pkp-2600-si canopen um rev1.1 folder/15.blink_pkp-2600-si_canopen.pdf · – [email protected]...

ViaMontefeltro,6–20156Milano(MI)–Italy Tel.+39(02)3088583–Fax+39(02)33406697 www.blinkmarine.com–[email protected] PKP-2600-SI-CANopenUM_REV1.1

PKP-2600-SI 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

Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 2 - Tel. +39 (02) 3088583 – Fax +39 (02) 33406697 www.blinkmarine.com – [email protected] PKP-2600-SI_CANOpen_UM_REV1.1

Table of contents 1. How to connect Deutsch 4 pin:...........................................................................................................42. Reference.............................................................................................................................................43. Default settings....................................................................................................................................5NMT MESSAGES..........................................................................................................................................54. Start CANopen node (keypad activation message).............................................................................55. Enter pre-operational...........................................................................................................................56. Reset CANopen node..........................................................................................................................67. Stop CANopen node.............................................................................................................................68. Boot-up service....................................................................................................................................69. Heartbeat message.............................................................................................................................7• PKP-2600-SI......................................................................................................................................7

11.Set LED ON message..............................................................................................................................8• PKP-2600-SI......................................................................................................................................8

12.Set LED Blink message...........................................................................................................................9• PKP-2600-SI......................................................................................................................................9

13.Indicator LEDs brightness level...............................................................................................................914.Backlight brightness level.....................................................................................................................10SDO Messages:..........................................................................................................................................1015.Object 2000h: Digital input module, keys states.................................................................................10• PKP-2600-SI....................................................................................................................................10

16.Object 2001h: Digital output module...................................................................................................11a) Set LED ON.........................................................................................................................................11• PKP-2600-SI....................................................................................................................................11

b) Read LED ON......................................................................................................................................11• PKP-2600-SI....................................................................................................................................11

17.Object 2002h: Digital output module...................................................................................................12a) Set LED blink.......................................................................................................................................12• PKP-2600-SI....................................................................................................................................12

b) Read LED blink....................................................................................................................................13• PKP-2600-SI....................................................................................................................................13a) Set Indicator LED brightness level..................................................................................................13b) Backlight brightness level................................................................................................................13c) Backlight color.................................................................................................................................14


d) Set default backlight color...............................................................................................................14e) Set startup Indicator LED brightness level.....................................................................................15f) Set startup backlight brightness level.............................................................................................15

19.Object 2010h: Baud rate setting.........................................................................................................1520.Object 2011h: Set Boot-up service......................................................................................................1621.Object 2012h: Set device active on startup.........................................................................................1622.Object 2013h: Set CANopen node ID..................................................................................................1623.Object 2014h: Set startup LED show..................................................................................................1724.Object 2100h: Set DEMO mode...........................................................................................................1725.Object 1017h: Producer heartbeat time.............................................................................................18Heartbeat message....................................................................................................................................1826.Object 1000h: Device Type...................................................................................................................1927.Object 1001h: Error Register..............................................................................................................1928.Object 1008h: Manufacturer Device Name........................................................................................1929.Object 1009h: Manufacturer Hardware Revision...............................................................................2030.Object 100Ah: Manufacturer Firmware Revision................................................................................2031.Object 100Bh: Model ID.......................................................................................................................2132.Object 1018h: Identity Data.................................................................................................................2233.Object 1400h: Receive PDO Communication Parm 0.........................................................................2234.Object 1401h: Receive PDO communication Parm 1.........................................................................23

35.Object 1402h: Receive PDO communication Parm 2.............................................................................2336.Object 1403h: Receive PDO communication Parm 3.............................................................................24

37.Object 1600h: Receive PDO mapping Parameter 0...........................................................................2438.Object 1601h: Receive PDO mapping Parameter 1...........................................................................2539.Object 1602h: Receive PDO mapping Parameter 2...........................................................................2540.Object 1603h: Receive PDO mapping Parameter 3...........................................................................2641.Object 1800h:.......................................................................................................................................26

a) Transmit PDO Communication Parm 0..........................................................................................26b) Set periodic state transmission......................................................................................................27

42.Object 1A00h Transmit PDO Mapping Parameter.............................................................................2743.Object 2200h: Serial number string...................................................................................................2844.Set CAN protocol..................................................................................................................................28b. Revision History..................................................................................................................................30


1. How to connect Deutsch 4 pin:

EachendoftheCANbusisterminatedwith120Ωresistorsincompliancewiththestandardtominimizesignalreflectionsonthebus.Youmayneedtoplacea120ΩresistorbetweenCAN-LandCAN-H.

