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PowerTrackCANopenUM_REV1.4

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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.

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 PowerTrack CANopen

Страница 1: ...evice Name 9 16 Object 1009h Manufacturer Hardware Revision 10 17 Object 100Ah Manufacturer Firmware Revision 10 18 Object 1017h Producer heartbeat time 11 Heartbeat message 11 19 Object 1018h Identity Data 12 20 Object 1400h Receive PDO Communication Parm 0 12 21 Object 1401h Receive PDO communication Parm 1 13 22 Object 1402h Receive PDO communication Parm 2 13 23 Object 1600h Receive PDO mappin...

Страница 2: ...b 6 RING LED blue blink state 24 30 Object 2003 Brightness Level 25 a Set Indicator LEDs brightness level 25 b Set green LEDs backlight brightness level 25 c Set red LEDs backlight brightness level 25 d Set blue LEDs backlight brightness level 26 e Set startup Indicator LEDs brightness level 26 f Set startup green LEDs backlight brightness level 26 g Set startup red LEDs backlight brightness level...

Страница 3: ... settings Setting Default state or level How to change Baud Rate 125 kbit s Object 2010h CANopen Node ID 15h Object 2013h CANopen Node State Stop NMT message start CANopen node LED Indicator Brightness 09h Maximum Brightness 0Fh Object 2003h Backlight Brightness 00h OFF Object 2003h Periodic Message Transmission Disable Object 1800h Heartbeat Message Disable Object 1017h Boot up service Active Obj...

Страница 4: ...ll the keypads 15h start 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 CANo...

Страница 5: ...h 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 CAN ID Default 715h Byte 0 00h One data byte is transmitted with value 0 Example Direction Identifier Format Message From Keypad 715h Std 00h The keypad with CAN ID 15h has entered the NMT st...

Страница 6: ...K7 K6 K5 K4 K3 K2 K1 Keys 1 on 0 off Byte 1 Encoder Direction counter X Y Y Y Y Y Y Yh X 0 clockwise X 1 counterclockwise YYYYYYY number of Ticks 1 Turn 360 rotation 20 Ticks Byte 2 3 Encoder Tick counter ZZ ZZh Byte 4 7 00h Not used Examples Direction Identifier Format Data Key and Encoder state From Keypad 195 Std 00 00 00 00 00 00 00 00 No key pressed No knob turn From Keypad 195 Std 01 00 00 0...

Страница 7: ...2 and sub 3 Refer to the applicable objects for more details 11 Set LED blink message Note if the blink message is sent when the LED is already on the LED blinks in alternate mode Identifier 315h 300 current CAN ID Default 315h Byte 0 LG8 LG7 LG6 LG5 LG4 LG3 LG2 LG1 KEY LED green Byte 1 LG16 LG15 LG14 LG13 LG12 LG11 LG10 LG9 KEY LED green Byte 2 LR4 LR3 LR2 LR1 0 0 LG18 LG17 KEY LED green and red ...

Страница 8: ... 00 Turn on backlight green and red amber color at brightness 10h Set Backlight message is mapped into Object 2001 sub 3 Object 2001 sub 4 Refer to the applicable object for more details SDO Messages A SDO Service Data Object is providing direct access to object entries of a CANopen device s object dictionary 13 Object 1000h Device Type Identifier 615h 600h current CAN ID Byte 0 40h Byte 1 00h Rea...

Страница 9: ...ead Device Register Next Byte Byte 1 7 00h Not used Examples 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 19 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad Reply 595 Std 00 50 6F 77 65 72 54 72 PowerTr To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad Reply 595 Std 10 61 63 6B 20 2D 20 42 ack B To Keypad 615 Std 60 00...

Страница 10: ...To Keypad 615 Std 40 09 10 00 00 00 00 00 Keypad Reply 595 Std 43 09 10 00 31 30 20 56 V 02 Manufacturer Hardware Revision V 02 17 Object 100Ah Manufacturer Firmware Revision Identifier 615h 600h current CAN ID 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 00 Keypa...

Страница 11: ...et 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 more CANopen devices in the network are aware of this heartb...

Страница 12: ...2h 20 Object 1400h Receive PDO Communication Parm 0 Describes the Receive Parameters for the 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 0...

