FO
R
REFE
RE
NC
E O
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LY
Blink S.r.l.
Via
Montefeltro, 6
- 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - [email protected]
Example:
Direction
Identi er
Format
Message
Example:
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Direction
Identi er
Format
Message
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Example:
05
8. BOOT-UP SERVICE
7. STOP CANOPEN NODE
HEARTBEAT MESSAGE
To Keypad
0
Std
02 15
This service is used to signal that a NMT slave has entered the NMT state Pre-operational.
Identifier
700h + current CAN ID
Default 715h
Byte 0
00h
One data byte is transmitted with value 0.
From Keypad
715h
Std
00h
The keypad with CAN ID 15h has entered the NMT state Pre-operational.
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.
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