PKP2600SI CANopen
Sommario
1. How to connect Deutsch 4 pin: ............................................................................................................ 3
2. Reference .............................................................................................................................................. 3
3. Default settings ..................................................................................................................................... 3
NMT MESSAGES ............................................................................................................................................. 4
4. Start CANopen node (keypad activation message) .............................................................................. 4
5. Enter pre-operational ........................................................................................................................... 4
6. Reset CANopen node ............................................................................................................................ 4
7. Stop CANopen node ............................................................................................................................. 5
8. Boot-up service ..................................................................................................................................... 5
9. Heartbeat message ............................................................................................................................... 5
PDO messages ............................................................................................................................................... 6
10. Keys state message ............................................................................................................................... 6
• PKP 2600SI .......................................................................................................................................... 6
11. Set LED ON message ............................................................................................................................. 6
• PKP 2600SI .......................................................................................................................................... 6
12. Set LED Blink message .......................................................................................................................... 7
• PKP 2600SI .......................................................................................................................................... 7
13. Indicator LEDs brightness level ............................................................................................................. 7
14. Backlight brightness level ..................................................................................................................... 7
SDO Messages: .............................................................................................................................................. 8
15. Object 2000h: Digital input module, keys states .................................................................................. 8
• PKP 2600SI .......................................................................................................................................... 8
16. Object 2001h: Digital output module. .................................................................................................. 9
a) Set LED ON ............................................................................................................................................ 9
• PKP 2600SI .......................................................................................................................................... 9
b) Read LED ON ......................................................................................................................................... 9
• PKP 2600SI .......................................................................................................................................... 9
17. Object 2002h: Digital output module. ................................................................................................ 10
a) Set LED blink ....................................................................................................................................... 10
• PKP 2600SI ........................................................................................................................................ 10
b) Read LED blink .................................................................................................................................... 10
• PKP 2600SI ........................................................................................................................................ 10
18. Object 2003h: Brightness Level .......................................................................................................... 11
a) Set Indicator LED brightness level .................................................................................................... 11
b) Backlight brightness level ................................................................................................................. 11
www.blinkmarine.com PKP2600SI_CANopenUM_REV1.1 2/28
c) Backlight color .................................................................................................................................. 11
d) Set default backlight color ............................................................................................................... 12
e) Set startup Indicator LED brightness level ....................................................................................... 12
f) Set startup backlight brightness level .............................................................................................. 12
19. Object 2010h: Baud rate setting ......................................................................................................... 13
20. Object 2011h: Set Boot-up service ..................................................................................................... 13
21. Object 2012h: Set device active on startup ........................................................................................ 14
22. Object 2013h: Set CANopen node ID .................................................................................................. 14
23. Object 2014h: Set startup LED show .................................................................................................. 15
24. Object 2100h: Set DEMO mode .......................................................................................................... 15
25. Object 1017h: Producer heartbeat time ............................................................................................ 16
Heartbeat message ...................................................................................................................................... 16
26. Object 1000h: Device Type ................................................................................................................. 17
27. Object 1001h: Error Register .............................................................................................................. 17
28. Object 1008h: Manufacturer Device Name ........................................................................................ 17
29. Object 1009h: Manufacturer Hardware Revision ............................................................................... 18
30. Object 100Ah: Manufacturer Firmware Revision ............................................................................... 18
31. Object 100Bh: Model ID ..................................................................................................................... 19
32. Object 1018h: Identity Data ............................................................................................................... 20
33. Object 1400h: Receive PDO Communication Parm 0 ......................................................................... 20
34. Object 1401h: Receive PDO communication Parm 1 ......................................................................... 21
35. Object 1402h: Receive PDO communication Parm 2………………………………………………………………………21
36. Object 1403h: Receive PDO communication Parm 3…………………………………………………………….………..22
37. Object 1600h: Receive PDO mapping Parameter 0 ............................................................................ 22
38. Object 1601h: Receive PDO mapping Parameter 1 ............................................................................ 23
39. Object 1602h: Receive PDO mapping Parameter 2 ............................................................................ 23
40. Object 1603h: Receive PDO mapping Parameter 3 ............................................................................ 24
41. Object 1800h: ..................................................................................................................................... 24
a) Transmit PDO Communication Parm 0 ............................................................................................ 24
b) Set periodic state transmission ........................................................................................................ 25
42. Object 1A00h Transmit PDO Mapping Parameter.............................................................................. 25
43. Object 2200h: Serial number string ................................................................................................... 26
44. Set CAN protocol ................................................................................................................................ 26
APPENDIX: DEMO Mode instructions .......................................................................................................... 27
45. Revision History .................................................................................................................................. 28
3/28 PKP2600SI_CANopenUM_REV1.1 www.blinkmarine.com
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
Front view.
PKP2600SI
3. Default settings
Setting
Default state or level
How to change
Baud Rate
125 kbit/s
Object 2010h
CANopen Node ID
15h
Object 2013h
Device active on startup
Not active
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
Active
Object 2011h
PIN
COLOUR
FUNCTION
1
Blue
CAN L
2
White
CAN H
3
Black
Negative battery
4
Red
Vbatt. (12-24V)
www.blinkmarine.com PKP2600SI_CANopenUM_REV1.1 4/28
NMT MESSAGES
The Network Management messages follow a master-slave structure. Through NMT services, CANopen
devices are initialized, started, reset or stopped.
