PKP-1400 CANOPEN USER MANUAL

ViaMontefeltro,6–20156Milano(MI)–Italy Tel.+39(02)3088583–Fax+39(02)33406697 www.blinkmarine.com–[email protected] PK-1400_CANOpen_UM_REV1.3

PKP-1400 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] PK-1400_CANOpen_UM_REV1.3

Table of contents1. HowtoconnectDeutsch4pin:............................................................................................................42. Reference.............................................................................................................................................43. Defaultsettings....................................................................................................................................5 NMTMESSAGES...................................................................................................................................54. StartCANopennode(keypadactivationmessage)..............................................................................55. Enterpre-operational...........................................................................................................................66. ResetCANopennode............................................................................................................................67. StopCANopennode.............................................................................................................................68. Boot-upservice.....................................................................................................................................7 PDOmessages......................................................................................................................................79. Keysstatemessage...............................................................................................................................7• PK-1400..............................................................................................................................................7

10. SetLEDONmessage.............................................................................................................................8• PK-1400RED......................................................................................................................................8• PK-1400GREEN..................................................................................................................................8

11. IndicatorLEDsbrightnesslevel.............................................................................................................912. Backlightbrightnesslevel.....................................................................................................................9 SDOMessages:...................................................................................................................................1013. Object2000h:Digitalinputmodule,keysstates................................................................................10• PK-1400............................................................................................................................................10

14. Object2001h:Digitaloutputmodule.................................................................................................11a) SetLEDON..........................................................................................................................................11• PK-1400............................................................................................................................................11

b) ReadLEDON.......................................................................................................................................12• PK-1400............................................................................................................................................12

15. Object2002h:Digitaloutputmodule.................................................................................................13a) SetLEDblink.......................................................................................................................................13• PK-1400............................................................................................................................................13

b) ReadLEDblink....................................................................................................................................14• PK-1400............................................................................................................................................14

16. Object2003:BrightnessLevel............................................................................................................15a) SetIndicatorLEDsbrightnesslevel..................................................................................................15


b) Backlightbrightnesslevel................................................................................................................15c) Backlightcolor..................................................................................................................................15d) Setdefaultbacklightcolor...............................................................................................................16e) SetstartupIndicatorLEDsbrightnesslevel......................................................................................16f) Setstartupbacklightbrightnesslevel..............................................................................................16

17. Object2010h:Baudratesetting.........................................................................................................1718. Object2011h:SetBoot-upservice.....................................................................................................1719. Object2012h:Setdeviceactiveonstartup........................................................................................1820. Object2013h:SetCANopennodeID.................................................................................................1821. Object2014h:SetstartupLEDshow..................................................................................................1922. Object2015h:LEDPowersupply........................................................................................................1923. Object2100h:SetDEMOmode..........................................................................................................2024. Object2BFFh:BUSsetting..................................................................................................................2025. Object1017h:Producerheartbeattime............................................................................................21 Heartbeatmessage.............................................................................................................................2126. Object1000h:DeviceType.................................................................................................................2227. Object1001h:ErrorRegister..............................................................................................................2228. Object1008h:ManufacturerDeviceName........................................................................................2329. Object1009h:ManufacturerHardwareRevision...............................................................................2330. Object100Ah:ManufacturerFirmwareRevision...............................................................................2431. Object100Bh:ModelID.....................................................................................................................2432. Object1018h:IdentityData...............................................................................................................2533. Object1400h:ReceivePDOcommunicationParm0.........................................................................2534. Object1401h:ReceivePDOcommunicationParm1.........................................................................2635. Object1402h:ReceivePDOcommunicationParm2.........................................................................2636. Object1403h:ReceivePDOcommunicationParm3.........................................................................2737. Object1600h:ReceivePDOmappingParameter0............................................................................2738. Object1601h:ReceivePDOmappingParameter1............................................................................2839. Object1602h:ReceivePDOmappingParameter2............................................................................2840. Object1603h:ReceivePDOmappingParameter3............................................................................2941. Object1604h:ReceivePDOmappingParameter4............................................................................2942. Object1605h:ReceivePDOmappingParameter5............................................................................3043. Object1800h:.....................................................................................................................................30

a) TransmitPDOCommunicationParm0............................................................................................30b) Setperiodicstatetransmission........................................................................................................31

44. Object1A00hTransmitPDOMappingParameter..............................................................................3145. Object2200h:Serialnumberstring...................................................................................................3246. SetCANprotocol................................................................................................................................32 APPENDIX:DEMOModeinstructions.................................................................................................3347. Revisionhistory..................................................................................................................................33


1. How to connect Deutsch 4 pin:

EachendoftheCANbusisterminatedwith120Ωresistorsincompliancewiththestandardtominimizesignalreflectionsonthebus.Youmayneedtoplacea120ΩresistorbetweenCAN-LandCAN-H.

