 Std 4F 02 63 00 02 00 00 00 2 To Keypad 615 Std 40 02 63 01 00 00 00 00 Keypad reply 595 Std 4F 02 63 01 04 00 00 00 04h To Keypad 615 Std 40 02 63 02 00 00 00 00 Keypad reply 595 Std 4F 02 63 02 00 00 00 00 0h To Keypad 615 Std 40 02 63 03 00 00 00 00 Keypad reply 595 Std 4F 02...

Страница 36: ...0 2600 Entering this mode you turn on backlight red for the key 1 each time you press the button you can change the color of backlight with this sequence 1 Red 2 Green 3 Blue 4 Yellow 5 Cyan 6 Magenta 7 White 8 Amber 9 Yellow green 33 Revision History Date Manual Revision Comment Related SW version xx xx xxxx 1 0 First release x x 09 02 2018 1 1 Second release Updated user s manual with the comman...

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