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Blink Marine
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PKP2300
User Manual
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Blink Marine PKP2300 User Manual

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FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
PKP2300: CAN Open message
Summary:
2. Reference ......................................................................................................................................... 3
3. Default sengs ................................................................................................................................ 3
NMT MESSAGES ..................................................................................................................................... 4
4. Start CANopen node (keypad acvaon message) .......................................................................... 4
5. Enter pre-operaonal ....................................................................................................................... 4
6. Reset CANopen node ........................................................................................................................ 4
7. Stop CANopen node .......................................................................................................................... 5
8. Boot-up service ................................................................................................................................. 5
PDO messages ......................................................................................................................................... 6
9. Keys state message ........................................................................................................................... 6
• PKP 2300 ..................................................................................................................................... 6
10. Set LED ON message .......................................................................................................................... 6
• PKP 2300 ..................................................................................................................................... 6
11. Set LED Blink message ....................................................................................................................... 7
• PKP 2300 ...................................................................................................................................... 7
SDO Messages: ........................................................................................................................................ 8
12. Object 2000h: Digital input module, keys states ............................................................................... 8
• PKP 2300 ...................................................................................................................................... 8
13. Object 2001h: Digital output module. ............................................................................................... 9
a) Set LED ON .................................................................................................................................. 9
• PKP 2300 ...................................................................................................................................... 9
b) Read LED ON ................................................................................................................................ 9
• PKP 2300 ...................................................................................................................................... 9
14. Object 2002h: Digital output module. ............................................................................................... 10
a) Set LED blink ................................................................................................................................ 10
PKP 2300 ............................................................................................................................................ 10
b) Read LED blink ............................................................................................................................. 10
• PKP 2300 ...................................................................................................................................... 10
15. Object 2003: Brightness Level ........................................................................................................... 11
a) Set Indicator LEDs brightness level .............................................................................................. 11
b) Backlight brightness level ............................................................................................................ 11
c) Backlight color .............................................................................................................................. 11
d) Set default backlight color .......................................................................................................... 12
e) Set startup Indicator LEDs brightness level................................................................................... 12
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
f) Set startup green LEDs backlight brightness level ......................................................................... 12
16. Object 2010h: Baud rate seng ....................................................................................................... 13
17. Object 2011h :Set Boot-up service ................................................................................................... 13
18. Object 2012h : Set device acve on startup ..................................................................................... 14
19. Object 2013h: Set CANopen node ID ................................................................................................ 14
20. Object 2014h : Set startup LED show ................................................................................................ 15
21. Object 2100h: Set DEMO mode ........................................................................................................ 15
22. Object 1017h: Producer heartbeat me ........................................................................................... 16
Heartbeat message ................................................................................................................................. 16
23. Object 1000h: Device Type ............................................................................................................... 17
24. Object 1001h: Error Register ............................................................................................................ 17
25. Object 1008h: Manufacturer Device Name ...................................................................................... 18
26. Object 1009h: Manufacturer Hardware Revision ............................................................................. 18
27. Object 100Ah: Manufacturer Firmware Revision ............................................................................. 19
28. Object 100Bh: Model ID .................................................................................................................... 19
29. Object 1018h: Identy Data .............................................................................................................. 20
30. Object 1400h: Receive PDO Communicaon Parm 0 ....................................................................... 20
31. Object 1401h: Receive PDO communicaon Parm 1 ........................................................................ 21
32. Object 1600h: Receive PDO mapping Parameter 0 .......................................................................... 21
33. Object 1601h: Receive PDO mapping Parameter 0 .......................................................................... 22
34. Object 1800h: ................................................................................................................................... 23
a) Transmit PDO Communicaon Parm 0 ............................................................................................... 23
b) Set periodic state transmission ................................................................................................... 23
35. Object 1A00h Transmit PDO Mapping Parameter............................................................................. 24
36. Object 2200h: Serial number string ................................................................................................. 24
37. Revision History ................................................................................................................................ 25
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
03
1. HOW TO CONNECT DEUTSCH 4 PIN:
2. REFERENCE
3. DEFAULT SETTINGS
PIN COLOUR FUNCTION
1 Blue CAN L 2 White CAN H 3 Black Nega
ve ba
4 Red Vba
. (12-24V)
Each end of the CAN bus is terminated with 120Ω resistors in compliance with the standard to
and CAN-H.
1 2 3
4 5 6
Setting
Default state or level
How to change
Baud Rate
125 kbit/s
Object 2010h
CANopen Node ID
15h
Object 2013h
Device acve on startup
Not acve
Object 2012h
Key Brightness
3Fh (Maximum Brightness)
Object 2003h
Backlight Brightness
00h (OFF)
Object 2003h
Backlight Color
Amber
Object 2003h
Startup LED Light Show
Complete LED Sequence
Object 2014h
Periodic State Transmission
Disable
Object 1800h DEMO mode
Disable
Object 2100h
Heartbeat Message
Disable
Object 1017h
Boot-up service
Acve
Object 2011h
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
Direction Identi
er Format Message
Example:
Direction Identi
er Format Message
Example:
Direction Identi
er Format Message
04
The Network Management messages follow a master-slave structure. Through NMT services, CANopen devices are inialized, started, reset or stopped.
