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Blink PKP-2200-SI User Manual

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THE PRESENT MANUAL IS FOR REFERENCE ONLY AND MIGHT BE NOT UP TO DATE TO THE LATEST VERSION.
PKP-2200-SI
CANOPEN USER MANUAL
PLEASE CONTACT US FOR GETTING THE MOST UPDATED FILE

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Summary of Contents for Blink PKP-2200-SI

  • Page 1 PKP-2200-SI CANOPEN USER MANUAL THE PRESENT MANUAL IS FOR REFERENCE ONLY AND MIGHT BE NOT UP TO DATE TO THE LATEST VERSION. PLEASE CONTACT US FOR GETTING THE MOST UPDATED FILE...

  • Page 2: Table Of Contents

    Read LED ON ............................ 1 1 PKP-2200-SI ............................ 1 1 • Object 2002h: Digital output module.................... 1 2 Set LED blink ............................ 1 2 PKP-2200-SI ............................ 1 2 • Read LED blink ............................ 1 2 PKP-2200-SI .
  • Page 3 Set startup Indicator LED brightness level .................. 1 5 Set startup backlight brightness level ..................... 1 5 Object 2010h: Baud rate setting ...................... 1 5 Object 2011h: Set Boot-up service .................... 1 6 Object 2012h: Set device active on startup .................. 1 7 Object 2013h: Set CANopen node ID .................... 1 7 Object 2014h: Set startup LED show .................... 1 8 Object 2100h: Set DEMO mode .

  • Page 4: How To Connect Deutsch 4 Pin

    1. How to connect Deutsch 4 pin: PIN COLOUR FUNCTION Blue CAN L White CAN H Black Negative battery Red Vbatt. (12-24V) 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. PK-P2200-SI Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 4 - Tel. +39 (02) 3088583 – Fax +39 (02) 33406697 www.blinkmarine.com – info@blinkgroup.com PKP-2200-SI_CANopenUM_REV1.0...

  • Page 5: Default Settings

    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 Not active Object 2012h startup 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 Disable Object 1800h Transmission DEMO mode Disable Object 2100h Heartbeat Producer Disable Object 1017h Heartbeat Consumer Disable Object 1016h Boot-up service Active...

  • Page 6: Nmt Messages

    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 Keypad CAN ID Byte 1 XXh 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 Std 01 15 5. Enter pre-operational Identifier 00h Byte 0 80h Enter pre-operational Keypad CAN ID...

  • Page 7: Stop Canopen Node

    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 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...

  • Page 8: Pdo Messages

    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. 11. Keys state message The keypad must be activated, see NMT Start CANopen Node message. PKP-2200-SI • Identifier 180h + current CAN ID Default 195h Byte 0 Keys from #1 to #4 Keys: 1=pressed; 0=released 0 0 0 0 – K4 K3 K2 K1 Byte 1, 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 01 00 00 00 XX...

  • Page 9: Set Led Blink Message

    13. 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 alternate mode. PKP-2200-SI • Identifier 300h + current CAN ID Default 315h Byte 0 0 0 0 0 – R4 R3 R2 R1 Red LED Byte 1 0 0 0 0 – G4 G3 G2 G1 Green LED Byte 2 0 0 0 0 – B4 B3 B2 B1 Blue LED Byte 3,7 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...

  • Page 10: Sdo Messages

    SDO Messages: A SDO (Service Data Object) is providing direct access to object entries of a CANopen device's object dictionary. 16. 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-2200-SI • 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...

  • Page 11: Object 2001H: Digital Output Module

    17. 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-2200-SI • Identifier 600h + current CAN ID Default 615h Byte 0 2Fh 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 0 0 0 0 L4 L3 L2 L1 LED position Byte 5,7 00h Not used Examples: Direction...

  • Page 12: Object 2002H: Digital Output Module

    18. 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 alternate mode. a) Set LED blink PKP-2200-SI • Identifier 600h + current CAN ID Default 615h Byte 0 2Fh 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 0 0 0 0 L4 L3 L2 L1 LED position Byte 5,7 00h Not used Examples:...