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: start the keypad with CAN ID = 15h.
Byte 2, 7
00h
Not used
Example:
Direction
Identifier
Format
Message
To Keypad
0
Std
01 15
5. Enter pre-operational
Identifier
00h Byte 0
80h
Enter pre-operational
Byte 1
XXh
Keypad CAN ID
00h: enter all the keypads
15h: enter the keypad with CAN ID = 15h.
Byte 2, 7
00h
Not used
Example:
Direction
Identifier
Format
Message
To Keypad
0
Std
80 15
6. Reset CANopen node
Identifier
00h Byte 0
81h
Reset CANopen node
Byte 1
XXh
Keypad CAN ID
00h: reset all the keypads
15h: reset the keypad with CAN ID = 15h.
Byte 2, 7
00h
Not used
Example:
Direction
Identifier
Format
Message
To Keypad
0
Std
81 15
5/28 PKP2600SI_CANopenUM_REV1.1 www.blinkmarine.com
7. Stop CANopen node
Identifier
00h
Byte 0
XXh
02h: Stop CANopen node
00h: Stop CANopen node
(old PKP sw compatibility)
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
Byte 0
00h
One data byte is transmitted with value 0.
Example:
Direction
Identifier
Format
Message
From Keypad
715h
Std
00h
The keypad with CAN ID 15h has entered the NMT state Pre-operational.
9. Heartbeat message
The heartbeat mechanism for a CANopen device is established by cyclically transmitting the
heartbeat
message by the heartbeat producer.
Refer to Object 1017h for more details.
www.blinkmarine.com PKP2600SI_CANopenUM_REV1.1 6/28
PDO messages
PDO (Process Data Object) are fast telegram messages that can simply manage most important functions.
There are no answers for this kind of messages. Each PDO message has an equivalent Service Data Object
message.
10.Keys state message
The keypad must be activated, see NMT Start CANopen Node message.
• PKP 2600SI
Identifier
180 + current CAN ID
Default 195h
Byte 0
Keys from #1 to #8
K8 K7 K6 K5 – K4 K3 K2 K1
Keys: 1=pressed; 0=released
Byte 1
Keys from #9 to #12
0 0 0 0 – K12 K11 K10 K9
Keys: 1=pressed; 0=released
Byte 2,3
00h
Not used
Byte 4
XXh
Tick Timer
Examples:
Direction
Identifier
Format
Message
Key state
From Keypad
195
Std
00 00 00 00 XX
No key pressed
From Keypad
195
Std
08 00 00 00 XX
Only key #4 pressed
From Keypad
195
Std
80 00 00 00 XX
Only key #8 pressed
From Keypad
195
Std
21 00 00 00 XX
Keys #6 and #1 pressed
From Keypad
195
Std
00 08 00 00 XX
Only key #12 pressed
11.Set LED ON message
The keypad must be activated, see NMT Start CANopen Node message.
• PKP 2600SI
Identifier
200 + current CAN ID
Default 215h
Byte 0
R8 R7 R6 R5 – R4 R3 R2 R1
Red LED
Byte 1
G4 G3 G2 G1 – R12 R11 R10 R9
Green and Red LED
Byte 2
G12 G11 G10 G9 – G8 G7 G6 G5
Green LED
Byte 3
B8 B7 B6 B5 B4 – B3 B2 B1
Blue LED
Byte 4
00 00 00 00 00 – B12 B11 B10 B9
Blue LED
Byte 5,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
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 red LED #1 ON
To Keypad
215
Std
42 00 00 00 00 00 00 00
Red LED #2 and #7 ON,
other LED OFF
To Keypad
215
Std
00 00 01 00 00 00 00 00
Green LED #5 on, other LED
off
To Keypad
215
Std
00 11 00 00 00 00 00 00
Green LED #1 and red LED
#9 on, other LED off
To Keypad
215
Std
00 00 00 88 00 00 00 00
Blue LED #4 and #8 on,
other LED off
To Keypad
215
Std
00 CC 00 00 00 00 00 00
Red LED #11, #12 on; green
LED #3, #4 on; other LED off
7/28 PKP2600SI_CANopenUM_REV1.1 www.blinkmarine.com
12.Set LED Blink message
The keypad must be activated, 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.