2. Reference Frontview.

PKP-2600-SI

PIN COLOUR FUNCTION1 Blue CANL2 White CANH3 Black Negativebattery4 Red Vbatt.(12-24V)


3. Default settings

Setting Defaultstateorlevel HowtochangeBaudRate 125kbit/s Object2010hCANopenNodeID 15h Object2013hDeviceactiveonstartup

Notactive Object2012h

KeyBrightness 3Fh(MaximumBrightness) Object2003hBacklightBrightness 00h(OFF) Object2003hBacklightColor Amber Object2003hStartupLEDLightShow CompleteLEDSequence Object2014hPeriodicStateTransmission

Disable Object1800h

DEMOmode Disable Object2100hHeartbeatMessage Disable Object1017hBoot-upservice Active Object2011h

NMT MESSAGES TheNetworkManagementmessagesfollowamaster-slavestructure.ThroughNMTservices,CANopendevicesareinitialized,started,resetorstopped.NMTmessageshaveCAN-IDalwaysequalto00h.

4. Start CANopen node (keypad activation message)

Identifier 00h Byte0 01h StartCANopennodeByte1

XXh

KeypadCANID00h:startallthekeypads15h:startthekeypadwithCANID=15h.

Byte2,7 00h Notused

Example:

Direction Identifier Format MessageToKeypad 0 Std 0115

5. Enter pre-operational

Identifier 00h Byte0 80h Enterpre-operationalByte1

XXh

KeypadCANID00h:enterallthekeypads15h:enterthekeypadwithCANID=15h.

Byte2,7 00h Notused

Example:



6. Reset CANopen node

Identifier 00h Byte0 81h ResetCANopennodeByte1

XXh

KeypadCANID00h:resetallthekeypads15h:resetthekeypadwithCANID=15h.

Byte2,7 00h Notused

Example:


7. Stop CANopen node

Identifier 00h Byte0 XXh 02h:StopCANopennode

00h:StopCANopennode(oldPKPswcompatibility)

Byte1

YYh

KeypadCANID00h:stopallthekeypads15h:stopthekeypadwithCANID=15h.

Byte2,7 00h Notused

Example:


8. Boot-up service

ThisserviceisusedtosignalthataNMTslavehasenteredtheNMTstatePre-operational.

Identifier 700h+currentCANID Default715hByte0 00h Onedatabyteistransmittedwithvalue0.

Example:

Direction Identifier Format MessageFromKeypad 715h Std 00h

ThekeypadwithCANID15hhasenteredtheNMTstatePre-operational.


9. Heartbeat message

TheheartbeatmechanismforaCANopendeviceisestablishedbycyclicallytransmittingtheheartbeatmessagebytheheartbeatproducer.

RefertoObject1017hformoredetails.

PDO messages

PDO(ProcessDataObject)arefasttelegrammessagesthatcansimplymanagemostimportantfunctions.Therearenoanswersforthiskindofmessages.EachPDOmessagehasanequivalentServiceDataObjectmessage.

10.Keys state message

Thekeypadmustbeactivated,seeNMTStartCANopenNodemessage.

• PKP-2600-SI

Identifier 180+currentCANID Default195hByte0 Keysfrom#1to#8

K8K7K6K5–K4K3K2K1Keys:1=pressed;0=released

Byte1 Keysfrom#9to#120000–K12K11K10K9

Keys:1=pressed;0=released

Byte2,3 00h NotusedByte4 XXh TickTimer

Examples:

Direction Identifier Format Message KeystateFromKeypad 195 Std 00000000XX NokeypressedFromKeypad 195 Std 08000000XX Onlykey#4pressedFromKeypad 195 Std 80000000XX Onlykey#8pressedFromKeypad 195 Std 21000000XX Keys#6and#1pressedFromKeypad 195 Std 00080000XX Onlykey#12pressed


11.Set LED ON message Thekeypadmustbeactivated,seeNMTStartCANopenNodemessage.

• PKP-2600-SI

Identifier 200+currentCANID Default215hByte0 R8R7R6R5–R4R3R2R1 RedLEDByte1 G4G3G2G1–R12R11R10R9 GreenandRedLEDByte2 G12G11G10G9–G8G7G6G5 GreenLEDByte3 B8B7B6B5B4–B3B2B1 BlueLEDByte4 0000000000–B12B11B10B9 BlueLEDByte5,7 00h Notused

Examples:

Direction Identifier Format Message LEDToKeypad 215 Std 0000000000000000 TurnOFFalltheLEDToKeypad 215 Std 0100000000000000 OnlyredLED#1ONToKeypad 215 Std 4200000000000000 RedLED#2and#7ON,

otherLEDOFFToKeypad 215 Std 0000010000000000 GreenLED#5on,other

LEDoffToKeypad 215 Std 0011000000000000 GreenLED#1andred

LED#9on,otherLEDoffToKeypad 215 Std 0000008800000000 BlueLED#4and#8on,

otherLEDoffToKeypad 215 Std 00CC000000000000 RedLED#11,#12on;

greenLED#3,#4on;otherLEDoff


12.Set LED Blink message Thekeypadmustbeactivated,seeNMTStartCANopenNodemessage.

Note:iftheblinkmessageissentwhentheLEDisalreadyON,theLEDblinksinalternativemode.

