Blink Marine PowerTrack CANopen, Руководство пользователя

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www.blinkmarine.com PowerTrackCANopenUM_REV1.4
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26. Object 1A00h Transmit PDO Mapping Parameter
Describes the mapping of KEY and Encoder state PDO Message.
Identifier 615h (600h + current CAN ID)
Byte 0 40h Read Device Register
Byte 1 00h CAN Object 1A00h
Byte 2 1Ah
Byte 3
00h Number of mapped objects
01h PDO Mapping Entry 1
02h PDO Mapping Entry 2
03h PDO Mapping Entry 3
Byte 4,7 00h Not used
Examples:
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 03 00 00 00 3
To Keypad 615 Std 40 00 1A 01 00 00 00 00
Keypad Reply 595 Std 43 00 1A 01 08 01 00 20 2000 01 08h
Transmit PDO Mapping Parameter:

Number of mapped objects: 3;

Switch state: Object 2000h, Sub index 01h, Length 08h;

Encoder direction counter: Object 2000h, Sub index 02h, Length 08h.

Encoder tick counter: Object 2000h, Sub index 03h, Length 10h.
27. Object 2000h: Key and Encoder state
a) Sub 1 – Key State
This module contains all the button state information. A one indicates the button is pressed; a zero
indicates the button is not pressed. The keypad must be enabled, see 4. Start CANopen node (keypad
activation message).
Identifier 615h (600h + current CAN ID)
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
Example:
Direction Identifier Format Message Data
To Keypad 615 Std 40 00 20 00 00 00 00 00
Keypad
reply
595 std
4F 00 20 00 00 00 00 00 No key pressed
4F 00 20 00 01 00 00 00 Key K1 pressed
4F 00 20 00 02 00 00 00 Key K2 pressed
4F 00 20 00 04 00 00 00 Key K3 pressed
4F 00 20 00 08 00 00 00 Key K4 pressed
4F 00 20 00 10 00 00 00 Key K5 pressed
4F 00 20 00 20 00 00 00 Key K6 pressed
4F 00 20 00 40 00 00 00 Key K7 pressed
4F 00 20 00 41 00 00 00 Keys K7 and K1 pressed
4F 00 20 00 07 00 00 00 Keys K1, K2 and K3
pressed
4F 00 20 00 7F 00 00 00 All keys pressed