NMT messages have CAN-ID always equal to 00h.
To Keypad 0 Std 01 15
Idenfie
r 00h
Byte 0 80h Enter pre-o
peraonal
Byte 1
XXh
Keypad CAN ID 00h
: enter all th
e keypads
15h: enter the keypad with CAN ID = 15h.
Byte 2, 7 00h N
ot used
To Keypad 0 Std 80 15
Idenfie
r 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 N
ot used
To Keypad 0 Std 81 15
NMT MESSAGES
5. ENTER PRE-OPERATIONAL
4. START CANOPEN NODE (KEYPAD ACTIVATION MESSAGE)
6. RESET CANOPEN NODE
Idenfier 00h Byte 0 01h Start CANo
pen node
Byte 1
XXh
Keypad CAN ID 00h
: start all the keypads
15h: start the keypad with CAN ID = 15h.
Byte 2, 7 00h N
ot used
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
Direction Identi
er Format Message
Example:
Example:
Direction Identi er Format Message
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-operaonal.
Idenfie
r 700h + current CAN ID Default 715h
Byte 0 00h One data byte is transmi
ed with value 0.
From Keypad 715h Std 00h
The keypad with CAN ID 15h has entered the NMT state Pre-operaonal.
The heartbeat mechanism for a CANopen device is established by cyclically transming the heartbeat message by the heartbeat producer.
Refer to Object 1017h for more details.
Idenfier 00h Byte 0 XXh 02h: Stop CANopen node
00h
: Stop CANopen node
(
old PKP sw comp
ability)
Byte 1 YYh Keypad CAN ID
00h
: stop all the keypads
15h: stop the keypad with CAN ID = 15h.
Byte 2, 7 00h N
ot used
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
Example:
06
PDO MESSAGE
9. KEYS STATE MESSAGE
• PK2300
PDO (Process Data Object) are fast telegram messages that can simply manage most important funcons. There are no answers for this kind of messages. Each PDO message has an equivalent Service Data Object message.
The keypad must be acvated, see NMT Start CANopen Node message.
10. SET LED ON MESSAGE
• PK2300
Direction Identier Format Message Key state
From Keypad 195 Std 00 00 00 00 XX No key press
ed
From Keypad 195 Std 04 00 00 00 XX Key #3 pressed From K
eypad 195 Std 20 00 00 00 XX Key #6 pressed
From K
eypad 195 Std 11 00 00 00 XX Keys #1 and #5 pressed
The keypad must be acvated, see NMT Start CANopen Node message.
Idenfier 200 + current CAN ID Default 215h Byte 0 0 0 R6 R5 - R4 R
3 R2 R1 Red LED
Byte 1 0 0 G6 G5 - G4
G3 G2 G1 Green LED
Byte 2 0 0 B6 B5
- B4 B3 B2 B1 Blue LED
Byte 2,7 00h
Not used
Idenfie
r 180 + current CAN ID Default 195h
Byte 0 Keys from #
1 to #4
0 0 K6 K5 - K
4 K3 K2 K1
Keys: 1=p
ressed; 0=released
Byte 1, 3 00h N
ot used
Byte 4 XXh Tick Time
r
Direction Identier Format M
essage LED
To Keypad 215 Std 00 00 00 00 00 00 00 0
0 Turn OFF all the LED
To Keypad 215 Std 01 00 00 00 00 00 00 0
0 Only red LED #1 ON
To Keypad 215 Std 05 00 00 00 00 00 00 0
0 Red LED #1 and #3 ON,
other LED OFF
T
o Keypad 215 Std 00 20 00 00 00 00 00 0
0 Only green LED #6 ON
To Keypad 215 Std 00 00 01 00 00 00 00 00 On
ly blue LED #1 ON
To Keypad 215 Std 00 11 00 00 00 00 00 00 Gre
en LED #1 and #5 ON,
other LE
D OFF
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
07
11. SET LED BLINK MESSAGE
The keypad must be acvated, see NMT Start CANopen Node message. Note: if the blink message is sent when the LED is already ON, the LED blinks in alternative mode.
Idenfier 300 + current CAN ID Default 315h Byte 0 0 0 R6 R5 - R4 R
3 R2 R1 Red LED
Byte 1 0 0 G6 G5 - G
4 G3 G2 G1 Green LED
Byte 2 0 0 B6 B5 - B4
B3 B2 B1 Blue LED
Byte 2,7 00h
Not used
Direction Identier Format M
essage LED
To Keypad 315 Std 00 00 00 00 00 00 00 0
0 Turn OFF all the LED
To Keypad 315 Std 01 00 00 00 00 00 00 0
0 Only red LED #1 blinks
To Keypad 315 Std 05 00 00 00 00 00 00 0
0 Only red LED #1 and #3
blink
T
o Keypad 315 Std 00 20 00 00 00 00 00 0
0 Only green LED #6 blinks
To Keypad 315 Std 00 00 01 00 00 00 00 0
0 Only blue LED #1 blinks
To Keypad 315 Std 00 11 00 00 00 00 00 0
0 Only green LED #1 and #5
blink
• PK2300
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
08
SDO MESSAGE
12. OBJECT 2000H: DIGITAL INPUT MODULE, KEYS STATES
A SDO (Service Data Object) is providing direct access to object entries of a CANopen device's object diconary.