• PKP-2600-SI

Identifier 300+currentCANID Default315hByte0 R8R7R6R5–R4R3R2R1 RedLEDByte1 G4G3G2G1–R12R11R10R9 GreenandredLEDByte2 G12G11G10G9–G8G7G6G5 GreenLEDByte3 B8B7B6B5–B4B3B2B1 BlueLEDByte4 00000000–B12B11B10B9 BlueLEDByte5,7 00h Notused

Examples:

Direction Identifier Format Message LEDToKeypad 315 Std 0000000000000000 TurnOFFalltheLEDToKeypad 315 Std 0100000000000000 OnlyredLED#1blinksToKeypad 315 Std 0900000000000000 RedLED#1and#4blinkToKeypad 315 Std 0000110000000000 GreenLED#5and#9

blinkToKeypad 315 Std 0000000100000000 OnlyblueLED#1blinksToKeypad 315 Std 0000CC0003000000 GreenLED#7,#8,#11,

#12andblueLED#9,#10ToKeypadToKeypad

215315

StdStd

03000000000000000303000000000000

LED#1and2blinkredandgreeninalternatemode

13.Indicator LEDs brightness level Thekeypadmustbeactivated,seeNMTStartCANopenNodemessage.

Identifier 400+currentCANID Default415hByte0 XXh Intensity00h-3Fhàmin-100%Byte2,7 00h Notused

Examples:

Direction Identifier Format Message LEDToKeypad 415 Std 0800000000000000 Brightness=12,5%ToKeypad 415 Std 1000000000000000 Brightness=25%


14.Backlight brightness level Thekeypadmustbeactivated,seeNMTStartCANopenNodemessage.

Identifier 500+currentCANID Default515hByte0 XXh Intensity00h-3Fhà0-100%Byte2,7 00h Notused

Examples:

Direction Identifier Format Message LEDToKeypad 515 Std 0000000000000000 TurnoffthebacklightToKeypad 515 Std 1000000000000000 Backlightbrightness=25%

SDO Messages: ASDO(ServiceDataObject)isprovidingdirectaccesstoobjectentriesofaCANopendevice'sobjectdictionary.

15.Object 2000h: Digital input module, keys states ThismodulecontainsalltheSwitchStateinformation.

Aoneindicatestheswitchispressed,azeroindicatestheswitchisreleased.

• PKP-2600-SI

Identifier 600h+currentCANID Default615hByte0 40h ReadDeviceRegisterByte1 00h CANObject2000hByte2 20hByte3 01h SubindexByte4,7 00h Notused

Examples:

Direction Identifier Format Message DataToKeypad 615 Std 4000200100000000 Keypadreply

595 std 4B00200100000000 Nokeypressed4B00200101000000 Key1pressed4B00200102000000 Key2pressed4B00200104000000 Key3pressed4B00200108000000 Key4pressed4B00200110000000 Key5pressed4B00200120000000 Key6pressed4B00200140000000 Key7pressed4B00200180000000 Key8pressed4B00200103000000 Key1and2pressed4B00200100020000 Key10pressed4B002001FF0F0000 Allkeyspressed


16.Object 2001h: Digital output module. ThismodulesetsandreadstheLEDOutputsStates.EachbitpositionrepresentsthecorrespondingLED.AoneindicatestheLEDisONazeroindicatestheLEDisOFF

a) Set LED ON

• PKP-2600-SI Identifier 600h+currentCANID Default615hByte0 2Bh SetDeviceRegisterByte1 01h CANObject2001hByte2 20hByte3 XXh XX:Subindex

01h:RedLed02h:GreenLed03h:BlueLed

Byte4 YYh L8L7L6L5L4L3L2L1LEDpositionByte5 ZZh 00000000L12L11L10L9LED

positionByte6,7 00h NotusedExamples:

Direction Identifier Format Message DataToKeypad 615 Std 2B01200104000000 SetredLED#3ONKeypadReply 595 Std 6001200100000000 ToKeypad 615 Std 2B01200320000000 SetblueLED#6

ONKeypadReply 595 Std 6001200300000000

b) Read LED ON TheLEDhavethesamemappingofSetLEDONmessage

• PKP-2600-SI Identifier 600h+currentCANID Default615hByte0 40h ReadDeviceRegisterByte1 01h CANObject2001hByte2 20hByte3 XXh XX:Subindex


Byte4,7 00h NotusedExamples:

Direction Identifier Format Message DataToKeypad 615 Std 4001200100000000 ReadredLEDKeypadReply 595 Std 4B01200108000000 OnlyredLED#4ONToKeypad 615 Std 4001200200000000 ReadgreenLEDKeypadReply 595 Std 4B01200200010000 OnlygreenLED#9

ONToKeypad 615 Std 4001200300000000 ReadblueLEDKeypadReply 595 Std 4B01200300080000 OnlyblueLED#12

ON


17.Object 2002h: Digital output module. ThismodulesetsandreadstheLEDBlinkStates.EachbitpositionrepresentsthecorrespondingLED.AoneindicatestheLEDisblinkingazeroindicatestheLEDisnotblinking.IftheblinkmessageissentwhentheLEDisalreadyON,theLEDblinksinalternativemode.

