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PowerTruck_CANOpen_UM_REV1.5

Sub 2 - Encoder direction counter

This module contains the Encoder direction counter. The command works only in the pre-
operational state.

Identifier

615h (600h + current CAN ID)

Byte 0

40h

Read Device Register

Byte 1

00h

CAN Object 2000h

Byte 2

20h

Byte 3

02h

Sub index

Byte 4,7

00h

Not used

Keypad reply:

Identifier

595h (580h + current CAN ID)

Byte 0

4Fh

Byte 1

00h

CAN Object 2000h

Byte 2

20h

Byte 3

02h

Sub index

Byte 4

XXh

Bit 7: encoder direction

•

0: Clockwise

•

1: Counterclockwise

Bit 0…6: Number of ticks

Byte 5,7

00h

Not used

The number of ticks is counted from the last encoder state message sent.

The counter is reset after the message is sent out.

Examples:

Sub 3 - Encoder tick counter

The Tick counter is a two bytes counter incremented each clockwise tick and
decremented each counterclockwise tick.

Keypad reply:

Identifier

595h (580h + current CAN ID)

Byte 0

4Bh

Byte 1

00h

CAN Object 2000h

Byte 2

20h

Byte 3

03h

Sub index

Byte 4,5

XXXXh

Tick counter

Byte 6,7

00h

Not used

Direction

Identifier

Format Message

Data

To Keypad

615

Std

40 00 20 02 00 00 00 00

Keypad reply

595

Std

4F 00 20 02 00 00 00 00

No ticks completed

4F 00 20 02 01 00 00 00

One tick clockwise

4F 00 20 02 81 00 00 00

One tick counterclockwise

4F 00 20 02 02 00 00 00

Two tick clockwise

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

Содержание POWERTRACK

Страница 1: ...Fax 39 02 33406697 www blinkmarine com info blinkgroup com PowerTruck_CANOpen_UM_REV1 5 POWERTRACK 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: ...ge 10 SDO Messages 10 13 Object 1000h Device Type 10 14 Object 1001h Error Register 11 15 Object 1008h Manufacturer Device Name 11 16 Object 1009h Manufacturer Hardware Revision 12 17 Object 100Ah Manufacturer Firmware Revision 12 18 Object 1017h Producer heartbeat time 13 Heartbeat message 13 19 Object 1018h Identity Data 14 20 Object 1400h Receive PDO Communication Parm 0 14 21 Object 1401h Rece...

Страница 3: ...ink state 25 e Sub 5 RING LED red blink state 26 f Sub 6 RING LED blue blink state 26 31 Object 2003 Brightness Level 27 a Set Indicator LEDs brightness level 27 b Set green LEDs backlight brightness level 27 c Set red LEDs backlight brightness level 27 d Set blue LEDs backlight brightness level 28 e Set startup Indicator LEDs brightness level 28 f Set startup green LEDs backlight brightness level...

Страница 4: ...EV1 5 1 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 PowerTrack PIN COLOUR FUNCTION 1 Blue CAN L 2 White CAN H 3 Black Negative battery 4 Red Vbatt 12 24V ...

Страница 5: ...11h 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 activation message Identifier 00h Byte 0 01h Start CANopen node Byte 1 XXh Keypad CAN ID 00h start all the keypads 15h st...

Страница 6: ... 15 7 Stop CANopen node Identifier 00h Byte 0 XXh 02h Stop CANopen node 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 CAN ID Default 715h By...

Страница 7: ... tick Identifier 195h 180 current CAN ID Default 195h Byte 0 Keys from 1 to 7 0 K7 K6 K5 K4 K3 K2 K1 Keys 1 ON 0 OFF Byte 1 Encoder Direction counter X Y Y Y Y Y Y Y b 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 0...

Страница 8: ...21 LG20 LG19 RING LED green Byte 7 LB26 LB25 LB24 LB23 LB22 LB21 LB20 LB19 RING LED blue Examples Direction Identifier Format Data LED To Keypad 215 Std 00 00 00 00 00 00 00 00 Turn off all the LED To Keypad 215 Std 01 00 00 00 00 00 00 00 Only green LED 1 ON To Keypad 215 Std 42 00 00 00 00 00 00 00 Green LED 2 and 7 ON To Keypad 215 Std 00 00 00 30 03 00 00 00 Red LED 9 10 13 and 14 ON To Keypad...

Страница 9: ...26 LB25 LB24 LB23 LB22 LB21 LB20 LB19 RING LED blue Examples Direction Identifier Format Data LED To Keypad 315 Std 00 00 00 00 00 00 00 00 Turn off all the blinking LED To Keypad 315 Std 78 00 00 00 00 00 00 00 Green LED 4 5 6 and 7 blink To Keypad 315 Std 00 00 00 21 00 00 00 00 Red LED 5 and 10 blink To Keypad 315 Std 03 00 30 00 00 00 00 00 Amber LED 1 2 blink To Keypad 315 Std 00 00 00 00 00 ...

Страница 10: ... 00 Turn on backlight green color at brightness 25 To keypad 415 Std 20 20 00 00 00 00 00 00 Turn on backlight amber color at brightness 50 To keypad 415 Std 00 00 3F 00 00 00 00 00 Turn on backlight blue color at maximum brightness Set Backlight message is mapped into Object 2001h sub 3 Object 2001h sub 4 Refer to the applicable object for more details SDO Messages A SDO Service Data Object is pr...