This module contains all the Switch State informaon. A one indicates the switch is pressed, a zero indicates the switch is released.
The keypad must be acvated, see NMT Start CANopen Node message.
Idenfier 600h + current CAN ID Default 615h Byte 0 40h Read Device
Register
Byte 1 00h CAN Object 200
0h Byte 2 20h Byte 3 01h Sub index Byt
e 4,7 00h N
ot used
• PK2300
Direction Identier Format Message Data
To Keypad 615 Std 40 00 20 01 00 00 00 00
Ke
ypad
re
ply
595 std
4F 00 20 01 00 00 00
00 N
o key pressed
4F 00 20 01 01 00 00 00 Key 1 pre
ssed
4F 00 20 01 02 00 00 00 Key 2 pre
ssed
4F 00 20 01 04 00 00 00 Key 3 pre
ssed
4F 00 20 01 08 00 00 00 Key 4 pre
ssed
4F 00 20 01 10 00 00 00 Key 5 pre
ssed
4F 00 20 01 20 00 00 00 Key 6 pre
ssed
4F 00 20 01 03 00 00 00 Key 1 and 2 pre
ssed 4F 00 20 01 21 00 00 00 Key 1 and 6 pressed 4F 00 20 01 3
F 00 00 00 All keys pressed
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
Example:
09
13. OBJECT2001H: DIGITAL OUTPUT MODULE
a) Set LED on
This module sets and reads the LED Outputs States. Each bit posion represents the corresponding LED. A one indicates the LED is ON a zero indicates the LED is OFF.
Direction Identier Format Message
To Keypad 615 Std 2F 01 20 01 04 00 00 00 Set red LED #3 ON Ke
ypad Reply 595 Std 60 01 20 00
00 00 00 00
To Keypad 615 Std 2F 01 20 03 20 00 00 00 Set blu
e LED #6 ON
Keypad Reply 595 Std 60 01 20 00
00 00 00 00
The LED have the same mapping of Set LED ON message
Idenfier 600h + current CAN ID Default 615h Byte 0 40h Read Device Reg
ister
Byte 1 01h CAN Object 200
1h
Byte 2 20h
Byte 3 XXh
XX: Sub index 01h
: Red Led
02h
: Green Led
03h: Blue Led
Byte 4,7 00h Not us
ed
Direction Identier Format M
essage Data
To Keypad 615 Std 40 01 20 01 00 00 00 0
0 Read red LED
Keypad Reply 595 Std 4F 01 20 01
08 00 00 00 Only red LED #4 ON
To Keypad 615 Std 40 01 20 02 00 00 00 0
0 Read green LED
Keypad Reply 595 Std 4F 01 20 02
01 00 00 00 Only green LED #1 ON
To Keypad 615 Std 40 01 20 03 00 00 00 0
0 Read blue LED
Keypad Reply 595 Std 4F 01 20 03
20 00 00 00 Only blue LED #6 ON
• PK2300
B) Read LED on
• PK2300
Idenfier 600h + current CAN ID Default 615h Byte 0 2Fh Set Devic
e Register
Byte 1 01h CAN Object 200
1h
Byte 2 20h
Byte 3 XXh
XX: Sub index 01h
: Red Led
02h
: Green Led
03h: Blue Led
Byt
e 4 YYh 0 0 L6 L5 L4 L3 L2 L1
LED posion
Byte 5,7 00h N
ot used
Data
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
Example:
This module sets and reads the LED Blink States. Each bit posion represents the corresponding LED. A one indicates the LED is blinking a zero indicates the LED is not blinking. If the blink message is sent when the LED is already ON, the LED blinks in alternave mode.