a) Set LED blink

• PKP-2600-SI Identifier 600h+currentCANID Default615hByte0 2Bh SetDeviceRegisterByte1 02h CANObject2002hByte2 20hByte3 XXh XX:Subindex


Byte4 YYh L8L7L6L5L4L3L2L1LEDpositionByte5 ZZh 00000000L12L11L10L9LED

positionByte6,7 00h Notused

Examples:

Direction Identifier Format Message DataToKeypad 615 Std 2B02200104000000 SetredLED#3blinkKeypadReply 595 Std 6002200100000000 ToKeypad 615 Std 2B02200300020000 SetblueLED#10

blinkKeypadReply 595 Std 6002200300000000


b) Read LED blink

• PKP-2600-SI Identifier 600h+currentCANID Default615hByte0 40h ReadDeviceRegisterByte1 02h CANObject2002hByte2 20hByte3 XXh XX:Subindex



Direction Identifier Format Message DataToKeypad 615 Std 4002200100000000 ReadredLEDblinkKeypadReply

595 Std 4B022001FF0F0000 AllredLEDblink

ToKeypad 615 Std 4002200200000000 ReadgreenLEDblinkKeypadReply

595 Std 4B02200201000000 OnlygreenLED#1blinks

ToKeypad 615 Std 4002200300000000 ReadblueLEDblinkKeypadReply

595 Std 4B02200300080000 BlueLED#12blinks

18.Object 2003h: Brightness Level

a) Set Indicator LED brightness level Identifier 615h(600h+currentCANID) Byte0 2Fh SetDeviceRegisterByte1 03h CANObject2003hByte2 20hByte3 01h SubindexByte4 YYh Intensity00h-3Fhàmin-100%Byte5,7 00h Notused

Example:Direction Identifier Format Message DataToKeypad 615 Std 2F03200120000000 Brightness=50%KeypadReply 595 Std 6003200100000000

b) Backlight brightness level Identifier 615h(600h+currentCANID) Byte0 2Fh SetDeviceRegisterByte1 03h CANObject2003hByte2 20hByte3 02h SubindexByte4 XXh Intensity00h-3Fhà0-100%Byte5,7 00h Notused

Example:

Direction Identifier Format Message DataToKeypad 615 Std 2F03200210000000 Brightness=25%KeypadReply 595 Std 6003200200000000


c) Backlight color Identifier 615h(600h+currentCANID) Byte0 2Fh SetDeviceRegisterByte1 03h CANObject2003hByte2 20hByte3 03h SubindexByte4 XXh Color

01h:red02h:green03h:blue04h:yellow05h:cyan06h:violet07h:white/lightblue08h:amber/orange09h:yellow/green

Byte5,7 00h NotusedExample:

d) Set default backlight color Identifier 615h(600h+currentCANID) Byte0 2Fh SetDeviceRegisterByte1 03h CANObject2003hByte2 20hByte3 04h SubindexByte4 XXh Color

01h:red02h:green03h:blue04h:yellow05h:cyan06h:violet07h:white/lightblue08h:amber/orange09h:yellow/green


Direction Identifier Format Message DataToKeypad 615 Std 2F03200403000000 BlueBacklightcolorKeypadReply

595 Std 6003200400000000

Direction Identifier Format Message DataToKeypad 615 Std 2F03200301000000 RedBacklightcolorKeypadReply 595 Std 6003200300000000


e) Set startup Indicator LED brightness level Identifier 615h(600h+currentCANID) Byte0 2Fh SetDeviceRegisterByte1 03h CANObject2003hByte2 20hByte3 05h SubindexByte4 XXh Intensity00h-3Fhàmin-100%Byte5,7 00h Notused

Example:Direction Identifier Format Message DataToKeypad 615 Std 2F0320053F000000 Brightness=100%KeypadReply 595 Std 6003200500000000

f) Set startup backlight brightness level Identifier 615h(600h+currentCANID) Byte0 2Fh SetDeviceRegisterByte1 03h CANObject2003hByte2 20hByte3 06h SubindexByte4 XXh Intensity00h-3Fhà0-100%Byte5,7 00h Notused

Example:

Direction Identifier Format Message DataToKeypad 615 Std 2F03200610000000 Brightness=25%KeypadReply 595 Std 6003200600000000

19.Object 2010h: Baud rate setting

Identifier 615h(600h+currentCANID) Byte0 2Fh SetDeviceRegisterByte1 10h CANObject2010hByte2 20hByte3 00h SubindexByte4

00h 1000k01h Reserved(forceto125k)02h 500k03h 250K04h 125k(Default)05h Reserved(forceto125k)06h 50k07h 20k

Byte5,7 00h Notused

Example:

Direction Identifier Format Message DataToKeypad 615 Std 2F10200003000000 Baudrate=250kKeypadReply 595 Std 6010200000000000


20.Object 2011h: Set Boot-up service Object2011hmessageenableordisablethebootupmessagesentbythekeypadatpoweruptotheCANnetwork.