• PKP 2600SI
Identifier
300 + current CAN ID
Default 315h
Byte 0
R8 R7 R6 R5 – R4 R3 R2 R1
Red LED
Byte 1
G4 G3 G2 G1 – R12 R11 R10 R9
Green and red LED
Byte 2
G12 G11 G10 G9 – G8 G7 G6 G5
Green LED
Byte 3
B8 B7 B6 B5 – B4 B3 B2 B1
Blue LED
Byte 4
00 00 00 00 – B12 B11 B10 B9
Blue LED
Byte 5,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
LED
To Keypad
315
Std
00 00 00 00 00 00 00 00
Turn OFF all the LED
To Keypad
315
Std
01 00 00 00 00 00 00 00
Only red LED #1 blinks
To Keypad
315
Std
09 00 00 00 00 00 00 00
Red LED #1 and #4 blink
To Keypad
315
Std
00 00 11 00 00 00 00 00
Green LED #5 and #9 blink
To Keypad
315
Std
00 00 00 01 00 00 00 00
Only blue LED #1 blinks
To Keypad
315
Std
00 00 CC 00 03 00 00 00
Green LED #7, #8, #11, #12
and blue LED #9, #10
To Keypad
To Keypad
215
315
Std
Std
03 00 00 00 00 00 00 00
03 03 00 00 00 00 00 00
LED #1 and 2 blink red and
green in alternate mode
13.Indicator LEDs brightness level
The keypad must be activated, see NMT Start CANopen Node message.
Identifier
400 + current CAN ID
Default 415h
Byte 0
XXh
Intensity 00h-3Fh min-100%
Byte 2, 7
00h
Not used
Examples:
Direction
Identifier
Format
Message
LED
To Keypad
415
Std
08 00 00 00 00 00 00 00
Brightness = 12,5%
To Keypad
415
Std
10 00 00 00 00 00 00 00
Brightness =25%
14.Backlight brightness level
The keypad must be activated, see NMT Start CANopen Node message.
Identifier
500 + current CAN ID
Default 515h
Byte 0
XXh
Intensity 00h-3Fh 0-100%
Byte 2, 7
00h
Not used
Examples:
Direction
Identifier
Format
Message
LED
To Keypad
515
Std
00 00 00 00 00 00 00 00
Turn off the backlight
To Keypad
515
Std
10 00 00 00 00 00 00 00
Backlight brightness = 25%
www.blinkmarine.com PKP2600SI_CANopenUM_REV1.1 8/28
SDO Messages:
A SDO (Service Data Object) is providing direct access to object entries of a CANopen device's object
dictionary.
15.Object 2000h: Digital input module, keys states
This module contains all the Switch State information.
A one indicates the switch is pressed, a zero indicates the switch is released.
• PKP 2600SI
Identifier
600h + current CAN ID
Default 615h
Byte 0
40h
Read Device Register
Byte 1
00h
CAN Object 2000h
Byte 2
20h
Byte 3
01h
Sub index
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 00 20 01 00 00 00 00
Keypad
reply
595
std
4B 00 20 01 00 00 00 00
No key pressed
4B 00 20 01 01 00 00 00
Key 1 pressed
4B 00 20 01 02 00 00 00
Key 2 pressed
4B 00 20 01 04 00 00 00
Key 3 pressed
4B 00 20 01 08 00 00 00
Key 4 pressed
4B 00 20 01 10 00 00 00
Key 5 pressed
4B 00 20 01 20 00 00 00
Key 6 pressed
4B 00 20 01 40 00 00 00
Key 7 pressed
4B 00 20 01 80 00 00 00
Key 8 pressed
4B 00 20 01 03 00 00 00
Key 1 and 2 pressed
4B 00 20 01 00 02 00 00
Key 10 pressed
4B 00 20 01 FF 0F 00 00
All keys pressed
9/28 PKP2600SI_CANopenUM_REV1.1 www.blinkmarine.com
16.Object 2001h: Digital output module.
This module sets and reads the LED Outputs States.
Each bit position represents the corresponding LED. A one indicates the LED is ON a zero indicates
the LED is OFF
a) Set LED ON
• PKP 2600SI
Identifier
600h + current CAN ID
Default 615h
Byte 0
2Bh
Set Device Register
Byte 1
01h
CAN Object 2001h
Byte 2
20h
Byte 3
XXh
XX: Sub index
01h: Red Led
02h: Green Led
03h: Blue Led
Byte 4
YYh
L8 L7 L6 L5 L4 L3 L2 L1 LED position
Byte 5
ZZh
00 00 00 00 L12 L11 L10 L9 LED position
Byte 6,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
2B 01 20 01 04 00 00 00
Set red LED #3 ON
Keypad Reply
595
Std
60 01 20 01 00 00 00 00
To Keypad
615
Std
2B 01 20 03 20 00 00 00
Set blue LED #6 ON
Keypad Reply
595
Std
60 01 20 03 00 00 00 00
b) Read LED ON
The LED have the same mapping of Set LED ON message
• PKP 2600SI
Identifier
600h + current CAN ID
Default 615h
Byte 0
40h
Read Device Register
Byte 1
01h
CAN Object 2001h
Byte 2
20h
Byte 3
XXh
XX: Sub index
01h: Red Led
02h: Green Led
03h: Blue Led
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 01 20 01 00 00 00 00
Read red LED
Keypad Reply
595
Std
4B 01 20 01 08 00 00 00
Only red LED #4 ON
To Keypad
615
Std
40 01 20 02 00 00 00 00
Read green LED
Keypad Reply
595
Std
4B 01 20 02 00 01 00 00
Only green LED #9 ON
To Keypad
615
Std
40 01 20 03 00 00 00 00
Read blue LED
Keypad Reply
595
Std
4B 01 20 03 00 08 00 00
Only blue LED #12 ON
www.blinkmarine.com PKP2600SI_CANopenUM_REV1.1 10/28
17.Object 2002h: Digital output module.