  • Page 13: Object 2003: Brightness Level

    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 4F 02 20 01 0F 00 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 4F 02 20 02 01 00 00 00 Green LED #1 blinks To Keypad 615 Std 40 02 20 03 00 00 00 00 Read blue LED blink Keypad reply 595 Std 4F 02 20 03 00 00 00 00 No blue LED blinks 19. Object 2003: Brightness Level...

  • Page 14: C) Backlight Color

    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...

  • Page 15: E) Set Startup Indicator Led Brightness Level

    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-3Fhà min-100% Byte 5,7 00h Not used Example: Direction Identifier Format Message Data To Keypad 615 Std 2F 03 20 05 10 00 00 00 Brightness = 25% Keypad reply 595 Std 60 03 20 05 00 00 00 00 f) Set startup backlight brightness level Identifier...

  • Page 16: Object 2011H: Set Boot-Up Service

    Keypad reply 595 Std 60 10 20 00 00 00 00 00 21. Object 2011h: Set Boot-up service Object 2011h message enables or disables the boot up message sent by the keypad at power up to the CAN network. Identifier 600h + current CAN ID Default 615h Byte 0 2Fh Set Device Register Byte 1 11h CAN Object 2011h Byte 2 20h Byte 3 00h Sub index Byte 4 XXh 00h: Not active 01h: Active (default) Byte 5,7 00h Not used Example: Direction Identifier Format Message Data To Keypad 615 Std 2F 11 20 00 00 00 00 00...

  • Page 17: Object 2012H: Set Device Active On Startup

    22. 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 (default) 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...

  • Page 18: Object 2014H: Set Startup Led Show

    24. 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...

  • Page 19: Object 1016H: Consumer Heartbeat Time

    26. Object 1016h: Consumer heartbeat time The consumer heartbeat time object shall indicate the expected heartbeat cycle times. Monitoring of the heartbeat producer shall start after the reception of the first heartbeat. NOTE 1: the heartbeat consumer time should be greater (typically twice) than the related heartbeat time to be monitored coming from the producer. NOTE 2: if the keypad does not receive the heartbeat message producer anymore, it goes to pre- operational state until a new NMT start message is received, even if the producer restarts to transmit the heartbeat. NOTE 3: if the consumer heartbeat time is set with a value lower than the producer one, the keypad will not be able to change its state from pre-operational to operational. Identifier 600h + current CAN ID Default 615h Byte 0 40h Read Device Register 23h Set device register Byte 1 16h CAN Object 1016h Byte 2 10h Byte 3 ZZh 00h: Highest sub-index supported (read-only) 01h: Sub-index (read/write) Byte 4 YYh YYh: Heartbeat time in milliseconds LSByte Byte 5 XXh XXh: Heartbeat time in milliseconds MSByte Byte 6 NNh Node to be monitored 01h-7Fh (01h default) Byte 7...

  • Page 20: Object 1017H: Producer Heartbeat Time

    Keypad 595 Std 43 16 10 01 F4 01 01 Heartbeat consumer time reply set to 500ms 27. 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 000Ah to FEFFh: 10ms to 65534 ms) When the period is set to 0000h, the producer heartbeat function is disabled.

  • Page 21: Object 1000H: Device Type

    XXh: State of heartbeat producer Byte 0 XXh 00h: Boot-up 04h: Stop 05h: Operational 7Fh: Pre-operational 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 28. Object 1000h: Device Type Identifier 600h + current CAN ID Default 615h Byte 0 40h...

  • Page 22: Object 1009H: Manufacturer Hardware Revision

    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...

  • Page 23: Object 100Bh: Model

    33. 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...
  • Page 24 Keypad reply 595 Std 4F 18 10 00 04 00 00 00 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 Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 24 - Tel. +39 (02) 3088583 – Fax +39 (02) 33406697 www.blinkmarine.com – info@blinkgroup.com PKP-2200-SI_CANopenUM_REV1.0...