Identifier 600h+currentCANID Default615hByte0 2Fh SetDeviceRegisterByte1 11h CANObject2011hByte2 20hByte3 00h SubindexByte4 XXh 00h:Notactive

01h:ActiveByte5,7 00h Notused

Example:

Direction Identifier Format Message DataToKeypad 615 Std 2F11200000000000 Boot-upservice

notactiveKeypadReply 595 Std 6011200000000000

21.Object 2012h: Set device active on startup Ifkeypadisactiveonstartupdon’tneedtheStartCANopencommandfromhost.

Identifier 600h+currentCANID Default615hByte0 2Fh SetDeviceRegisterByte1 12h CANObject2012hByte2 20hByte3 00h SubindexByte4 XXh 00h:Notactive

01h:ActiveByte5,7 00h NotusedExample:Direction Identifier Format Message DataToKeypad 615 Std 2F12200001000000 DeviceactiveonstartupKeypadReply 595 Std 6012200000000000

22.Object 2013h: Set CANopen node ID

Identifier 600h+currentCANID Default615hByte0 2Fh SetDeviceRegisterByte1 13h CANObject2013hByte2 20hByte3 00h SubindexByte4 XXh XX:Newnodeid(00h-7Fh),

default15hByte5,7 00h NotusedExample:Direction Identifier Format Message DataToKeypad 615 Std 2F13200018000000 NewCANopennodeID18hKeypadReply 595 Std 6013200000000000


23.Object 2014h: Set startup LED show

Identifier 600h+currentCANID Default615hByte0 2Fh SetDeviceRegisterByte1 14h CANObject2014hByte2 20hByte3 00h SubindexByte4

XXh

00h:Disable01h:CompleteLEDShow(default)02h:FastFlash

Byte5,7 00h Notused

Example:Direction Identifier Format Message DataToKeypad 615 Std 2F14200000000000 DisablestartupLEDshowKeypadReply

595 Std 6014200000000000

24.Object 2100h: Set DEMO mode

ThismessageenablestheDemomodefunction.Demomodeisaspecialfeaturethatconsists in different LED states for each button pressing. Refer to the appendix“Demomodeinstructions”totrythesespecialfeatures.Disconnectandreconnectthekeypadaftertheenablemessagetoenterthismode.ToexittheDemomode,sendtheDisableDemomodecommandoranothercommandmessage.

Identifier 600h+currentCANID Default615hByte0 2Fh SetDeviceRegisterByte1 00h CANObject2100Byte2 21hByte3 00h SubindexByte4 XXh 00h:Notactive

01h:ActiveByte5,7 00h Notused

Example:

Direction Identifier Format Message DataToKeypad 615 Std 2F00210001000000 SetDEMOmodeActiveKeypadReply

595 Std 6000210000000000


25.Object 1017h: Producer heartbeat time Theproducerheartbeattimeshallindicatetheconfiguredcycletimeoftheheartbeat.

Identifier 600h+currentCANID Default615hByte0 40h ReadDeviceRegister

2Bh SetdeviceregisterByte1 17h CANObject1017hByte2 10hByte3 00h SubindexByte4 YYh YYh:HeartbeattimeinmillisecondsLSByteByte5 XXh XXh:HeartbeattimeinmillisecondsMSByteByte6,7 00h Notused

Heartbeattime:XXYYh(from0A00htoFFFEh:10msto65534milliseconds).Examples:Direction Identifier Form Message DataToKeypad 615 Std 4017100000000000 ReadheartbeattimeKeypadReply 595 Std 4B17100064000000 Heartbeattime=100msToKeypad 615 Std 2B17100000000000 SwitchofftheheartbeatKeypadReply 595 Std 6017100000000000 ToKeypad 615 Std 2B17100032000000 Setheartbeattime=50msKeypadReply 595 Std 6017100000000000 ToKeypad 615 Std 2B171000F4010000 Setheartbeattime=500msKeypadReply 595 Std 6017100000000000

Heartbeat message

TheheartbeatmechanismforaCANopendeviceisestablishedbycyclicallytransmittingtheheartbeatmessagebytheheartbeatproducer.OneormoreCANopendevicesinthenetworkareawareofthisheartbeatmessage.Iftheheartbeatcyclefailsfortheheartbeatproducerthelocalapplicationontheheartbeatconsumerwillbeinformedaboutthatevent.

IfaCANopendevicestartswithavaluefortheheartbeatproducertimeunequalto0,theboot-upmessageisregardedasfirstheartbeatmessage.

Example:

Direction Identifier Format Message DataFromKeypad 715h Std 00h BootupFromKeypad 715h Std 7Fh Pre-operationalTokeypad 00h Std 01h15h StartkeypadwithCANID15hFromKeypad 715h Std 05h Operational

Identifier 700h+currentCANID Default715hByte0

XXh

XXh:Stateofheartbeatproducer00h:Boot-up04h:Stop05h:Operational7Fh:Pre-operational


26.Object 1000h: Device Type

Identifier 600h+currentCANID Default615hByte0 40h ReadDeviceRegisterByte1 00h CANObject1000hByte2 10hByte3,7 00h Notused

Example:Direction Identifier Format DataToKeypad 615 Std 4000100000000000KeypadReply 595 Std 4300100091010B00

Deviceprofilenumber0xB0191h.