Страница 11: ...te 1 7 00h Not used Even additional byte Identifier 615h 600h current CAN ID Byte 0 70h Read 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 ...

Страница 12: ...xample Direction Identifier Format Message Data To Keypad 615 Std 40 09 10 00 00 00 00 00 Keypad reply 595 Std 43 09 10 00 33 30 20 56 V 03 Manufacturer Hardware Revision V 03 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...

Страница 13: ...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 more ...

Страница 14: ...3 00 00 000003E2h Blink Marine Vendor Id 000003E2h 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 Me...

Страница 15: ... 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 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 By...

Страница 16: ...0 16 00 05 00 00 00 5 To Keypad 615 Std 40 00 16 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 02 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 ...

Страница 17: ...16 00 05 00 00 00 5 To Keypad 615 Std 40 01 16 01 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 04 08 05 02 20...

Страница 18: ...ot used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 02 16 00 00 00 00 00 Keypad reply 595 Std 4F 02 16 00 03 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 02 08 03 03 20 2003 03 08 To Keypad 615 Std 40 02 16 03 00 00 00 00 Keypad reply 59...

Страница 19: ...00 00 00 Keypad reply 595 Std 4B 00 18 05 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 Eve...

Страница 20: ...th 08h Encoder direction counter Object 2000h Sub index 02h Length 08h Encoder tick counter Object 2000h Sub index 03h Length 10h 28 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 Identifier 615h 600h current CAN ID Byte 0 40h Read Device Register Byte 1 00h ...

Страница 21: ...number of ticks is counted from the last encoder 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 Keypad reply Identifier 595h 580h current CAN ID Byte 0 4Bh Byte 1 00h CAN Object 2000h Byte 2 20h Byte 3 03h Sub index Byte 4 5...

Страница 22: ...1 20 01 01 00 00 Green LED 1 ON To Keypad 615 Std 27 01 20 01 05 00 00 Green LED 1 and 3 ON To Keypad 615 Std 27 01 20 01 00 02 00 Green LED 10 ON Keypad reply 595 Std 60 01 20 01 00 00 00 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 LR1...

Страница 23: ...LED 6 blinks To Keypad 615 Std 27 01 20 03 00 44 00 00 Green LED 11 and 15 blink To Keypad 615 Std 27 01 20 03 00 00 03 00 Green LED 17 and 18 blink Keypad reply 595 Std 60 01 20 03 00 00 00 00 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 Ob...

Страница 24: ... 00h Not used Examples Direction Identifier Format Data LED To Keypad 615 Std 2F 02 20 01 00 00 00 00 Turn off all the green LED To Keypad 615 Std 2F 02 20 01 01 00 00 00 Green LED 19 ON To Keypad 615 Std 2F 02 20 01 80 00 00 00 Green LED 26 ON Keypad reply 595 Std 60 02 20 01 00 00 00 00 b Sub 2 RING LED red state Identifier 615h 600h current CAN ID Byte 0 2Fh Set Device Register Byte 1 02h CAN O...

Страница 25: ...Blue LED 20 ON To Keypad 615 Std 2F 02 20 03 80 00 00 00 Blue LED 26 ON Keypad reply 595 Std 60 02 20 03 00 00 00 00 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 ...

Страница 26: ...o Keypad 615 Std 2F 02 20 05 04 00 00 00 Red LED 21 blinks To Keypad 615 Std 2F 02 20 05 35 00 00 00 Red LED 19 21 23 and 24 blink Keypad reply 595 Std 60 02 20 05 00 00 00 00 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 B...

Страница 27: ...b Set green 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 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 08 00 00 00 Brightness 12 5 Keypad reply 595 Std 60 03 20 02 00 00 00 00 c Set red LEDs back...

Страница 28: ...tor 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 05 00 00 00 Brightness 12 5 Keypad reply 595 Std 60 03 20 05 00 00 00 00 f Set startup green LEDs backlight ...

Страница 29: ...0 Byte 5 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 2F 03 20 07 30 00 00 00 Brightness 75 Keypad reply 595 Std 60 03 20 07 00 00 00 00 h 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 3Fhà 0 100 Byte 5 7 00h...

Страница 30: ...mple Direction Identifier Format Message Data To 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 33 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 2011...

Страница 31: ...2 20 00 00 00 00 00 35 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 Not used Example Direction Identifier Format Message Data To Keypad 615 Std 2F 13 20 00 18 00 00 00 Set CANopen node ID 18h Keypad reply 598 Std 60 13...

Страница 32: ...and or another command message Identifier 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 38 Set CAN protocol...

Страница 33: ...coder ring backlight red green on 5 Return in step 1 Pressing Key 2 you can see keys LEDs backlight white color on while keys LEDs and encoder ring backlight blink red and green in alternate mode For the Key 3 each time that you press the button you can change backlight in this sequence 1 Red 2 Green 3 Blue red cursor on the encoder ring 4 Amber orange and encoder yellow green red cursor on the en...

Страница 34: ... 1800h set periodic transmission 1 4 20 02 2018 1 5 New release Added the sentence concerning keypad activation in every PDOs commands Replaced the symbol h hexadecimal with the correct one b binary in the keys and encoder state table Checked and eventually corrected the messages of transmission reply of command objects Corrected the minimum value of brightness for indicator LEDs brightness level ...

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