This module sets and reads the LED Blink States.
Each bit position 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 alternative mode.
a) Set LED blink
• PKP 2600SI
Identifier
600h + current CAN ID
Default 615h
Byte 0
2Bh
Set Device Register
Byte 1
02h
CAN Object 2002h
Byte 2
20h
Byte 3
XXh
XX: Sub index
01h: Red Led
02h: Green Led
03h: Blue Led
Byte 4
YYh
L8 L7 L6 L5 L4 L3 L2 L1 LED position
Byte 5
ZZh
00 00 00 00 L12 L11 L10 L9 LED position
Byte 6,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
2B 02 20 01 04 00 00 00
Set red LED #3 blink
Keypad Reply
595
Std
60 02 20 01 00 00 00 00
To Keypad
615
Std
2B 02 20 03 00 02 00 00
Set blue LED #10 blink
Keypad Reply
595
Std
60 02 20 03 00 00 00 00
b) Read LED blink
• PKP 2600SI
Identifier
600h + current CAN ID
Default 615h
Byte 0
40h
Read Device Register
Byte 1
02h
CAN Object 2002h
Byte 2
20h
Byte 3
XXh
XX: Sub index
01h: Red Led
02h: Green Led
03h: Blue Led
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 02 20 01 00 00 00 00
Read red LED blink
Keypad Reply
595
Std
4B 02 20 01 FF 0F 00 00
All red LED blink
To Keypad
615
Std
40 02 20 02 00 00 00 00
Read green LED blink
Keypad Reply
595
Std
4B 02 20 02 01 00 00 00
Only green LED #1 blinks
To Keypad
615
Std
40 02 20 03 00 00 00 00
Read blue LED blink
Keypad Reply
595
Std
4B 02 20 03 00 08 00 00
Blue LED #12 blinks
11/28 PKP2600SI_CANopenUM_REV1.1 www.blinkmarine.com
18.Object 2003h: Brightness Level
a) Set Indicator LED 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
01h
Sub index
Byte 4
YYh
Intensity 00h-3Fh min-100%
Byte 5,7
00h
Not used
Example:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
2F 03 20 01 20 00 00 00
Brightness = 50%
Keypad Reply
595
Std
60 03 20 01 00 00 00 00
b) 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-3Fh 0-100%
Byte 5,7
00h
Not used
Example:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
2F 03 20 02 10 00 00 00
Brightness = 25%
Keypad Reply
595
Std
60 03 20 02 00 00 00 00
c) Backlight color
Identifier
615h (600h + current CAN ID)
Byte 0
2Fh
Set Device Register
Byte 1
03h
CAN Object 2003h
Byte 2
20h
Byte 3
03h
Sub index
Byte 4
XXh
Color
01h: red
02h: green
03h: blue
04h: yellow
05h: cyan
06h: violet
07h: white/light blue
08h: amber/orange
09h: yellow/green
Byte 5,7
00h
Not used
Example:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
2F 03 20 03 01 00 00 00
Red Backlight color
Keypad Reply
595
Std
60 03 20 03 00 00 00 00
www.blinkmarine.com PKP2600SI_CANopenUM_REV1.1 12/28
d) Set default backlight color
Identifier
615h (600h + current CAN ID)
Byte 0
2Fh
Set Device Register
Byte 1
03h
CAN Object 2003h
Byte 2
20h
Byte 3
04h
Sub index
Byte 4
XXh
Color
01h: red
02h: green
03h: blue
04h: yellow
05h: cyan
06h: violet
07h: white/light blue
08h: amber/orange
09h: yellow/green
Byte 5,7
00h
Not used
Example:
Direction
Identifier
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
e) Set startup Indicator LED 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-3Fh min-100%
Byte 5,7
00h
Not used
Example:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
2F 03 20 05 3F 00 00 00
Brightness = 100%
Keypad Reply
595
Std
60 03 20 05 00 00 00 00
f) Set startup 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
06h
Sub index
Byte 4
XXh
Intensity 00h-3Fh 0-100%
Byte 5,7
00h
Not used
Example:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
2F 03 20 06 10 00 00 00
Brightness = 25%
Keypad Reply
595
Std
60 03 20 06 00 00 00 00
13/28 PKP2600SI_CANopenUM_REV1.1 www.blinkmarine.com
19.Object 2010h: Baud rate setting
Identifier
615h (600h + current CAN ID)
Byte 0
2Fh
Set Device Register
Byte 1
10h
CAN Object 2010h
Byte 2
20h
Byte 3
00h
Sub index
Byte 4
00h
1000k
01h
Reserved (force to 125k)
02h
500k
03h
250K
04h
125k (Default)
05h
Reserved (force to 125k)
06h
50k
07h
20k
Byte 5,7
00h
Not used
Example:
Direction
Identifier
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
20.Object 2011h: Set Boot-up service
Object 2011h message enable or disable the boot up message sent by the keypad at power up to
the CAN network.