27.Object 1001h: Error Register Thisobjectisnotyetimplementedinthedevice.

28.Object 1008h: Manufacturer Device Name


1°additionalbyte

Identifier 600h+currentCANID Default615hByte0 60h ReadDeviceRegisterNextByteByte1,7 00h Notused

2°additionalbyte

Identifier 600h+currentCANID Default615hByte0 70h ReadDeviceRegisterNextByteByte1,7 00h Notused

Example:

Direction Identifier Format Message DataToKeypad 615 Std 4008100000000000 KeypadReply 595 Std 410810000B000000 ToKeypad 615 Std 6000000000000000 KeypadReply 595 Std 00426C696E6B4D61 BlinkMaToKeypad 615 Std 7000000000000000 KeypadReply 595 Std 1772696E65000000 rineManufacturerDeviceName:BlinkMarine

Thefirstbyteofthelastdatamessagerepliedis17h.


29.Object 1009h: Manufacturer Hardware Revision


Example:Direction Identifier Format Message DataToKeypad 615 Std 4009100000000000 KeypadReply 595 Std 4309100031305F56 V_01ManufacturerHardwareRevision:V_01

30.Object 100Ah: Manufacturer Firmware Revision

Identifier 600h+currentCANID Default615hByte0 40h ReadDeviceRegisterByte1 0Ah CANObject100AhByte2 10hByte3,7 00h NotusedExample:Direction Identifier Format Message DataToKeypad 615 Std 400A100000000000 KeypadReply 595 Std 430A1000322E3256 V2.2ManufacturerFirmwareRevision:V2.2


31.Object 100Bh: Model ID

Identifier 600h+currentCANID Default615hByte0 40h ReadDeviceRegisterByte1 0Bh CANObject100BhByte2 10hByte3,7 00h Notused

1°additionalbyte

Identifier 600h+currentCANID Default615hByte0 60h ReadDeviceRegistersecondbyteByte1,7 00h Notused

2°additionalbyte

Identifier 600h+currentCANID Default615hByte0 70h ReadDeviceRegisterthirdbyteByte1,7 00h Notused

Example:

Direction Identifier Format Message DataToKeypad 615 Std 400B100000000000 KeypadReply 595 Std 410B100009000000 ToKeypad 615 Std 6000000000000000 KeypadReply 595 Std 00504B5032363030 PKP2600ToKeypad 615 Std 7000000000000000 KeypadReply 595 Std 1B53490000000000 SI

ModelID:PKP2600SI

Thefirstbyteofthelastdatamessagerepliedis1Bh.


32.Object 1018h: Identity Data

Identifier 615h(600h+currentCANID) Byte0 40h ReadDeviceRegisterByte1 18h CANObject1018hByte2 10h 00h NumberofmappedobjectsByte3 01h VendorId 04h SerialnumberByte4,7 00h Notused

Examples:

Direction Identifier Format Message DataToKeypad 615 Std 4018100000000000 KeypadReply 595 Std 4F18100004000000 4ToKeypad 615 Std 4018100100000000 KeypadReply 595 Std 43181001E2030000 000003E2h

BlinkMarineVendorId:000003E2h

33.Object 1400h: Receive PDO Communication Parm 0 DescribestheReceiveParametersfortheLEDstatesPDOMessage.

Identifier 615h(600h+currentCANID) Byte0 40h ReadDeviceRegisterByte1 00h CANObject1400hByte2 14hByte3

00h Numberofmappedobjects01h COBId02h TransmissionType


Direction Identifier Format Message DataToKeypad 615 Std 4000140000000000 KeypadReply 595 Std 4F00140002000000 2ToKeypad 615 Std 4000140100000000 KeypadReply 595 Std 4300140115020000 00000215hToKeypad 615 Std 4000140200000000 KeypadReply 595 Std 4F001402FE000000 FEh

ReceivePDOcommunicationParm0:

• Numberofmappedobjects:2;• COBid:00000200h+NODEID;• TransmissionType:FEh.


34.Object 1401h: Receive PDO communication Parm 1 DescribestheReceiveParametersfortheLEDblinkstatesPDOMessage.


00h Numberofmappedobjects01h COBId02h TransmissionType

Byte4,7 00h Notused

Examples:Direction Identifier Format Message DataToKeypad 615 Std 4001140000000000 KeypadReply 595 Std 4F01140002000000 2ToKeypad 615 Std 4001140100000000 KeypadReply 595 Std 4301140115030000 00000315hToKeypad 615 Std 4001140200000000 KeypadReply 595 Std 4F011402FE000000 FEh

ReceivePDOcommunicationParm1:

• Numberofmappedobjects:2;• COBid:00000300h+NODEID;• TransmissionType:FEh.