2. Reference PowerKeyfrontview.

PK-1400

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


3. Default settings

Setting Defaultstateorlevel HowtochangeBaudRate 125kbit/s Object2010hCANopenNodeID 15h Object2013hCANopenNodeState

Stop NMTMessageStartCANopennode

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

CompleteLEDSequence Object2014h

PeriodicMessageTransmission

Disable Object1800h

DEMOmode Disable Object2100hHeartbeatMessage Disable Object1017hBoot-upservice Active Object2011h

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

4. Start CANopen node (keypad activation message)

Identifier 00h Byte0 01h StartCANopennodeByte1

XXh

KeypadCANID00h:startallthekeypads15h:startthekeypadwithCANID=15h.

Byte2,7 00h NotusedExample:Direction Identifier Format MessageToKeypad 0 Std 0115


5. Enter pre-operational

Identifier 00h Byte0 80h Enterpre-operationalByte1

XXh

KeypadCANID00h:enterallthekeypads15h:enterthekeypadwithCANID=15h.


6. Reset CANopen node

Identifier 00h Byte0 81h ResetCANopennodeByte1

XXh

KeypadCANID00h:resetallthekeypads15h:resetthekeypadwithCANID=15h.


7. Stop CANopen node

Identifier 00h Byte0 XXh 02h:StopCANopennode

00h:StopCANopennode(oldswcompatibility)

Byte1 YYh KeypadCANID00h:stopallthekeypads15h:stopthekeypadwithCANID=15h.



8. Boot-up service ThisserviceisusedtosignalthataNMTslavehasenteredtheNMTstatePre-operational.

Identifier 700h+currentCANID Default715hByte0 00h Onedatabyteistransmittedwithvalue0.

Example:Direction Identifier Format MessageFromKeypad 715h Std 00h

ThekeypadwithCANID15hhasenteredtheNMTstatePre-operational.

PDO messages PDO(ProcessDataObject)arefasttelegrammessagesthatcansimplymanagemostimportantfunctions.Therearenoanswersforthiskindofmessages.EachPDOmessagehasanequivalentServiceDataObjectmessage.

9. Keys state message Thekeypadmustbeactivated,seeNMTStartCANopenNodemessage.

• PK-1400

Identifier 180+currentCANID Default195hByte0 Keysfrom#1to#8

K8K7K6K5–K4K3K2K1Keys:1=pressed;0=released

Byte1 Keysfrom#9to#1400K14K13–K12K11K10K9

Keys:1=pressed;0=released

Byte2,3 00h NotUsedByte4 XXh TickTimer

Examples:

Direction Identifier Format Message KeystateFromKeypad 195 Std 00000000XX NokeypressedFromKeypad 195 Std 04000000XX Onlykey#3pressedFromKeypad 195 std 82000000XX Keys#8and#2pressedFromKeypad 195 Std 00200000XX Onlykey#14pressedFromKeypad 195 Std 11000000XX Keys#1and#5pressed


10. Set LED ON message Thekeypadmustbeactivated,seeNMTStartCANopenNodemessage.

• PK-1400 RED

Identifier 200+currentCANID Default215hByte0 R8R7R6R5–R4R3R2R1 RedLEDByte1 R16R15R14R13–R12R11R10R9 RedLEDByte2 R24R23R22R21–R20R19R18R17 RedLEDByte3 R32R31R30R29–R28R27R26R25 RedLEDByte4 R40R39R38R37–R36R35R34R33 RedLEDByte5,7 00h Notused

Examples:

Direction Identifier Format Message LEDToKeypad 215 Std 0000000000000000 TurnoffalltheLEDToKeypad 215 Std 0100000000000000 OnlyredLED#1ONToKeypad 215 Std 0500000000000000 RedLED#1and#3ON,

otherLEDOFFToKeypad 215 Std 0020000000000000 OnlyredLED#14ONToKeypad 215 Std 0000010000000000 OnlyredLED#17ONToKeypad 215 Std 0000003300000000 RedLED#25,#26,#29,

#30ONToKeypad 215 Std 0000000044000000 RedLED#35and#39ON

• PK-1400 GREEN

Identifier 300+currentCANID Default315hByte0 G8G7G6G5–G4G3G2G1 GreenLEDByte1 G16G15G14G13–G12G11G10G9 GreenLEDByte2 G24G23G22G21–G20G19G18G17 GreenLEDByte3 G32G31G30G29–G28G27G26G25 GreenLEDByte4 G40G39G38G37–G36G35G34G33 GreenLEDByte5,7 00h Notused

Examples:

Direction Identifier Format Message LEDToKeypad 315 Std 0000000000000000 TurnoffallLEDToKeypad 315 Std 0400000000000000 OnlygreenLED#3ONToKeypad 315 Std 1000000000000000 OnlygreenLED#5ONToKeypad 315 Std 0021000000000000 GreenLED#9and#14ONToKeypad 315 Std 0000350000000000 GreenLED#17,#19,#21

and#22ONToKeypad 315 Std 0000004200000000 GreenLED#26and#31ONToKeypad 315 Std 0000000086000000 GreenLED#34,#35and

#40ON


11. Indicator LEDs brightness level Thekeypadmustbeactivated,seeNMTStartCANopenNodemessage.

Identifier 400+currentCANID Default415hByte0 XXh Intensity00h-3Fhàmin-100%Byte1,7 00h Notused

Examples:

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

12. Backlight brightness level Thekeypadmustbeactivated,seeNMTStartCANopenNodemessage.

Identifier 500+currentCANID Default515hByte0 XXh Intensity00h-3Fhà0-100%Byte1,7 00h Notused

Examples:

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


SDO Messages:ASDO(ServiceDataObject)isprovidingdirectaccesstoobjectentriesofaCANopendevice'sobjectdictionary.

13. Object 2000h: Digital input module, keys states ThismodulecontainsalltheSwitchStateinformation.Aoneindicatestheswitchison,azeroindicatestheswitchisoff.Thekeypadmustbeenabled,seeNMTmessages.TheswitchstateisreportedintheKeypadreplymessagefrombyte4tobyte5.ThemappingisthesameofthePDOKeystatemessage.

• PK-1400

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 Key2pressed4B00200100200000 Key14pressed4B00200103000000 Key1and2pressed4B00200120010000 Key6and9pressed

4B002001FF3F0000 Allkeyspressed


14. Object 2001h: Digital output module. ThismodulesetsandreadstheLEDOutputsStates.AoneindicatestheLEDison,azeroindicatestheLEDisoff.

a) Set LED ON

• PK-1400 LED From L1 to L32

Identifier 600h+currentCANID Default615hByte0 23h SetDeviceRegisterByte1 01h CANObject2001hByte2 20hByte3 XXh XX:Subindex

01h:RedLEDfromL1toL3202h:GreenLEDfromL1toL32

Byte4 XXh L8L7L6L5–L4L3L2L1Byte5 XXh L16L15L14L13–L12L11L10L9Byte6 XXh L24L23L22L21–L20L19L18L17Byte7 XXh L32L31L30L29–L28L27L26L25

Examples:Direction Identifier Format Message DataToKeypad 615 Std 2301200104102080 SetredLED#3,#13,#22

and31ONKeypadreply 595 Std 6001200100000000 ToKeypad 615 Std 2301200280201001 SetgreenLED#8,#14,

#21and#25ONKeypadreply 595 Std 6001200200000000

LED From L33 to L40

Identifier 600h+currentCANID Default615hByte0 2Fh SetDeviceRegisterByte1 01h CANObject2001hByte2 20hByte3 XXh 04h:RedLEDfromL33toL40