Страница 13: ... FE 00 00 00 FEh Receive PDO communication Parm 1 Number of mapped objects 2 COB id 0000 0300h NODE ID Transmission Type FEh 22 Object 1402h Receive PDO communication Parm 2 Describes the Receive Parameters for the Backlight state PDO Message Identifier 615h 600h current CAN ID Byte 0 40h Read Device Register Byte 1 02h CAN Object 1402h Byte 2 14h Byte 3 00h Number of mapped objects 01h COB Id 02h...

Страница 14: ... 01 00 00 00 00 Keypad Reply 595 Std 43 00 16 01 18 01 01 20 2001 01 18 To Keypad 615 Std 40 00 16 02 00 00 00 00 Keypad Reply 595 Std 43 00 16 01 18 02 01 20 2001 02 18 To Keypad 615 Std 40 00 16 03 00 00 00 00 Keypad Reply 595 Std 43 00 16 03 08 01 02 20 2002 01 08 To Keypad 615 Std 40 00 16 04 00 00 00 00 Keypad Reply 595 Std 43 00 16 04 08 02 02 20 2002 02 08 To Keypad 615 Std 40 00 16 05 00 0...

Страница 15: ...1 00 00 00 00 Keypad Reply 595 Std 43 01 16 01 18 03 01 20 2001 03 18 To Keypad 615 Std 40 01 16 02 00 00 00 00 Keypad Reply 595 Std 43 01 16 02 18 04 01 20 2001 04 18 To Keypad 615 Std 40 01 16 03 00 00 00 00 Keypad Reply 595 Std 43 01 16 03 08 04 02 20 2002 04 08 To Keypad 615 Std 40 01 16 04 00 00 00 00 Keypad Reply 595 Std 43 01 16 03 08 05 02 20 2002 05 08 To Keypad 615 Std 40 01 16 05 00 00 ...

Страница 16: ...sage Data To Keypad 615 Std 40 02 16 00 00 00 00 00 Keypad Reply 595 Std 4F 02 16 00 04 00 00 00 3 To Keypad 615 Std 40 02 16 01 00 00 00 00 Keypad Reply 595 Std 43 02 16 01 08 02 03 20 2003 02 08 To Keypad 615 Std 40 02 16 02 00 00 00 00 Keypad Reply 595 Std 43 02 16 01 08 03 03 20 2003 03 08 To Keypad 615 Std 40 02 16 03 00 00 00 00 Keypad Reply 595 Std 43 02 16 01 08 04 03 20 2003 04 08 Receive...

Страница 17: ... 00 00 00 00 0 OFF Transmit PDO communication Parm 0 Number of mapped objects 2 Address base 195h 180h NODE ID Transmission Type FEh Event timer XXYY in milliseconds 0 OFF b Set periodic state transmission Identifier 600h current CAN ID Default 615h Byte 0 2Bh Set device register Byte 1 00h CAN Object 1800h Byte 2 18h Byte 3 05h Sub index Byte 4 YYh YYh Event timer period in milliseconds Byte 5 XX...

Страница 18: ...unter 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 Obje...

Страница 19: ...der State message sent The counter is reset after the message is sent out Examples c Sub 3 Encoder tick counter The Tick counter is a two bytes counter incremented each clockwise tick and decremented each counterclockwise tick Identifier 615h 600h current CAN ID Byte 0 40h Read Device Register Byte 1 00h CAN Object 2000h Byte 2 20h Byte 3 03h Sub index Byte 4 7 00h Not used Keypad Reply Identifier...

Страница 20: ...en LG1 To Keypad 615 Std 27 01 20 01 05 00 00 Turn on LED 1 and 3 green LG1 and LG3 To Keypad 615 Std 27 01 20 01 00 02 00 Turn on LED 10 green LG10 b Sub 2 LED red state Identifier 615h 600h current CAN ID Byte 0 27h Set Device Register Byte 1 01h CAN Object 2001h Byte 2 20h Byte 3 02h Sub index Byte 4 LR8 LR7 LR6 LR5 LR4 LR3 LR2 LR1 LED red Byte 5 LR16 LR15 LR14 LR13 LR12 LR11 LR10 LR9 LED red B...