10
14. OBJECT 2002H: DIGITAL OUTPUT MODULE
a) Set LED Blink
• PK2300
B) Read LED Blink
• PK2300
Idenfier 600h + current CAN ID Default 615h Byte 0 2Fh Set Devic
e Register
Byte 1 02h CAN Object 200
2h
Byte 2 20h
Byte 3 XXh
XX: Sub index 01h
: Red Led
02h
: Green Led
03h: Blue Led
Byt
e 4 YYh 0 0 L6 L5 L4 L3 L2 L1 LED p
osion
Byte 5,7 00h N
ot used
Direction Identier Format M
essage Data
To Keypad 615 Std 2F 02 20 01 04 00 00 00 Set red LED #3 blink Ke
ypad Reply 595 Std 60 02 20 00
00 00 00 00
To Keypad 615 Std 2F 02 20 03 20 00 00 00 Set blu
e LED #6 blink
Keypad Reply 595 Std 60 02 20 00
00 00 00 00
Idenfie
r 600h + current CAN ID Default 615h
Byte 0 2Fh Set Devic
e Register
Byte 1 02h CAN Object 200
2h
Byte 2 20h
Byte 3 XXh
XX: Sub index 01h
: Red Led
02h
: Green Led
03h: Blue Led
Byt
e 4,7 00h N
ot used
Direction Identier Format M
essage Data
To Keypad 615 Std 40 02 20 01 00 00 00 00 Read red LED blink Ke
ypad Reply 595 Std 4F 02 20 01
3F 00 00 00 All red LED blink
To Keypad 615 Std 40 02 20 02 00 00 00 00 Read gre
en LED blink
Keypad Reply 595 Std 4F 02 20 02
01 00 00 00 Green LED #1 blink To Keypad 615 Std 40 02 20 03 00 00 00 00 Read blue LED blink Ke
ypad Reply 595 Std 4F 02 20 03
00 00 00 00 No blue LED blink
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
Example:
Example:
11
15. OBJECT 2003: BRIGHTNESS LEVEL
a) Set Indicator LED brightness level
b) Backlight brightness level
c) Backlight color
Idenfier 615h (600h + current CAN ID) Byte 0 2Fh Set Devic
e Register
Byte 1 03h
CAN Object 2003h
Byt
e 2 20h Byte 3 01h Sub index Byt
e 4 YYh Intensity 00h-3F
h–› 0-100%
Byte 5,7 00h N
ot used
Idenfie
r 615h (600h + current CAN ID)
Byte 0 2Fh Set Devic
e Register
Byte 1 03h CAN Object
2003h Byte 2 20h Byte 3 02h Sub index Byt
e 4 XXh Intensity 00h-3F
h–› 0-100%
Byte 5,7 00h N
ot used
Direction Identier Format M
essage 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
Direction Identier Format M
essage Data
To Keypad 615 Std 2F 00 21 03 01 00 00
00 Red Backlight color
Keypad Reply 595 Std 60 00 21 03
00 00 00 00
Direction Identifier Format M
essage Data
To Keypad 615 Std 2F 03 20 01 10 00 00
00 Brightness = 25%
Keypad Reply 595 Std 60 03 20 01
00 00 00 00
Idenfie
r 615h (600h + current CAN ID)
Byte 0 2Fh Set Devic
e Register
Byte 1 03h CAN Object 200
3h Byte 2 20h Byte 3 03h Sub index
Byte 4 XXh
Color 01h: red 02h: gr
een 03h: blue 04h: yellow 05h: cyan 06h: violet 07h: white/light blue 08h: amber/orange 09h: yellow/gr
een
Byte 5,7 00h Not used
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
Example:
Example:
12
d) Set default backlight color
e) Set startup indicator LED brightness level
f) Set startup backlight brightness level
Direction Identier Format Message Data
To Keypad 615 Std 2F 03 20 04 03 00 00 00 Blue Backlight
color
Keypad Reply 595 Std 60 03 20 04 00 00 00 00
Idenfie
r 615h (600h + current CAN ID)
Byte 0 2Fh Set Devic
e Register
Byte 1 03h CAN Object 2003h
Byt
e 2 20h
Byte 3 05h Sub index Byt
e 4 XXh Intensity 00h-3F
h–› 0-100%
Byte 5,7 00h N
ot used
Direction Identier Format M
essage 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
Idenfie
r 615h (600h + current CAN ID)
Byte 0 2Fh Set Devic
e Register
Byte 1 03h CAN Object 2003h Byt
e 2 20h Byte 3 06h Sub index Byt
e 4 XXh Intensity 00h-3F
h–› 0-100%
Byte 5,7 00h N
ot used
Direction Identier Format M
essage Data
To Keypad 615 Std 2F 03 20 06 10 00 00
00 Brightness = 25%
Keypad Reply 595 Std 60 03 20
06 00 00 00 00
Idenfie
r 615h (600h + current CAN ID)
Byte 0 2Fh Set Devic
e Register
Byte 1 03h CAN Object 200
3h Byte 2 20h Byte 3 04h Sub index
Byte 4 XXh
Color 01h: red 02h: gr
een 03h: blue 04h: yellow 05h: cyan 06h: violet 07h: white/light blue 08h: amber/orange 09h: yellow/gr
een
Byte 5,7 00h Not used
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
Example:
13
16. OBJECT 2010H: BAUD RATE SETTING
17. OBJECT 2011H: SET BOOT-UP SERVICE
Direction Identier Format Message Data
To Keypad 615 Std 2F 10 20 00 03 00 00
00 Baud rate = 250k
Keypad Reply 595 Std 60 10 20 00
00 00 00 00
Object 2011h message enable or disable the boot up message sent by the keypad at power up to the CAN network.