05h:GreenLEDfromL33toL40Byte4 XXh L40L39L38L37–L36L35L34L33Byte5,7 00h Notused

Examples:Direction Identifier Format Message DataToKeypad 615 Std 2F01200401000000 SetredLED#33ONKeypadreply 595 Std 6001200400000000 ToKeypad 615 Std 2F0120053E000000 SetgreenLED#34,

#35,#36,#37and#38ON

Keypadreply 595 Std 6001200500000000


b) Read LED ON TheLEDshavethesamemappingofSetLEDONmessage

• PK-1400

Identifier 600h+currentCANID Default615hByte0 40h ReadDeviceRegisterByte1 01h CANObject2001hByte2 20hByte3 XXh XX:Subindex

01h:RedLEDfromL1toL3202h:GreenLEDfromL1toL3204h:RedLEDfromL33toL4005h:GreenLEDfromL33toL40

Byte4,7 00h Notused

Examples:Direction Identifier Format Message DataToKeypad 615 Std 4001200100000000 ReadredLEDfrom

#1to#32Keypadreply 595 Std 43012001FFFFFFFF AllredLEDfrom#1

to#32areONToKeypad 615 Std 4001200200000000 ReadgreenLEDfrom

#1to#32Keypadreply 595 Std 430120020A0B0C00 GreenLED#2,#4,#9,

#10,#12,#19,#20areON

ToKeypad 615 Std 4001200400000000 ReadredLEDfrom#33to#40

Keypadreply 595 Std 4F01200403000000 RedLED#33,#34areON

ToKeypad 615 Std 4001200500000000 ReadgreenLEDfrom#33to#40

Keypadreply 595 Std 4F01200506000000 GreenLED#34,#35areON


15. Object 2002h: Digital output module. ThismodulesetsandreadstheLEDBlinkStates.

EachbitpositionrepresentsthecorrespondingLED.AoneindicatestheLEDisblinking,azeroindicatestheLEDisnormal.IftheblinkmessageissentwhentheLEDisalreadyON,theLEDblinksinalternatemode.

a) Set LED blink

• PK-1400 LED From L1 to L32

Identifier 600h+currentCANID Default615hByte0 23h SetDeviceRegisterByte1 02h CANObject2002hByte2 20hByte3 XXh XX:Subindex

01h:RedLEDblinkfromL1toL3202h:GreenLEDblinkfromL1toL32

Byte4 XXh L8L7L6L5–L4L3L2L1Byte5 XXh L16L15L14L13–L12L11L10L9Byte6 XXh L24L23L22L21–L20L19L18L17Byte7 XXh L32L31L30L29–L28L27L26L25

Examples:Direction Identifier Format Message DataToKeypad 615 Std 2302200104000000 SetredLED#3blinkKeypadreply 595 Std 6002200100000000 ToKeypad 615 Std 2302200200200000 SetgreenLED#14blinkKeypadreply 595 Std 6002200200000000 ToKeypad 615 Std 2302200100008800 SetredLED#20and

#24blink

LED From L33 to L40

Identifier 600h+currentCANID Default615hByte0 2Fh SetDeviceRegisterByte1 02h CANObject2002hByte2 20hByte3 XXh 04h:RedLEDblinkfromL33toL40

05h:GreenLEDblinkfromL33toL40Byte4 XXh L40L39L38L37–L36L35L34L33Byte5,7 00h Notused

Examples:Direction Identifier Format Message DataToKeypad 615 Std 2F02200401000000 SetredLED#33blinkKeypadreply 595 Std 6002200400000000 ToKeypad 615 Std 2F0220051C000000 SetgreenLED#35,

#36and#37blinkKeypadreply 595 Std 6002200500000000


b) Read LED blink TheLEDshavethesamemappingofSetLEDONmessage

• PK-1400 Identifier 600h+currentCANID Default615hByte0 40h SetDeviceRegisterByte1 02h CANObject2002hByte2 20hByte3 XXh XX:Subindex

01h:RedLEDfromL1toL3202h:GreenLEDfromL1toL3204h:RedLEDfromL33toL4005h:GreenLEDfromL33toL40