Identifier
600h + current CAN ID
Default 615h
Byte 0
2Fh
Set Device Register
Byte 1
11h
CAN Object 2011h
Byte 2
20h
Byte 3
00h
Sub index
Byte 4
XXh
00h: Not active
01h: Active
Byte 5,7
00h
Not used
Example:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
2F 11 20 00 00 00 00 00
Boot-up service
not active
Keypad Reply
595
Std
60 11 20 00 00 00 00 00
www.blinkmarine.com PKP2600SI_CANopenUM_REV1.1 14/28
21.Object 2012h: Set device active on startup
If keypad is active on startup don’t need the Start CANopen command from host.
Identifier
600h + current CAN ID
Default 615h
Byte 0
2Fh
Set Device Register
Byte 1
12h
CAN Object 2012h
Byte 2
20h
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 12 20 00 01 00 00 00
Device active on startup
Keypad Reply
595
Std
60 12 20 00 00 00 00 00
22.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
New CANopen node ID 18h
Keypad Reply
595
Std
60 13 20 00 00 00 00 00
15/28 PKP2600SI_CANopenUM_REV1.1 www.blinkmarine.com
23.Object 2014h: Set startup LED show
Identifier
600h + current CAN ID
Default 615h
Byte 0
2Fh
Set Device Register
Byte 1
14h
CAN Object 2014h
Byte 2
20h
Byte 3
00h
Sub index
Byte 4
XXh
00h: Disable
01h: Complete LED Show (default)
02h: Fast Flash
Byte 5,7
00h
Not used
Example:
Direction
Identifier
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
24.Object 2100h: Set DEMO mode
This message enables the Demo mode function. Demo mode is a special feature that consists in
different LED states for each button pressing. Refer to the appendix “Demo mode instructions” to
try these special features. Disconnect and reconnect the keypad after the enable message to
enter this mode. To exit the Demo mode, send the Disable Demo mode command 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
www.blinkmarine.com PKP2600SI_CANopenUM_REV1.1 16/28
25.Object 1017h: Producer heartbeat time
The producer heartbeat time shall indicate the configured cycle time of the heartbeat.
Identifier
600h + current CAN ID
Default 615h
Byte 0
40h
Read Device Register
2Bh
Set device register
Byte 1
17h
CAN Object 1017h
Byte 2
10h
Byte 3
00h
Sub index
Byte 4
YYh
YYh: Heartbeat time in milliseconds LSByte
Byte 5
XXh
XXh: Heartbeat time in milliseconds MSByte
Byte 6,7
00h
Not used
Heartbeat time: XXYYh (from 0A00h to FFFEh: 10ms to 65534 milliseconds).
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 17 10 00 00 00 00 00
Read heartbeat time
Keypad
Reply
595
Std
4B 17 10 00 64 00 00 00
Heartbeat time = 100ms
To Keypad
615
Std
2B 17 10 00 00 00 00 00
Switch 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 time = 50ms
Keypad
Reply
595
Std
60 17 10 00 00 00 00 00
To Keypad
615
Std
2B 17 10 00 F4 01 00 00
Set heartbeat time = 500ms
Keypad
Reply
595
Std
60 17 10 00 00 00 00 00
Heartbeat message
The heartbeat mechanism for a CANopen device is established by cyclically transmitting the
heartbeat
message by the heartbeat producer. One or more CANopen devices in the network are aware of this
heartbeat message. If the heartbeat cycle fails for the heartbeat producer the local application on the
heartbeat consumer will be informed about that event.
If a CANopen device starts with a value for the heartbeat producer time unequal to 0, the boot-up
message is regarded as first heartbeat message.
Example:
Direction
Identifier
Format
Message
Data
From Keypad
715h
Std
00h
Boot up
From Keypad
715h
Std
7Fh
Pre-operational
To keypad
00h
Std
01h 15h
Start keypad with CAN ID 15h
From Keypad
715h
Std
05h
Operational
Identifier
700h + current CAN ID
Default 715h
Byte 0
XXh
XXh: State of heartbeat producer
00h: Boot-up
04h: Stop
05h: Operational
7Fh: Pre-operational
17/28 PKP2600SI_CANopenUM_REV1.1 www.blinkmarine.com
26.Object 1000h: Device Type
Identifier
600h + current CAN ID
Default 615h
Byte 0
40h
Read Device Register
Byte 1
00h
CAN Object 1000h
Byte 2
10h
Byte 3, 7
00h
Not used
Example:
Direction
Identifier
Format
Data
To Keypad
615
Std
40 00 10 00 00 00 00 00
Keypad Reply
595
Std
43 00 10 00 91 01 0B 00
Device profile number 0xB0191h.
27.Object 1001h: Error Register
This object is not yet implemented in the device.