Direction Identier Format Message Data
To Keypad 615 Std 2F 11 20 00 00 00 00
00 Boot-up service not
acve
Keypad Reply 595 Std 60 11 20
00 00 00 00 00
Idenfie
r 615h (600h + current CAN ID)
Byte 0 2Fh Set Devic
e Register Byte 1 10h CAN Object 2010h Byt
e 2 20h
Byte 3 00h Sub i
ndex
Byt
e 4
00h 1000k 01h Reserve
d (force to 125k) 02h 500k 03h 250K 04h 125k (Default) 05h Re
serve
d (force to 125k) 06h 50k 07h 20k
Byte 5,7 00h N
ot used
Idenfie
r 600h + current CAN ID Default 615h
Byte 0 2Fh Set Devic
e Register Byte 1 11h CAN Object 2011h Byt
e 2 20h
Byte 3 00h
Sub index
Byt
e 4 XXh 00h: Not acve
01h
: Ac
ve
Byte 5,7 00h N
ot used
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
Example:
14
18. OBJECT 2012H: SET DEVICE ON STARTUP
19. OBJECT 2013H: SET CANOPEN NODE ID
If keypad is acve on startup don’t need the Start CANopen command from host.
Direction Identier Format Message Data
To Keypad 615 Std 2F 12 20 00 01 00 00
00 Device acve on startup
Keypad Reply 595 Std 60 12 20 00
00 00 00 00
Idenfie
r 600h + current CAN ID Default 615h
Byte 0 2Fh Set Devic
e Register
Byte 1 13h CAN Object 2013h Byt
e 2 20h
Byte 3 00h Sub index
Byt
e 4 XXh XX: New
node id (00h-7Fh),
default 15h
Byt
e 5,7 00h N
ot used
Direction Identier Format M
essage Data
To Keypad 615 Std 2F 13 20 00 18 00 00
00 New CANopen node ID 18h
Keypad Reply 595 Std 60 13 20 00
00 00 00 00
Idenfie
r 600h + current CAN ID Default 615h
Byte 0 2Fh Set Devic
e Register Byte 1 12h CAN Object 2012h Byt
e 2 20h Byte 3 00h Sub index Byt
e 4 XXh 00h: Not acve
01h
: Ac
ve
Byte 5,7 00h N
ot used
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
Example:
15
20. OBJECT 2014H: SET STARTUP LED SHOW
21. OBJECT 2100H: SET DEMO MODE
Direction Identier Format Message Data
To Keypad 615 Std 2F 14 20 00 00 00 00
00 Disable startup LED
show
Keypad Reply 595 Std 60 14 20 00
00 00 00 00
When the Demo mode is set, the keypad is in a special funconal state. Pressing the buons the LED of the keypad are switched in a predefined sequence of set up to show colors and light features of the device. Aer the message has been sent, disconnect and reconnect the keypad to enter the DEMO mode.
Direction Identier Format Message Data
To Keypad 615 Std 2F 00 21 00 01 00 00
00 Set DEMO mode Acve
Keypad Reply 595 Std 60 00 21 00
00 00 00 00
Idenfie
r 600h + current CAN ID Default 615h
Byte 0 2Fh Set Devic
e Register Byte 1 14h CAN Object 2014h Byt
e 2 20h
Byte 3 00h Sub index
Byt
e 4 XXh 00h: Disable
01h
: Comp
lete LED Show (default)
02h: Fast Flash
Byt
e 5,7 00h N
ot used
Idenfie
r 600h + current CAN ID Default 615h
Byte 0 2Fh Set Device Regi
ster
Byte 1 00h CAN Object 2100 Byt
e 2 21h
Byte 3 00h Sub i
ndex
Byt
e 4 XXh
00h: Not acve 01h
: Ac
ve
Byte 5,7 00h N
ot used
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
Example:
16
22. OBJECT 1017H: PRODUCER HEARTBEAT TIME
HEARTBEAT MESSAGE
The producer heartbeat me shall indicate the configured cycle me of the heartbeat.
Idenfier 600h + current CAN ID Default 615h
Byte 0 40h Read Device
Register
2B Set device
register
Byte 1 17h CAN Object 101
7h Byte 2 10h Byte 3 00h Sub index Byt
e 4 YYh YYh: Heartbeat me
in milliseconds MSByte
Byte 5 XXh XXh: Heartbeat me
in milliseconds LSByte
Byte 5, 7 00h N
ot used
Heartbeat me: XXYYh minimum 000Ah maximum FFFFh milliseconds.
Direction Identier Format Message Data
To Keypad 615 Std 40 17 10 00 00 00 00 0
0 Read heartbeat me
Keypad Reply 595 Std 4B 17 10 0
0 64 00 00 00 Heartbeat me = 100ms
To Keypad 615 Std 2B 17 10 00 00 00 00 00 Sw
itch off the heartbeat
Keypad Reply 595 Std 60 17 10 00
00 00 00 00
To Keypad 615 Std 2B 17 10 00 32 00
00 00 Set heartbeat me = 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 me = 500ms
Keypad Reply 595 Std 60 17 10 00
00 00 00 00
The heartbeat mechanism for a CANopen device is established by cyclically transming the heartbeat message by the heartbeat producer. One or more CANopen devices in the network are aware of this heartbeat message. If the heartbeat cycle fails for the heartbeat producer the local applicaon on the heartbeat consumer will be informed about that event.
If a CANopen device starts with a value for the heartbeat producer me unequal to 0 the boot-up message is regarded as first heartbeat message.