35.Object 1402h: Receive PDO communication Parm 2 DescribestheReceiveParametersforIndicatorLEDbrightness

Identifier 615h(600h+currentCANID)

Byte0 40h ReadDeviceRegisterByte1 02h CANObject1402hByte2 14h

Byte3

00h Highestsub-indexsupported01h COBId02h TransmissionType

Byte4,7 00h Notused

Examples:Direction Identifier Format Message DataToKeypad 615 Std 4002140000000000

KeypadReply 595 Std 4F02140002000000 2ToKeypad 615 Std 4002140100000000

KeypadReply 595 Std 4302140115040000 000000415hToKeypad 615 Std 4002140200000000

KeypadReply 595 Std 4F021402FE000000 FEh

ReceivePDOcommunicationParm2:a. Numberofmappedobjects:2;b. COBid:400h+NODEID;c. TransmissionType:FEh.d.


36.Object 1403h: Receive PDO communication Parm 3 DescribestheReceiveParametersforbacklightLEDbrightness

Identifier 615h(600h+currentCANID)

Byte0 40h ReadDeviceRegisterByte1 03h CANObject1403hByte2 14h

Byte3

00h Highestsub-indexsupported01h COBId02h TransmissionType


Direction Identifier Format Message DataToKeypad 615 Std 4003140000000000

KeypadReply 595 Std 4F03140002000000 2ToKeypad 615 Std 4003140100000000

KeypadReply 595 Std 4303140115050000 000000515hToKeypad 615 Std 4003140200000000

KeypadReply 595 Std 4F031402FE000000 FEhReceivePDOcommunicationParm3:a. Numberofmappedobjects:2;b.COBid:500h+NODEID;

c.TransmissionType:FEh.

37.Object 1600h: Receive PDO mapping Parameter 0 DescribesthemappingofLEDstatePDOMessage.

Identifier 615h(600h+currentCANID) Byte0 40h ReadDeviceRegisterByte1 00h CANObject1600hByte2 16hByte3 00h Numberofmappedobjects

01h PDOMappingEntry102h PDOMappingEntry203h PDOMappingEntry3

Byte4,7 00h Notused

Examples:

Direction Identifier Format Message DataToKeypad 615 Std 4000160000000000 KeypadReply 595 Std 4F00160003000000 3ToKeypad 615 Std 4000160100000000 KeypadReply 595 Std 4300160108010120 20010108ToKeypad 615 Std 4000160200000000 KeypadReply 595 Std 4300160208020120 20010208ToKeypad 615 Std 4000160300000000 KeypadReply 595 Std 4300160308030120 20010308ReceivePDOmappingParameter0:

• Numberofmappedobjects:3;• SetLEDred:Object2001h,Subindex01h,Length08h;• SetLEDgreen:Object2001h,Subindex02h,Length08h;• SetLEDblue:Object2001h,Subindex03h,Length08h;


38.Object 1601h: Receive PDO mapping Parameter 1 DescribesthemappingofLEDblinkstatePDOMessage.


01h PDOMappingEntry102h PDOMappingEntry203h PDOMappingEntry3

Byte4,7 00h Notused

Examples:

Direction Identifier Format Message DataToKeypad 615 Std 4001160000000000 KeypadReply 595 Std 4F01160003000000 3ToKeypad 615 Std 4001160100000000 KeypadReply 595 Std 4301160108010220 20020108ToKeypad 615 Std 4001160200000000 KeypadReply 595 Std 4301160208020220 20020208ToKeypad 615 Std 4001160300000000 KeypadReply 595 Std 4301160308030220 20020308

ReceivePDOmappingParameter1:

• Numberofmappedobjects:3;• SetLEDredblink:Object2002h,Subindex01h,Length08h;• SetLEDgreenblink:Object2002h,Subindex02h,Length08h;• SetLEDblueblink:Object2002h,Subindex03h,Length08h;

39.Object 1602h: Receive PDO mapping Parameter 2 DescribesthemappingofIndicatorLEDbrightnessPDOMessage.

Identifier 615h(600h+currentCANID) Byte0 40h ReadDeviceRegisterByte1 02h CANObjectObject1602hByte2 16hByte3 00h Numberofmappedobjects

01h PDOMappingEntry1Byte4,7 00h Notused

Examples:

Direction Identifier Format Message DataToKeypad 615 Std 4002160000000000 KeypadReply 595 Std 4F02160001000000 1ToKeypad 615 Std 4002160100000000 KeypadReply 595 Std 4302160108010320 20030108ReceivePDOmappingParameter2:

• Numberofmappedobjects:1;• SetLEDredblink:Object2003h,Subindex01h,Length08h;


40.Object 1603h: Receive PDO mapping Parameter 3 DescribesthemappingofbacklightbrightnessPDOMessage.