28.Object 1008h: Manufacturer Device Name
Identifier
600h + current CAN ID
Default 615h
Byte 0
40h
Read Device Register
Byte 1
08h
CAN Object 1008h
Byte 2
10h
Byte 3, 7
00h
Not used
1° additional byte
Identifier
600h + current CAN ID
Default 615h
Byte 0
60h
Read Device Register Next Byte
Byte 1, 7
00h
Not used
2° additional byte
Identifier
600h + current CAN ID
Default 615h
Byte 0
70h
Read Device Register Next Byte
Byte 1, 7
00h
Not used
Example:
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 0B 00 00 00
To Keypad
615
Std
60 00 00 00 00 00 00 00
Keypad Reply
595
Std
00 42 6C 69 6E 6B 4D 61
BlinkMa
To Keypad
615
Std
70 00 00 00 00 00 00 00
Keypad Reply
595
Std
17 72 69 6E 65 00 00 00
rine
Manufacturer Device Name: BlinkMarine
The first byte of the last data message replied is 17h.
www.blinkmarine.com PKP2600SI_CANopenUM_REV1.1 18/28
29.Object 1009h: Manufacturer Hardware Revision
Identifier
600h + current CAN ID
Default 615h
Byte 0
40h
Read Device Register
Byte 1
09h
CAN Object 1009h
Byte 2
10h
Byte 3, 7
00h
Not used
Example:
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 31 30 5F 56
V_01
Manufacturer Hardware Revision: V_01
30.Object 100Ah: Manufacturer Firmware Revision
Identifier
600h + current CAN ID
Default 615h
Byte 0
40h
Read Device Register
Byte 1
0Ah
CAN Object 100Ah
Byte 2
10h
Byte 3, 7
00h
Not used
Example:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 0A 10 00 00 00 00 00
Keypad Reply
595
Std
43 0A 10 00 XX 2E XX 56
Vx.x
Manufacturer Firmware Revision: Vx.x
19/28 PKP2600SI_CANopenUM_REV1.1 www.blinkmarine.com
31.Object 100Bh: Model ID
Identifier
600h + current CAN ID
Default 615h
Byte 0
40h
Read Device Register
Byte 1
0Bh
CAN Object 100Bh
Byte 2
10h
Byte 3, 7
00h
Not used
1° additional byte
Identifier
600h + current CAN ID
Default 615h
Byte 0
60h
Read Device Register second byte
Byte 1, 7
00h
Not used
2° additional byte
Identifier
600h + current CAN ID
Default 615h
Byte 0
70h
Read Device Register third byte
Byte 1, 7
00h
Not used
Example:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 0B 10 00 00 00 00 00
Keypad Reply
595
Std
41 0B 10 00 09 00 00 00
To Keypad
615
Std
60 00 00 00 00 00 00 00
Keypad Reply
595
Std
00 50 4B 50 32 36 30 30
PKP2600
To Keypad
615
Std
70 00 00 00 00 00 00 00
Keypad Reply
595
Std
1B 53 49 00 00 00 00 00
SI
Model ID: PKP2600SI
The first byte of the last data message replied is 1Bh.
www.blinkmarine.com PKP2600SI_CANopenUM_REV1.1 20/28
32.Object 1018h: Identity Data
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
18h
CAN Object 1018h
Byte 2
10h
00h
Number of mapped objects
Byte 3
01h
Vendor Id
04h
Serial number
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 18 10 00 00 00 00 00
Keypad Reply
595
Std
4F 18 10 00 04 00 00 00
4
To Keypad
615
Std
40 18 10 01 00 00 00 00
Keypad Reply
595
Std
43 18 10 01 E2 03 00 00
000003E2h
Blink Marine Vendor Id: 000003E2h
33.Object 1400h: Receive PDO Communication Parm 0
Describes the Receive Parameters for the LED states PDO Message.
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
00h
CAN Object 1400h
Byte 2
14h
Byte 3
00h
Number of mapped objects
01h
COB Id
02h
Transmission Type
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 00 14 00 00 00 00 00
Keypad Reply
595
Std
4F 00 14 00 02 00 00 00
2
To Keypad
615
Std
40 00 14 01 00 00 00 00
Keypad Reply
595
Std
43 00 14 01 15 02 00 00
0000 0215h
To Keypad
615
Std
40 00 14 02 00 00 00 00
Keypad Reply
595
Std
4F 00 14 02 FE 00 00 00
FEh
Receive PDO communication Parm 0:
• Number of mapped objects: 2;
• COB id: 0000 0200h + NODE ID;
• Transmission Type: FEh.
21/28 PKP2600SI_CANopenUM_REV1.1 www.blinkmarine.com
34.Object 1401h: Receive PDO communication Parm 1
Describes the Receive Parameters for the LED blink states PDO Message.
Identifier
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 mapped objects
01h
COB Id
02h
Transmission Type
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 01 14 00 00 00 00 00
Keypad Reply
595
Std
4F 01 14 00 02 00 00 00
2
To Keypad
615
Std
40 01 14 01 00 00 00 00
Keypad Reply
595
Std
43 01 14 01 15 03 00 00
0000 0315h
To Keypad
615
Std
40 01 14 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.