Idenfier 700h + current CAN ID Default 715h
Byte 0
XXh
XXh :State of heartbeat produ
cer 00h: Boot-up 05h
: Operaonal
7Fh: Pre-opera
onal
Direction Identier Format M
essage Data
From Keypad 715h Std 00h Boot up From K
eypad 715h Std 7Fh Pre-opera
onal
To keypad 00h Std 01h
15h Start keypad with CAN ID 15h
From Keypad 715h Std 05h Opera
onal
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
17
23. OBJECT 1000H: DEVICE TYPE
24. OBJECT 1001H: ERROR REGISTER
Idenfier 600h + current CAN ID Default 615h Byte 0 40h Read Device
Register
Byte 1 00h CAN Object 100
0h
Byte 2 10h Byte 3, 7 00h N
ot used
Direction Identier Format D
ata
To Keypad 615 Std 40 00 10 00 00 00 00 0
0
Keypad Reply 595 Std 43 00 10 00
91 01 03 00
Device profile number 30191h.
This object is not yet implemented in the device.
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Exa
1° addional byte
mple:
Example:
2° addional byte
18
25. OBJECT 1008H: MANUFACTURER DEVICE NAME
26. OBJECT 1009H: MANUFACTURER HARDWARE REVISION
Idenfier 600h + current CAN ID Default 615h Byte 0 40h Read Device
Register
Byte 1 08h CAN Object 100
8h Byte 2 10h Byte 3, 7 00h N
on used
Idenfie
r 600h + current CAN ID Default 615h
Byte 0 60h Read Device
Register Next Byte
Byte 1, 7 00h N
ot used
Idenfie
r 600h + current CAN ID Default 615h
Byte 0 70h Read Device
Register Next Byte
Byte 1, 7 00h N
ot used
Direction Identier Format M
essage Data
To Keypad 615 Std 40 08 10 00 00 00 00 0
0
Keypad Reply 595 Std 41 08 10 00
0B 00 00 00
To Keypad 615 Std 60 00 00 00 00 00 00 0
0
Keypad Reply 595 Std 00 42 6C 6
9 6E 6B 4D 61 BlinkMarine
To Keypad 615 Std 70 00 00 00 00 00 00 0
0
Keypad Reply 595 Std 17 72 69 6E
65 00 00 00
Manufacturer Device Name: BlinkMarine The first byte of the last data message replied is 17h.
Idenfier 600h + current CAN ID Default 615h Byte 0 40h Read Device
Register
Byte 1 09h CAN Object 100
9h
Byte 2 10h Byte 3, 7 00h N
ot used
Direction Identier Format M
essage Data
To Keypad 615 Std 40 09 10 00 00 00 00 0
0
Keypad Reply 595 Std 43 09 10 00 33 30 5F
56 V_03
Manufacturer Hardware Revision: V_03
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
Exa
1° addional byte
mple:
2° addional byte
19
27. OBJECT 100AH: MANUFACTURER FIRMWARE REVISION
28. OBJECT 100BH: MODEL ID
Idenfier 600h + current CAN ID Default 615h Byte 0 40h Read Device
Register
Byte 1 0Ah CAN Object 100
Ah
Byte 2 10h Byte 3, 7 00h N
ot used
Direction Identier Format M
essage Data
To Keypad 615 Std 40 0A 10 00 00 00 00 0
0
Keypad Reply 595 Std 43 0A 10 00 30 2E
31 56
Manufacturer Firmware Revision: V1.0
Idenfier 600h + current CAN ID Default 615h Byte 0 40h Read Device
Register
Byte 1 0Bh CAN Object 100
Bh
Byte 2 10h Byte 3, 7 00h N
ot used
Idenfie
r 600h + current CAN ID Default 615h
Byte 0 60h Read Device
Register second byte
Byte 1, 7 00h N
ot used
Idenfie
r 600h + current CAN ID Default 615h
Byte 0 70h Read Device
Register third byte
Byte 1, 7 00h N
ot used
Direction Identier Format M
essage Data
To Keypad 615 Std 40 0B 10 00 00 00 00 00
Ke
ypad Reply 595 Std 41 0B 10 0
0 07 00 00 00
To Keypad 615 Std 60 00 00 00 00 00 00 0
0
Keypad Reply 595 Std 00 50 4B 5
0 32 33 30 30 PKP2300
To Keypad 615 Std 70 00 00 00 00 00 00 0
0
Keypad Reply 595 Std 1D 00 00
00 00 00 00 00
Model ID: PKP2300
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
Example:
20
29. OBJECT 1018H: IDENTITY DATA
30. OBJECT 1400H: RECEIVE PDO COMMUNICATION PARM 0
Idenfie
r 615h (600h + current CAN ID)
Byte 0 40h Read Device
Register Byte 1 18h CAN Object 1018h Byt
e 2 10h
Byte 3
00h Number of ma
pped objects
01h Vendo
r Id
04h Serial nu
mber
Byte 4,7 00h N
ot used
Direction Identifier Format M
essage Data
To Keypad 615 Std 40 18 10 00 00 00 00 0
0
Keypad Reply 595 Std 4F 18 10 00
01 00 00 00 1
To Keypad 615 Std 40 18 10 01 00 00 00 0
0
Keypad Reply 595 Std 43 18 10 01
E2 03 00 00 000003E2h
Blink Marine Vendor Id: 000003E2h
Describes the Receive Parameters for the LED state PDO Message.