Byte4,7 00h Notused

Examples:Direction Identifier Format Message DataToKeypad 615 Std 4002200100000000 ReadredLEDblinking

from#1to#32Keypadreply

595 Std 430220013F000000 RedLEDfrom#1to#6areblinking

ToKeypad 615 Std 4002200200000000 ReadgreenLEDblinkingfrom#1to#32

Keypadreply

595 Std 4302200203000000 GreenLED#1,#2areblinking

ToKeypad 615 Std 4002200400000000 ReadredLEDblinkingfrom#33to#40

Keypadreply

595 Std 4F02200478000000 RedLEDfrom#36to#39areblinking

ToKeypad 615 Std 4002200500000000 ReadgreenLEDblinkingfrom#33to#40

Keypadreply

595 Std 4F02200508000000 GreenLED#36isblinking


16. Object 2003: Brightness Level a) Set Indicator LEDs brightness level

Identifier 615h(600h+currentCANID) Byte0 2Fh SetDeviceRegisterByte1 03h CANObject2003hByte2 20hByte3 01h SubindexByte4 XXh Intensity00h-3Fhàmin-100%Byte5,7 00h NotusedExample:

Direction Identifier Format Message DataToKeypad 615 Std 2F03200110000000 LEDbrightness=25%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 NotusedExample:

Direction Identifier Format Message DataToKeypad 615 Std 2F03200210000000 Backlightbrightness=25%Keypadreply 595 Std 6003200200000000

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

01h:red02h:green03h:blue04h:yellow05h:cyan

06h:violet07h:white/lightblue08h:amber/orange09h:yellow/green

Byte5,7 00h NotusedExample:

Direction Identifier Format Message DataToKeypad 615 Std 2F03200301000000 RedbacklightcolorKeypadreply

595 Std 6003200300000000


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

01h:red02h:green03h:blue04h:yellow05h:cyan

06h:violet07h:white/lightblue08h:amber/orange09h:yellow/green

Byte5,7 00h NotusedExample:

Direction Identifier Format Message DataToKeypad 615 Std 2F03200403000000 BluedefaultbacklightcolorKeypadreply 595 Std 6003200400000000

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

Direction Identifier Format Message DataToKeypad 615 Std 2F03200510000000 Brightness=25%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 NotusedExample:

Direction Identifier Format Message DataToKeypad 615 Std 2F0320063F000000 Backlightbrightness=100%Keypadreply 595 Std 6003200600000000


17. Object 2010h: Baud rate setting

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

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

18. Object 2011h: Set Boot-up service Object2011hmessageenablesordisablesthebootupmessagesentbythekeypadatpoweruptotheCANnetwork.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-upservicenotactiveKeypadreply 595 Std 6011200000000000


19. Object 2012h: Set device active on startup Ifkeypadisactiveonstartupdon’tneedtheStartCANopencommandfromhost.Identifier 600h+currentCANID Default615hByte0 2Fh SetDeviceRegisterByte1 12h CANObject2012hByte2 20hByte3 00h SubindexByte4 XXh 00h:Notactive


Example:

Direction Identifier Format Message DataToKeypad 615 Std 2F12200001000000 SetdeviceactiveonstartupKeypadreply 595 Std 6012200000000000

20. 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 Notused

Example:

Direction Identifier Format Message DataToKeypad 615 Std 2F13200018000000 NewCANopennodeID=18hKeypadreply 598 Std 6013200000000000


21. Object 2014h: Set startup LED show Identifier 600h+currentCANID Default615hByte0 2Fh SetDeviceRegisterByte1 14h CANObject2014hByte2 20hByte3 00h SubindexByte4 XXh 00h:Notactive

01h:CompleteLEDsequence(default)02h:Amberfastflash

Byte5,7 00h NotusedExample:Direction Identifier Format Message DataToKeypad 615 Std 2F14200000000000 StartupLEDshownotactiveKeypadreply 595 Std 6014200000000000

22. Object 2015h: LED Power supply ThisfeatureenablesordisablesthepowersupplyoftheLEDs.WhenthepowersupplyisdisabledtheLEDarenotaccessibleandthekeypadenterslowpowermode.Identifier 600h+currentCANID Default615hByte0 2Fh SetDeviceRegisterByte1 15h CANObject2015hByte2 20hByte3 00h SubindexByte4 XXh 00h:Disable

01h:Enable(default)Byte5,7 00h NotusedExample:Direction Identifier Format Message DataToKeypad 615 Std 2F15200000000000 LEDpowersupplydisabledKeypadreply 595 Std 6015200000000000


23. Object 2100h: Set DEMO mode Thismessageenables theDemomode function.Demomode is a special feature thatconsistsindifferentLEDstatesforeachbuttonpressing.Refertotheappendix“Demomodeinstructions”totrythesespecialfeatures.Disconnectandreconnectthekeypadaftertheenablemessagetoenterthismode.ToexittheDemomode,sendtheDisableDemomodecommandoranothercommandmessage.