35.Object 1402h: Receive PDO communication Parm 2
Describes the Receive Parameters for Indicator LED brightness
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
02h
CAN Object 1402h
Byte 2
14h
Byte 3
00h
Highest sub-index supported
01h
COB Id
02h
Transmission Type
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 02 14 00 00 00 00 00
Keypad Reply
595
Std
4F 02 14 00 02 00 00 00
2
To Keypad
615
Std
40 02 14 01 00 00 00 00
Keypad Reply
595
Std
43 02 14 01 15 04 00 00
00000 0415h
To Keypad
615
Std
40 02 14 02 00 00 00 00
Keypad Reply
595
Std
4F 02 14 02 FE 00 00 00
FEh
Receive PDO communication Parm 2:
a. Number of mapped objects: 2;
b. COB id: 400h + NODE ID;
c. Transmission Type: FEh.
www.blinkmarine.com PKP2600SI_CANopenUM_REV1.1 22/28
36.Object 1403h: Receive PDO communication Parm 3
Describes the Receive Parameters for backlight LED brightness
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
03h
CAN Object 1403h
Byte 2
14h
Byte 3
00h
Highest sub-index supported
01h
COB Id
02h
Transmission Type
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 03 14 00 00 00 00 00
Keypad Reply
595
Std
4F 03 14 00 02 00 00 00
2
To Keypad
615
Std
40 03 14 01 00 00 00 00
Keypad Reply
595
Std
43 03 14 01 15 05 00 00
00000 0515h
To Keypad
615
Std
40 03 14 02 00 00 00 00
Keypad Reply
595
Std
4F 03 14 02 FE 00 00 00
FEh
Receive PDO communication Parm 3:
a. Number of mapped objects: 2;
b. COB id: 500h + NODE ID;
c. Transmission Type: FEh.
37.Object 1600h: Receive PDO mapping Parameter 0
Describes the mapping of LED state PDO Message.
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
00h
CAN Object 1600h
Byte 2
16h
Byte 3
00h
Number of mapped objects
01h
PDO Mapping Entry 1
02h
PDO Mapping Entry 2
03h
PDO Mapping Entry 3
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 00 16 00 00 00 00 00
Keypad Reply
595
Std
4F 00 16 00 03 00 00 00
3
To Keypad
615
Std
40 00 16 01 00 00 00 00
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 00
Keypad Reply
595
Std
43 00 16 02 08 02 01 20
2001 02 08
To Keypad
615
Std
40 00 16 03 00 00 00 00
Keypad Reply
595
Std
43 00 16 03 08 03 01 20
2001 03 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;
23/28 PKP2600SI_CANopenUM_REV1.1 www.blinkmarine.com
38.Object 1601h: Receive PDO mapping Parameter 1
Describes the mapping of LED blink state PDO Message.
Identifier
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 mapped objects
01h
PDO Mapping Entry 1
02h
PDO Mapping Entry 2
03h
PDO Mapping Entry 3
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 01 16 00 00 00 00 00
Keypad Reply
595
Std
4F 01 16 00 03 00 00 00
3
To Keypad
615
Std
40 01 16 01 00 00 00 00
Keypad Reply
595
Std
43 01 16 01 08 01 02 20
2002 01 08
To Keypad
615
Std
40 01 16 02 00 00 00 00
Keypad Reply
595
Std
43 01 16 02 08 02 02 20
2002 02 08
To Keypad
615
Std
40 01 16 03 00 00 00 00
Keypad Reply
595
Std
43 01 16 03 08 03 02 20
2002 03 08
Receive PDO mapping Parameter 1:
• 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;
39.Object 1602h: Receive PDO mapping Parameter 2
Describes the mapping of Indicator LED brightness PDO Message.
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
02h
CAN Object Object 1602h
Byte 2
16h
Byte 3
00h
Number of mapped objects
01h
PDO Mapping Entry 1
Byte 4,7
00h
Not 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 01 00 00 00
1
To Keypad
615
Std
40 02 16 01 00 00 00 00
Keypad Reply
595
Std
43 02 16 01 08 01 03 20
2003 01 08
Receive PDO mapping Parameter 2:
• Number of mapped objects: 1;
• Set LED red blink: Object 2003h, Sub index 01h, Length 08h;
www.blinkmarine.com PKP2600SI_CANopenUM_REV1.1 24/28
40.Object 1603h: Receive PDO mapping Parameter 3
Describes the mapping of backlight brightness PDO Message.
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
03h
CAN Object 1601h
Byte 2
16h
Byte 3
00h
Number of mapped objects
01h
PDO Mapping Entry 1
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 03 16 00 00 00 00 00
Keypad Reply
595
Std
4F 03 16 00 01 00 00 00
1
To Keypad
615
Std
40 03 16 01 00 00 00 00
Keypad Reply
595
Std
43 03 16 01 08 02 03 20
2003 02 08
Receive PDO mapping Parameter 3:
• Number of mapped objects: 1;
• Set backlight brightness: Object 2003h, Sub index 02h, Length 08h
41.Object 1800h:
a) Transmit PDO Communication Parm 0
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
00h
CAN Object 1800h
Byte 2
18h
Byte 3
00h
Number of mapped objects
01h
COB Id
02h
Transmission Type
05h
Event Timer
Byte 4,7
00h
Not used
Example:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 00 18 00 00 00 00 00
Keypad Reply
595
Std
4F 00 18 00 05 00 00 00
5
To Keypad
615
Std
40 00 18 01 00 00 00 00
Keypad Reply
595
Std
43 00 18 01 95 01 00 00
195h
To Keypad
615
Std
40 00 18 02 00 00 00 00
Keypad Reply
595
Std
4F 00 18 02 FE 00 00 00
FEh
To Keypad
615
Std
40 00 18 05 00 00 00 00
Keypad Reply
595
Std
4F 00 18 05 00 00 00 00
0 = OFF
Transmit PDO communication Parm 0:
• Number of mapped objects: 5;
• Address base: 195h= 180h+ NODE ID;
• Transmission Type: FEh;
• Event timer: XXYY in milliseconds, 0 = OFF.