Idenfier 615h (600h + current CAN ID) Byte 0 40h Read Device
Register Byte 1 00h CAN Object 1400h
Byt
e 2 14h
Byte 3
00h Number of ma
pped objects 01h COB Id 02h T
ransmis
sion Type
Byte 4,7 00h N
ot used
Direction Identier Format M
essage Data
To Keypad 615 Std 40 00 14 00 00 00 00 0
0
Keypad Reply 595 Std 4F 00 14 00
02 00 00 00 2
To Keypad 615 Std 40 00 14 01 00 00 00 0
0
Keypad Reply 595 Std 4B 00 14 0
1 15 02 00 00 0000 0215h
To Keypad 615 Std 40 00 14 02 00 00 00 0
0
Keypad Reply 595 Std 4B 00 14 0
2 FE 00 00 00 FEh
Receive PDO communicaon Parm 0:
• Number of mapped objects: 2;
• COB id: 0000 0200h + NODE ID;
• Transmission Type: FEh.
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
Example:
21
31. OBJECT 1401H: RECEIVE PDO COMMUNICATION PARM 1
32. OBJECT 1600H: RECEIVE PDO MAPPING PARAMETER 0
Describes the Receive Parameters for the LED blink PDO Message.
Idenfier 615h (600h + current CAN ID)
Byte 0 40h Read Device
Register Byte 1 01h CAN Object 1401h Byte
2 14h
Byte 3
00h Number of ma
pped objects 01h COB Id 02h T
ransmis
sion Type
Byte 4,7 00h N
ot used
Direction Identier Format M
essage Data
To Keypad 615 Std 40 01 14 00 00 00 00 0
0
Keypad Reply 595 Std 4F 01 14 00
02 00 00 00 3
To Keypad 615 Std 40 01 14 01 00 00 00 0
0
Keypad Reply 595 Std 4B 01 14 0
1 15 02 00 00 0000 0315h
To Keypad 615 Std 40 01 14 02 00 00 00 0
0
Keypad Reply 595 Std 4B 01 14 0
2 FE 00 00 00 FEh
Receive PDO communicaon Parm 1:
• Number of mapped objects: 2;
• COB id: 0000 0300h + NODE ID;
• Transmission Type: FEh.
Describes the mapping of LED state PDO Message.
Idenfier 615h (600h + current CAN ID)
Byte 0 40h Read Device
Register Byte 1 00h CAN Object 1600h Byt
e 2 16h
Byte 3
00h Number of ma
pped objects
01h PDO Mapp
ing Entry 1
02h PDO Mapp
ing Entry 2
03h PDO Mapp
ing Entry 3
Byte 4,7
00h N
ot us
ed
Direction Identier Format M
essage Data
To Keypad 615 Std 40 00 16 00 00 00 00 0
0
Keypad Re
ply 595 Std 4F 00 16 00 03 00 00 00 3
To Keypad 615 Std 40 00 16 01 00 00 00 0
0
Keypad Reply 595 Std 43 00 16 01
08 01 01 20 2001 01 08
To Keypad 615 Std 40 00 16 02 00 00 00 0
0
Keypad Reply 595 Std 43 00 16 01
08 02 01 20 2001 02 08
To Keypad 615 Std 40 00 16 03 00 00 00 0
0
Keypad Reply 595 Std 43 00 16 03
08 01 01 20 2001 01 08
Receive PDO mapping Parameter 0:
• Number of mapped objects: 3;
• Set LED red: Object 2001h, Sub index 01h, Length 08h;
• Set LED green: Object 2001h, Sub index 02h, Length 08h;
• Set LED blue: Object 2001h, Sub index 03h, Length 08h;
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
22
33. OBJECT 1601H: RECEIVE PDO MAPPING PARAMETER 0
Describes the mapping of LED blink state PDO Message.