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


Example:

Direction Identifier Format Message DataToKeypad 615 Std 2F00210001000000 SetDEMOmodeactiveKeypadreply 595 Std 6000210000000000

24. Object 2BFFh: BUS setting

Identifier 600h+currentCANID Default615hByte0 2Bh SetDeviceRegisterByte1 FFh CANObject20FFhByte2 20hByte3 XXh Subindex

01h:Reserved02hRS485bus

Byte4 XXh 00h:Notactive01h:Active

Byte5,7 00h Notused

Example:

Direction Identifier Format Message DataToKeypad 615 Std 2BFF200200000000 SetRS485busnotactiveKeypadReply 595 Std 60FF200200000000


25. Object 1017h: Producer heartbeat time Theproducerheartbeattimeshallindicatetheconfiguredcycletimeoftheheartbeat.

Identifier 600h+currentCANID Default615hByte0 40h ReadDeviceRegister

2Bh SetdeviceregisterByte1 17h CANObject1017hByte2 10hByte3 00h SubindexByte4 YYh YYh:HeartbeattimeinLSBytemillisecondsByte5 XXh XXh:HeartbeattimeinMSByte

millisecondsByte5,7 00h Notused

Heartbeattime:XXYYh(from000AhtoFEFFh:10msto65534milliseconds).

Examples:Direction Identifier Format 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.Iftheheartbeatcyclefailsfortheheartbeatproducer,thelocalapplicationontheheartbeatconsumerwillbeinformedaboutthatevent.IfaCANopendevicestartswithavaluefortheheartbeatproducertimeunequalto0theboot-upmessageisregardedasfirstheartbeatmessage.

Identifier 700h+currentCANID Default715hByte0

XXh

XXh:Stateofheartbeatproducer00h:Boot-up05h:Operational7Fh:Pre-operational

Example:

Direction Identifier Format Message DataFromKeypad 715h Std 00h BootupFromKeypad 715h Std 7Fh Pre-operationalTokeypad 00h Std 01h15h StartkeypadwithCANid=15hFromKeypad 715h Std 05h 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

Deviceprofilenumber191h:GenericI/Omodule

I/Ofunctionality:

Digitalinput=implemented;

Digitaloutput=implemented;

Analogueinput=notimplemented;

Analogueoutput=notimplemented.

27. Object 1001h: Error Register

Thisobjectisnotyetimplementedinthedevice.


28. Object 1008h: Manufacturer Device Name

Identifier 600h+currentCANID Default615hByte0 40h ReadDeviceRegisterByte1 08h CANObject1008hByte2 10hByte3,7 00h Notused

1°additionalbyte

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

2°additionalbyte

Identifier 600h+currentCANID Default615hByte0 70h ReadDeviceRegisterNextByteByte1,7 00h NotusedExample: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

Identifier 600h+currentCANID Default615hByte0 40h ReadDeviceRegisterByte1 09h CANObject1009hByte2 10hByte3,7 00h NotusedExample:Direction Identifier Format Message DataToKeypad 615 Std 4009100000000000 Keypadreply 595 Std 4309100032305F56 V_02

ManufacturerHardwareRevision:V_02


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 430A1000302E3256 V2.0ManufacturerFirmwareRevision:V2.0

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 NotusedExample:Direction Identifier Format Message DataToKeypad 615 Std 400B100000000000 Keypadreply 595 Std 410B100007000000 ToKeypad 615 Std 6000000000000000 Keypadreply 595 Std 01504B3134303000 PK1400ModelID:PK1400


32. Object 1018h: Identity Data

Identifier 615h(600h+currentCANID) Byte0 40h ReadDeviceRegisterByte1 18h CANObject1018hByte2 10hByte3 00h Numberofmappedobjects

01h VendorId04h Serialnumber

Byte4,7 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 DescribestheReceiveParametersfortheredLEDstatePDOMessage.