  • Page 25: Object 1400H: Receive Pdo Communication Parm 0

    35. Object 1400h: Receive PDO Communication Parm 0 Describes the Receive Parameters and sets the transmission type for the LED state PDO Message. Identifier 615h (600h + current CAN ID) Byte 0 40h Read Device Register 2Fh Set Device Register Byte 1 00h CAN Object 1400h Byte 2 14h 00h Number of mapped objects Byte 3 01h COB Id 02h Transmission Type Byte 4 XXh Transmission Type (to be used only in set mode): 00h-F0h: synchronous FEh: event-driven Byte 5,7 00h Not used Examples: Direction Identifier Format Message Data To Keypad 615...

  • Page 26: Object 1401H: Receive Pdo Communication Parm 1

    36. Object 1401h: Receive PDO communication Parm 1 Describes the Receive Parameters and sets the transmission type for the LED blink PDO Message. Identifier 615h (600h + current CAN ID) Byte 0 40h Read Device Register 2Fh Set Device Register Byte 1 01h CAN Object 1401h Byte 2 14h 00h Number of mapped objects Byte 3 01h COB Id 02h Transmission Type Byte 4 XXh Transmission Type (to be used only in set mode): 00h-F0h: synchronous FEh: event-driven Byte 5,7 00h Not used Examples: Direction Identifier Format Message...

  • Page 27: Object 1402H: Receive Pdo Communication Parm 2

    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 00h Number of mapped objects Byte 3 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 To Keypad...

  • Page 28: Object 1600H: Receive Pdo Mapping Parameter 0

    39. 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...

  • Page 29: Object 1601H: Receive Pdo Mapping Parameter 1

    40. 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...

  • Page 30: Object 1603H: Receive Pdo Mapping Parameter 3

    Number of mapped objects: 1; • Set Indicator LED brightness: Object 2003h, Sub index 01h, Length 08h. • 42. 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 1603h 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...

  • Page 31: Object 1800H

    43. Object 1800h: a) Transmit PDO Communication Parm 0 Describes the Transmission Parameters and sets the transmission type for the Key state PDO Message. Identifier 615h (600h + current CAN ID) Byte 0 40h Read Device Register 2Fh Set Device Register Byte 1 00h CAN Object 1800h Byte 2 18h 00h Highest sub-index supported 01h COB Id Byte 3 02h Transmission Type 05h Event Timer (Periodic transmission time) Byte 4 XXh Transmission Type (to be used only in set mode): 01h: synchronous (cyclic every SYNC) 02h: synchronous (cyclic every 2 SYNC) 03h: synchronous (cyclic every 3 SYNC) 04h: synchronous (cyclic every 4 SYNC) ….

  • Page 32: B) Set Periodic State Transmission

    Highest sub-index supported: 5; • Address base: 195h= 180h+ NODE ID; • Transmission Type: synchronous or event-driven; • Periodic Transmission timer: XXYY in milliseconds, 0 = OFF. • b) Set periodic state transmission Identifier 600h + current CAN ID Default 615h Byte 0 2Bh Set device register Byte 1 00h CAN Object 1800h Byte 2 18h Byte 3 05h Sub index Byte 4 YYh YYh: Periodic transmission timer in milliseconds LSByte Byte 5 XXh XXh: Periodic transmission timer in milliseconds MSByte Byte 6, 7 00h Not used Periodic Transmission timer: XXYYh (from 000Ah to FEFFh: 10ms to 65534 milliseconds). Examples: Direction Identifier Format Message Data To Keypad 615...

  • Page 33: Object 2200H: Serial Number String

    45. 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...

  • Page 34: Appendix: Demo Mode Instructions

    APPENDIX: DEMO Mode instructions In DEMO Mode you can try the following functions by pressing buttons on the PKP2200SI. 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: Red; Green; Blue; Yellow; Cyan; Magenta; White/light blue; Amber; Yellow/green; 10. OFF. Pressing key 2, you can increase LED and backlight brightness. Pressing key 4, you can decrease LED and backlight brightness. For the key 3, 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 LED keys by pressing button 1); 3. Alternate blinking of LED keys number 1 with red color; 2 with amber color; 3 with yellow; 4 with green color. 47. Revision history Manual Date Comment Related SW version Revision 25/06/2018 1.0 First release x.x...

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