Idenfier 615h (600h + current CAN ID)
Byte 0 40h Read Device
Register
Byte 1 01h CAN Object
1601h
Byte 2 16h
Byte 3
00h Number of ma
pped objects
01h PDO Mapp
ing Entry 1
02h PDO Mapp
ing Entry 2
03h PDO Mapp
ing Entry 3
Byte 4,7 00h N
ot used
Direction Identier Format M
essage Data
To Keypad 615 Std 40 00 16 00 00 00 00 0
0
Keypad Reply 595 Std 4F 00 16 00
03 00 00 00 3
To Keypad 615 Std 40 00 16 01 00 00 00 0
0
Keypad Reply 595 Std 43 00 16 01
08 01 02 20 2002 01 08
To Keypad 615 Std 40 00 16 02 00 00 00 0
0
Keypad Reply 595 Std 43 00 16 01
08 02 02 20 2002 02 08
To Keypad 615 Std 40 00 16 03 00 00 00 0
0
Keypad Reply 595 Std 43 00 16 03
08 01 02 20 2002 03 08
Receive PDO mapping Parameter 0:
• Number of mapped objects: 3;
• Set LED red blink: Object 2002h, Sub index 01h, Length 08h;
• Set LED green blink: Object 2002h, Sub index 02h, Length 08h;
• Set LED blue blink: Object 2002h, Sub index 03h, Length 08h;
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
Example:
23
34. OBJECT 1800H:
a) Transmit PDO Communication Parm 0
b) Set periodic state transmission
Idenfier 615h (600h + current CAN ID) Byte 0 40h Read Device
Register
Byte 1 00h CAN Object 1800h
Byt
e 2 18h
Byt
e 3
00h Number of ma
pped objects 01h COB Id 02h T
ransmis
sion Type
05h Event Timer
Byt
e 4,7 00h N
ot used
Direction Identier Format M
essage Data
To Keypad 615 Std 40 00 18 00 00 00 00 0
0
Keypad Reply 595 Std 4F 00 18 00
02 00 00 00 2
To Keypad 615 Std 40 00 18 01 00 00 00 0
0
Keypad Reply 595 Std 4B 00 18 0
1 95 01 00 00 195h
To Keypad 615 Std 40 00 18 02 00 00 00 0
0
Keypad Reply 595 Std 4B 00 18 0
2 FE 00 00 00 FEh
To Keypad 615 Std 40 00 18 05 00 00 00 0
0
Keypad Reply 595 Std 4B 00 18 0
5 00 00 00 00 0 = OFF
Transmit PDO communicaon Parm 0:
• Number of mapped objects: 2;
• Address base: 195h= 180h+ NODE ID;
• Transmission Type: FEh;
• Event mer: XXYY in milliseconds, 0 = OFF.
Idenfier 600h + current CAN ID Default 615h Byte 0 2Bh Set device
register Byte 1 00h CAN Object 1800h Byt
e 2 18h Byte 3 05h Sub index Byt
e 4 YYh YYh: Eve
nt mer period in milliseconds
Byte 5 XXh XXh: Eve
nt mer period in milliseconds
Byte 5, 7 00h N
ot used
Event mer period: XXYYh (from 000Ah to FFFFh: 10ms to 65535 milliseconds).
Direction Identier Format Message Data
To Keypad 615 Std 2B 00 18 00 00 00
00 00 Switch off the periodic
state transmission
Ke
ypad Reply 595 Std 60 00 18 00
00 00 00 00
To Keypad 615 Std 2B 00 18 00 32 00
00 00 Set period = 50ms
Keypad Reply 595 Std 60 00 18 00
00 00 00 00
To Keypad 615 Std 2B 00 18 00 F4 01
00 00 Set period = 500ms
Keypad Reply 595 Std 60 00 18 00
00 00 00 00
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
Example:
Example:
1° addional byte
2° addional byte
24
35. OBJECT 1A00H: TRANSMIT PDO MAPPING PARAMETER
36. OBJECT 2200H: SERIAL NUMBER STRING
Describes the mapping of Key state PDO Message.
Idenfier 615h (600h + current CAN ID)
Byte 0 40h Read Device
Register Byte 1 00h CAN Object 1A00h Byt
e 2 1Ah
Byte 3
00h Number of ma
pped objects
01h PDO Mapp
ing Entry 1
Byte 4,7 00h N
ot used
Direction Identier Format M
essage Data
To Keypad 615 Std 40 00 1A 00 00 00 00 00 Ke
ypad Reply 595 Std 4F
00 1A 00 01 00 00 00 1 To Keypad 615 Std 40 00 1A 01 00 00 00 00 Ke
ypad Reply 595 Std 43 00 1A
01 08 01 00 20 2000 01 08h
Transmit PDO Mapping Parameter:
• Number of mapped objects: 1;
• Switch state: Object 2000h, Sub index 01h, Length 08h;
Idenfier 600h + current CAN ID Default 615h Byte 0 40h Read Device
Register
Byte 1 00h CAN Object 220
0h Byte 2 22h Byte 3
,7 00h N
ot used
Idenfie
r 600h + current CAN ID Default 615h
Byte 0 60h Read Device
Register second byte
Byte 1, 7 00h N
ot used
Idenfie
r 600h + current CAN ID Default 615h
Byte 0 70h Re
ad Device Register third byte
Byte 1, 7 00h N
ot used
Direction Identier Format M
essage Data
To Keypad 615 Std 41 00 22 00 00 00 00 00 Keypad Reply 595 Std 41 00 22 00 08 00 00 0
0
To Keypad 615 Std 60 00 00 00 00 00 00 0
0
Keypad Reply 595 Std 00 46 46 46
46 46 46 46 FFFFFFF
To Keypad 615 Std 70 00 00 00 00 00 00 0
0
Keypad Reply 595 Std 1D
46 00 00 00 00 00 00 F
Serial number: ascii FFFFFFFF
FOR REFERENCE ONLY
Blink S.r.l.
Via Montefeltro, 6 - 20156 Milano - Italy - Tel. +39 02 3088583 - Fax +39 02 33406697
www.blinkmarine.com - info@blinkgroup.com
25
Date
Manual
Rev
ision
Co
mment
Rela
ted SW
v
ersion
27/05/2016 1.0 First Release
37. REVISION HISTORY
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