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

00h Numberofmappedobjects01h COBId02h TransmissionType

Byte4,7 00h Notused

Examples:

Direction Identifier Format Message DataToKeypad 615 Std 4000140000000000 Keypadreply 595 Std 4F00140002000000 2ToKeypad 615 Std 4000140100000000 Keypadreply 595 Std 4300140115020040 40000215hToKeypad 615 Std 4000140200000000 Keypadreply 595 Std 4F001402FE000000 FEhReceivePDOcommunicationParm0:

• Numberofmappedobjects:2;• COBid:200h+NODEID;• TransmissionType:FEh.


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



Byte4,7 00h Notused

Examples:



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



Byte4,7 00h Notused

Examples:

Direction Identifier Format Message DataToKeypad 615 Std 4002140000000000 Keypadreply 595 Std 4F02140002000000 2ToKeypad 615 Std 4002140100000000 Keypadreply 595 Std 4302140115020000 40000415hToKeypad 615 Std 4002140200000000 Keypadreply 595 Std 4B021402FE000000 FEhReceivePDOcommunicationParm2:



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



Byte4,7 00h Notused

Examples:



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


01h PDOMappingEntry102h PDOMappingEntry2

Byte4,7 00h Notused

Examples:

Direction Identifier Format Message DataToKeypad 615 Std 4000160000000000 Keypadreply 595 Std 4F00160003000000 2ToKeypad 615 Std 4000160100000000 Keypadreply 595 Std 4300160120010120 20010120ToKeypad 615 Std 4000160200000000 Keypadreply 595 Std 4300160208040120 20010408ReceivePDOmappingParameter0:

• Numberofmappedobjects:2;• SetLEDred1-32:Object2001h,Subindex01h,Length20h;• SetLEDred33-40:Object2001h,Subindex02h,Length08h;


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



Byte4,7 00h NotusedExamples:Direction Identifier Format Message DataToKeypad 615 Std 4001160000000000 Keypadreply 595 Std 4F01160002000000 2ToKeypad 615 Std 4001160100000000 Keypadreply 595 Std 4301160120020120 20010220ToKeypad 615 Std 4001160200000000 Keypadreply 595 Std 4301160208050120 20010508ReceivePDOmappingParameter1:

• Numberofmappedobjects:2;• SetLEDgreen1-32:Object2001h,Subindex02h,Length20h;• SetLEDgreen33-40:Object2001h,Subindex05h,Length08h

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



Byte4,7 00h Notused

Examples:

Direction Identifier Format Message DataToKeypad 615 Std 4002160000000000 Keypadreply 595 Std 4F02160002000000 2ToKeypad 615 Std 4002160100000000 Keypadreply 595 Std 4302160120010220 20020120ToKeypad 615 Std 4002160200000000 Keypadreply 595 Std 4302160208040220 20020408ReceivePDOmappingParameter2:

• Numberofmappedobjects:2;• SetLEDredblink1-32:Object2002h,Subindex01h,Length20h;• SetLEDredblink33-40:Object2002h,Subindex04h,Length08h;


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



Byte4,7 00h NotusedExamples:Direction Identifier Format Message DataToKeypad 615 Std 4003160000000000 Keypadreply 595 Std 4F03160002000000 2ToKeypad 615 Std 4003160100000000 Keypadreply 595 Std 4303160120020220 20020220ToKeypad 615 Std 4003160200000000 Keypadreply 595 Std 4303160208050220 20020508ReceivePDOmappingParameter3:

• Numberofmappedobjects:3;• SetLEDgreenblink1-32:Object2002h,Subindex02h,Length20h;• SetLEDgreenblink33-40:Object2002h,Subindex05h,Length08h;

41. Object 1604h: Receive PDO mapping Parameter 4 DescribesthemappingofIndicatorLEDbrightnessPDOMessage.


01h PDOMappingEntry1Byte4,7 00h NotusedExamples:Direction Identifier Format Message DataToKeypad 615 Std 4003160000000000 Keypadreply 595 Std 4F03160001000000 1ToKeypad 615 Std 4003160100000000 Keypadreply 595 Std 4303160108020320 20030108ReceivePDOmappingParameter4:

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


42. Object 1605h: Receive PDO mapping Parameter 5 DescribesthemappingofBacklightbrightnessPDOMessage.


01h PDOMappingEntry1Byte4,7 00h NotusedExamples:Direction Identifier Format Message DataToKeypad 615 Std 4003160000000000 Keypadreply 595 Std 4F03160001000000 1ToKeypad 615 Std 4003160100000000 Keypadreply 595 Std 4303160108020320 20030208ReceivePDOmappingParameter5:

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

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


00h Highestsub-indexsupported01h COBId02h TransmissionType05h EventTimer

Byte4,7 00h NotusedExample:Direction Identifier Format Message DataToKeypad 615 Std 4000180000000000 Keypadreply 595 Std 4F00180005000000 5ToKeypad 615 Std 4000180100000000 Keypadreply 595 Std 4300180195010040 4000195hToKeypad 615 Std 4000180200000000 Keypadreply 595 Std 4F001802FE000000 FEhToKeypad 615 Std 4000180500000000 Keypadreply 595 Std 4B00180500000000 0=OFFTransmitPDOcommunicationParm0:

• Highestsub-indexsupported: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:EventtimerperiodinLSBytemillisecondsByte5 XXh XXh:EventtimerperiodinMSBytemillisecondsByte5,7 00h NotusedEventtimerperiod:XXYYh(from000AhtoFEFFh:10msto65534milliseconds).Examples:Direction Identifier Format Message DataToKeypad 615 Std 2B00180500000000 Switchofftheperiodic

transmissionKeypadreply 595 Std 6000180500000000 ToKeypad 615 Std 2B00180532000000 Setperiod=50msKeypadreply 595 Std 6000180500000000 ToKeypad 615 Std 2B001805F4010000 Setperiod=500msKeypadreply 595 Std 6000180500000000

44. Object 1A00h Transmit PDO Mapping Parameter DescribesthemappingofKEYstatePDOMessage.

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

01h PDOMappingEntry1Byte4,7 00h Notused

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

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


45. Object 2200h: Serial number string Identifier 600h+currentCANID Default615hByte0 40h ReadDeviceRegisterByte1 00h CANObject2200hByte2 22hByte3,7 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 4100220000000000 Keypadreply 595 Std 4100220008000000 ToKeypad 615 Std 6000000000000000 Keypadreply 595 Std 0046464646464646 FFFFFFFToKeypad 615 Std 7000000000000000 Keypadreply 595 Std 1D46000000000000 FSerialnumber:asciiFFFFFFFF

46. 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 InDEMOModeyoucantrythefollowingfunctionsbypressingbuttonsonthePK1400.

Enteringthismode,youturnonkey-LEDswithcolorred.

Forthekey1,eachtimeyoupressthebuttonyoucanchangethecolorofkey-LEDSwiththissequence:

1. Green;2. Color03*;3. Color04**;4. OFF.

Forthekey4,eachtimethatyoupressthebutton,therearedifferentstepsinthissequence:

1. CompleteLEDshowofallcolors:atfirstwithred,thengreen,color03*,andattheendcolor04**;2. Turningon/offeachsinglekey-LEDwiththepossibilitytochangecolorpressingkey1;3. Pausestep2;4. Returntothestartingdemomodestate.

Ifyoupresstheotherkeys,youhavenoeffect.

47. Revision history

Date Manual Revision

Comment Related SW version

20/06/2016 1.0 Preliminary -12/07/2016 1.1 AddedPDO400hand500h.Updated

examplesfortheobject2000h.Addedabject2001h,2002h,2003h,2014h,2015h,20FFh.

1.0

20/03/2017 1.2 Newsoftwarereleasewithprotocolchangemessage.

2.0

14/03/2018 1.3 Newversion:• AddedsetCANPROTOCOL

command• Addeddemomodeinstructions• Correctedmessagesofobjects

1400h,1401h,1402h,1403h• Addedobjects1604h,1605h

x.x

*Obtainedbymixingredat50%andgreenat100%**Obtainedbymixingredat25%andgreenat100%

Documents

PKP-1400 CANOPEN USER MANUAL