Examples:Direction Identifier Format Message DataToKeypad 615 Std 4003160000000000 KeypadReply 595 Std 4F03160001000000 1ToKeypad 615 Std 4003160100000000 KeypadReply 595 Std 4303160108020320 20030208ReceivePDOmappingParameter3:

• Numberofmappedobjects:1;• Setbacklightbrightness:Object2003h,Subindex02h,Length08h

41.Object 1800h: a) Transmit PDO Communication Parm 0


00h Numberofmappedobjects01h COBId02h TransmissionType05h EventTimer


Direction Identifier Format Message DataToKeypad 615 Std 4000180000000000 KeypadReply 595 Std 4F00180005000000 5ToKeypad 615 Std 4000180100000000 KeypadReply 595 Std 4300180195010000 195hToKeypad 615 Std 4000180200000000 KeypadReply 595 Std 4F001802FE000000 FEhToKeypad 615 Std 4000180500000000 KeypadReply 595 Std 4F00180500000000 0=OFFTransmitPDOcommunicationParm0:

• Numberofmappedobjects:5;• Addressbase:195h=180h+NODEID;• TransmissionType:FEh;• Eventtimer:XXYYinmilliseconds,0=OFF.


b) Set periodic state transmission

Identifier 600h+currentCANID Default615hByte0 2Bh SetdeviceregisterByte1 00h CANObject1800hByte2 18hByte3 05h SubindexByte4 YYh YYh:EventtimerperiodinmillisecondsLSByteByte5 XXh XXh:Eventtimerperiodinmilliseconds

MSbyteByte6,7 00h Notused

Eventtimerperiod:XXYYh(from0A00htoFFFEh:10msto65534milliseconds).Examples:

Direction Identifier Format Message DataToKeypad 615 Std 2B00180500000000 Switchofftheperiodic

statetransmissionKeypadReply 595 Std 6000180500000000 ToKeypad 615 Std 2B00180532000000 Setperiod=50msKeypadReply 595 Std 6000180500000000 ToKeypad 615 Std 2B001805F4010000 Setperiod=500msKeypadReply 595 Std 60 01805000000

00

42.Object 1A00h Transmit PDO Mapping Parameter DescribesthemappingofKeystatePDOMessage.

Identifier 615h(600h+currentCANID) Byte0 40h ReadDeviceRegisterByte1 00h CANObject1A00hByte2 1AhByte3 00h Numberofmappedobjects


Examples:Direction Identifier Format Message DataToKeypad 615 Std 40001A0000000000 KeypadReply 595 Std 4F001A0001000000 1ToKeypad 615 Std 40001A0100000000 KeypadReply 595 Std 43001A0110010020 20000110

TransmitPDOMappingParameter:

• Numberofmappedobjects:1;• Switchstate:Object2000h,Subindex01h,Length10h;


43.Object 2200h: Serial number string


1°additionalbyte

Identifier 600h+currentCANID Default615hByte0 60h ReadDeviceRegistersecondbyteByte1,7 00h Notused

2°additionalbyte

Identifier 600h+currentCANID Default615hByte0 70h ReadDeviceRegisterthirdbyteByte1,7 00h Notused

Example:Direction Identifier Format Message DataToKeypad 615 Std 4000220000000000 KeypadReply 595 Std 4100220008000000 ToKeypad 615 Std 6000000000000000 KeypadReply 595 Std 0046464646464646 FFFFFFFToKeypad 615 Std 7000000000000000 KeypadReply 595 Std 1D46000000000000 F

Serialnumber:asciiFFFFFFFF

Thefirstbyteofthelastdatamessagerepliedis1Dh.

44.Set CAN protocol ThissetofmessagesareusedtochangetothedesiredCANbusprotocol.

• ChangefromCANopentoJ1939:

Direction Identifier Format Message DataTokeypad 615h Std 2BFF200101 ChangetoJ1939

• ChangefromJ1939toCANopen:Direction Identifier Format Message DataTokeypad 18EF2100h Ext 041B8000FFFFFFFF ChangetoCANopen


APPENDIX: DEMO Mode instructions

InDEMOModeyoucantrythefollowingfunctionsbypressingbuttonsonthePKP2600SI.

Enteringthismode,youturnonbacklightred;forthekey1eachtimeyoupressthebuttonyoucanchangethecolorofbacklightwiththissequence:

1. Red;

2. Green;

3. Blue;

4. Yellow;

5. Cyan;

6. Magenta;

7. White/lightblue;

8. Amber;

9. Yellow/green;

10. OFF.

Forthekey4,eachtimethatyoupressthebutton,therearedifferentstepsinthissequence:

1. CompleteLEDshowofallcolors;2. Backlightactivewithkeysoninsequence(itispossibletochangethecolorofkeys

pressingbutton1)3. AlternateblinkingofLEDkeysnumber1-6withredcolor;2-7withambercolor;3-8with

yellow;4-9withgreencolor;5-11withcyancolorand6-12withwhite/lightbluecolor.


b. Revision History

Date Manual

Revision Comment Related SW

version

11/12/2017 1.0 FirstRelease 2.x

05/02/2018 1.1 SecondRelease

• Correctedrangevaluesintheobjects1017hand1800h(b)

• Correctedtheparameterconcerningbacklightbrightness

• CorrectedthemessageintheSETCANprotocolcommand

• ReplacedtheimageofoldPKP2600withthenewPKP2600-SI

X.x

pkp-2600-si canopen um rev1.1 folder/15.blink_pkp-2600-si_canopen.pdf · – [email protected]...

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