Страница 21: ...green LG1 blinks To Keypad 615 Std 27 01 20 03 05 00 00 LED 1 green LG1 and 3 LG3 blink To Keypad 615 Std 27 01 20 03 00 02 00 LED 10 green LG10 blinks d Sub 4 LED red blink state Note if the blink message is sent when the LED is already on the LED blinks in alternate mode Identifier 615h 600h current CAN ID Byte 0 27h Set Device Register Byte 1 01h CAN Object 2001h Byte 2 20h Byte 3 04h Sub index...

Страница 22: ...on Identifier Format Data LED To Keypad 615 Std 2F 02 20 01 00 00 00 Turn off all the green LED To Keypad 615 Std 2F 02 20 01 01 00 00 Turn on LED 19 green LG19 To Keypad 615 Std 2F 02 20 01 05 00 00 Turn on LED 19 and 21 green LG19 and LG21 b Sub 2 RING LED red state Identifier 615h 600h current CAN ID Byte 0 2Fh Set Device Register Byte 1 02h CAN Object 2002h Byte 2 20h Byte 3 02h Sub index Byte...

Страница 23: ... Keypad 615 Std 2F 02 20 03 05 00 00 Turn on LED 19 and 21 blue LB19 and LB21 d Sub 4 RING LED green blink state Note if the blink message is sent when the LED is already on the LED blinks in alternate mode Identifier 615h 600h current CAN ID Byte 0 2Fh Set Device Register Byte 1 02h CAN Object 2002h Byte 2 20h Byte 3 04h Sub index Byte 4 LG26 LG25 LG24 LG23 LG22 LG21 LG20 LG19 Green LED blink Byt...

Страница 24: ... Std 2F 02 20 05 01 00 00 Red LED 19 LG19 blink To Keypad 615 Std 2F 02 20 05 05 00 00 Red LED 19 and 21 LG19 and LG21 blink f Sub 6 RING LED blue blink state Note if the blink message is sent when the LED is already on the LED blinks in alternate mode Identifier 615h 600h current CAN ID Byte 0 2Fh Set Device Register Byte 1 02h CAN Object 2002h Byte 2 20h Byte 3 06h Sub index Byte 4 LB26 LB25 LB2...

Страница 25: ...ntifier 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 Example Direction Identifier Format Message Data To Keypad 615 Std 2F 03 20 02 10 00 00 00 Brightness 25 Keypad Reply 595 Std 60 03 20 02 00 00 00 00 c Set red LEDs backlight brightness level Identifier 615h 600h curren...

Страница 26: ...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 3Fh 0 100 Byte 5 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 2F 03 20 03 10 00 00 00 Brightness 25 Keypad Reply 595 Std 60 03 20 03 00 00 00 00 f Set startup green LEDs backlight brightness level Identifier 615h 600h current CAN ID...

Страница 27: ...ifier Format Message Data To Keypad 615 Std 2F 03 20 07 10 00 00 00 Brightness 25 Keypad Reply 595 Std 60 03 20 07 00 00 00 00 a Set startup blue LEDs backlight 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 08h Sub index Byte 4 XXh Intensity 00h 3Fh 0 100 Byte 5 7 00h Not used Example Direction Identifier Format Me...

Страница 28: ...o Keypad 615 Std 2F 10 20 00 03 00 00 00 Set baud rate 250k Keypad Reply 595 Std 60 10 20 00 00 00 00 00 32 Object 2011h Set Boot up service Object 2011h message enable or disable 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 2011h Byte 2 20h Byte 3 00h Sub index Byte 4 XXh 00h ...

Страница 29: ...sed 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 34 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 New node id 00h 7Fh default 15h Byte 5 7 00h N...

Страница 30: ...0 33 Object 2100h Set DEMO mode When the Demo mode is set the keypad is in a special functional state pressing button 1 and 2 the LED of the keypad are switched in a predefined sequence of set up to show colors and light features of the device Disconnect and reconnect the keypad to enter this mode Identifier 600h current CAN ID Default 615h Byte 0 2Fh Set Device Register Byte 1 00h CAN Object 2100...

Страница 31: ...rTrackCANopenUM_REV1 4 www blinkmarine com 34 Revision History Date Manual Revision Comment Related SW version 18 04 2016 1 3 1 4 14 10 2016 1 4 Updated examples for the object 1800h set periodic transmission 1 4 ...

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