25/28 PKP2600SI_CANopenUM_REV1.1 www.blinkmarine.com
b) Set periodic state transmission
Identifier
600h + current CAN ID
Default 615h
Byte 0
2Bh
Set device register
Byte 1
00h
CAN Object 1800h
Byte 2
18h
Byte 3
05h
Sub index
Byte 4
YYh
YYh: Event timer period in milliseconds LSByte
Byte 5
XXh
XXh: Event timer period in milliseconds
MSbyte
Byte 6, 7
00h
Not used
Event timer period: XXYYh (from 0A00h to FFFEh: 10ms to 65534 milliseconds).
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
2B 00 18 05 00 00 00 00
Switch off the periodic
state transmission
Keypad Reply
595
Std
60 00 18 05 00 00 00 00
To Keypad
615
Std
2B 00 18 05 32 00 00 00
Set period = 50ms
Keypad Reply
595
Std
60 00 18 05 00 00 00 00
To Keypad
615
Std
2B 00 18 05 F4 01 00 00
Set period = 500ms
Keypad Reply
595
Std
60 0 18 05 00 00 00
00
42.Object 1A00h Transmit PDO Mapping Parameter
Describes the mapping of Key state PDO Message.
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
00h
CAN Object 1A00h
Byte 2
1Ah
Byte 3
00h
Number of mapped objects
01h
PDO Mapping Entry 1
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 00 1A 00 00 00 00 00
Keypad Reply
595
Std
4F 00 1A 00 01 00 00 00
1
To Keypad
615
Std
40 00 1A 01 00 00 00 00
Keypad Reply
595
Std
43 00 1A 01 10 01 00 20
2000 01 10
Transmit PDO Mapping Parameter:
• Number of mapped objects: 1;
• Switch state: Object 2000h, Sub index 01h, Length 10h;
www.blinkmarine.com PKP2600SI_CANopenUM_REV1.1 26/28
43.Object 2200h: Serial number string
Identifier
600h + current CAN ID
Default 615h
Byte 0
40h
Read Device Register
Byte 1
00h
CAN Object 2200h
Byte 2
22h
Byte 3,7
00h
Not used
1° additional byte
Identifier
600h + current CAN ID
Default 615h
Byte 0
60h
Read Device Register second byte
Byte 1, 7
00h
Not used
2° additional byte
Identifier
600h + current CAN ID
Default 615h
Byte 0
70h
Read Device Register third byte
Byte 1, 7
00h
Not used
Example:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 00 22 00 00 00 00 00
Keypad Reply
595
Std
41 00 22 00 08 00 00 00
To Keypad
615
Std
60 00 00 00 00 00 00 00
Keypad Reply
595
Std
00 46 46 46 46 46 46 46
FFFFFFF
To Keypad
615
Std
70 00 00 00 00 00 00 00
Keypad Reply
595
Std
1D 46 00 00 00 00 00 00
F
Serial number: ascii FFFFFFFF
The first byte of the last data message replied is 1Dh.
44.Set CAN protocol
This set of messages are used to change to the desired CANbus protocol.
• Change from CANopen to J1939:
Direction
Identifier
Format
Message
Data
To keypad
615h
Std
2B FF 20 01 01
Change to J1939
• Change from J1939 to CANopen:
Direction
Identifier
Format
Message
Data
To keypad
18EF2100h
Ext
04 1B 80 00 FF FF FF FF
Change to CANopen
27/28 PKP2600SI_CANopenUM_REV1.1 www.blinkmarine.com
APPENDIX: DEMO Mode instructions
In DEMO Mode you can try the following functions by pressing buttons on the PKP2600SI.
Entering this mode, you turn on backlight red; for the key 1 each time you press the button you can change
the color of backlight with this sequence:
1. Red;
2. Green;
3. Blue;
4. Yellow;
5. Cyan;
6. Magenta;
7. White/light blue;
8. Amber;
9. Yellow/green;
10. OFF.
For the key 4, each time that you press the button, there are different steps in this sequence:
1. Complete LED show of all colors;
2. Backlight active with keys on in sequence (it is possible to change the color of keys pressing
button 1)
3. Alternate blinking of LED keys number 1-6 with red color; 2-7 with amber color; 3-8 with yellow;
4-9 with green color; 5-11 with cyan color and 6-12 with white/light blue color.
www.blinkmarine.com PKP2600SI_CANopenUM_REV1.1 28/28
b. Revision History
Date
Manual
Revision
Comment
Related SW
version
11/12/2017
1.0
First Release
2.x
05/02/2018
1.1
Second Release
• Corrected range values in the objects
1017h and 1800h (b)
• Corrected the parameter concerning
backlight brightness
• Corrected the message in the SET CAN
protocol command
X.x
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