Blink Marine PKP-2400-SI User Manual
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Blink Marine PKP-2400-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.PLEASE CONTACT US FOR GETTING THE MOST UPDATED FILE
Via Montefeltro, 6 – 20156 Milano (MI) – Italy
Tel. +39 (02) 3088583 – Fax +39 (02) 33406697
www.blinkmarine.com – info@blinkgroup.com
PKP-2400-SI
CANOPEN USER MANUAL
FOR REFERENCE
ONLY

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Summary of Contents for Blink Marine PKP-2400-SI

  • Page 1 PKP-2400-SI CANOPEN USER MANUAL THE PRESENT MANUAL IS FOR REFERENCE ONLY AND MIGHT BE NOT UP TO DATE TO THE LATEST VERSION.PLEASE CONTACT US FOR GETTING THE MOST UPDATED FILE Via Montefeltro, 6 – 20156 Milano (MI) – Italy Tel. +39 (02) 3088583 – Fax +39 (02) 33406697 www.blinkmarine.com – info@blinkgroup.com FOR REFERENCE ONLY...

  • Page 2: Table Of Contents

    • Set LED ON message ........................... 8 PKP-2400-SI ............................ 9 • Set LED Blink message ........................ 1 0 PKP-2400-SI ............................ 1 0 • Indicator LEDs brightness level ...................... 1 0 Backlight brightness level ........................ 1 1 SDO Messages: ............................ 1 1 Object 2000h: Digital input module, keys states ................ 1 1...
  • Page 3 Backlight brightness level ........................ 1 5 Backlight color .......................... 1 6 Set default backlight color ....................... 1 6 Set startup Indicator LED brightness level .................. 1 7 Set startup backlight brightness level ..................... 1 7 Object 2010h: Baud rate setting ...................... 1 8 Object 2011h: Set Boot-up service .................... 1 8 Object 2012h: Set device active on startup .................. 1 9 Object 2013h: Set CANopen node ID .................... 1 9...

  • Page 4: Reference

    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. 1. Reference Front view. PKP-2400-SI 2. efault settings Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 4 - Tel. +39 (02) 3088583 – Fax +39 (02) 33406697 www.blinkmarine.com – info@blinkgroup.com FOR REFERENCE...

  • Page 5: Nmt Messages

    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 Message Disable Object 1017h Boot-up service Active Object 2011h NMT MESSAGES The Network Management messages follow a master-slave structure. Through NMT services, CANopen devices are initialized, started, reset or stopped.

  • Page 6: Reset Canopen Node

    Byte 0 80h Enter pre-operational Keypad CAN ID Byte 1 XXh 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 Std 80 15 5. Reset CANopen node Identifier 00h Byte 0 81h Reset CANopen node Keypad CAN ID Byte 1 XXh 00h: reset all the keypads 15h: reset the keypad with CAN ID = 15h. Byte 2, 7 00h Not used Example: Direction Identifier Format Message...

  • Page 7: Stop Canopen Node

    6. Stop CANopen node Identifier 00h Byte 0 XXh 02h: Stop CANopen node 00h: Stop CANopen node (old PKP sw compatibility) Keypad CAN ID Byte 1 YYh 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 7. 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. 9. Keys state message The keypad must be activated, see NMT Start CANopen Node message. PKP-2400-SI • Identifier 180 + current CAN ID Default 195h Byte 0 Keys from #1 to #8 Keys: 1=pressed; 0=released K8 K7 K6 K5 – 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 08 00 00 00 XX...
  • Page 9 PKP-2400-SI • Identifier 200 + current CAN ID Default 215h Byte 0 R8 R7 R6 R5 – R4 R3 R2 R1 Red LED Byte 1 G8 G7 G6 G5 – G4 G3 G2 G1 Green LED Byte 2 B8 B7 B6 B5 – B4 B3 B2 B1 Blue LED Byte 2,7 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 05 00 00 00 00 00 00 00 Red LED #1 and #3 ON, other LED OFF To Keypad 215...

  • Page 10: Set Led Blink Message

    11. 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-2400-SI • Identifier 300 + current CAN ID Default 315h Byte 0 R8 R7 R6 R5 – R4 R3 R2 R1 Red LED Byte 1 G8 G7 G6 G5 – G4 G3 G2 G1 Green LED Byte 2 B8 B7 B6 B5 – B4 B3 B2 B1 Blue LED Byte 2,7 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 11: Backlight Brightness Level

    To Keypad 515 Std 00 00 00 00 00 00 00 00 Turn off the backlight To Keypad 515 Std 20 00 00 00 00 00 00 00 Backlight brightness = 50% SDO Messages: A SDO (Service Data Object) is providing direct access to object entries of a CANopen device's object dictionary. 14. 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-2400-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...

  • Page 12: Object 2001H: Digital Output Module

    15. 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-2400-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 L8 L7 L6 L5 L4 L3 L2 L1 LED position Byte 5,7 00h Not used Examples: Direction Identifier Format...

  • Page 13: B) Read Led

    Read LED ON The LED have the same mapping of Set LED ON message • PKP-2400-SI 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...

  • Page 14: A) Set Led Blink

    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-2400-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 L8 L7 L6 L5 L4 L3 L2 L1 LED position Byte 5,7 00h Not used Examples: Direction Identifier Format Message Data To Keypad...
  • Page 15 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 4F 02 20 01 FF 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...

  • Page 16: C) Backlight Color

    Byte 4 XXh Intensity 00h-3Fhà 0-100% Byte 5,7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 2F 03 20 02 20 00 00 00 Brightness = 50% 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 07h: white/light 01h: red blue...

  • Page 17: E) Set Startup Indicator Led Brightness Level

    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 04 00 00 00 Yellow 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...

  • Page 18: Object 2010H: Baud Rate Setting

    Direction Identifier Format Message Data To Keypad 615 Std 2F 03 20 06 00 00 00 00 Startup backlight level = 0% Keypad reply 595 Std 60 03 20 06 00 00 00 00 18. 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 00h 1000k Byte 4 01h Reserved (force to 125k) 02h 500k 03h 250K 04h...

  • Page 19: Object 2012H: Set Device Active On Startup

    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 20. 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...

  • Page 20: Object 2100H: Set Demo Mode

    Keypad reply 595 Std 60 14 20 00 00 00 00 00 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.

  • Page 21: Object 1017H: Producer Heartbeat Time

    24. 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 milliseconds). Examples: Direction Identifier Format Message Data To Keypad 615 Std 40 17 10 00 00 00 00 00...

  • Page 22: Object 1000H: Device Type

    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 25. 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...

  • Page 23: Object 1009H: Manufacturer Hardware Revision

    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. 28.
  • Page 24 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...

  • Page 25: Object 1018H: Identity Data

    31. 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 Byte 3 00h Number of mapped objects 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 To Keypad 615 Std 40 18 10 01 00 00 00 00...

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

    33. 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 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 01 14 00 00 00 00 00 Keypad reply 595 Std 4F 01 14 00 02 00 00 00...

  • Page 27: Object 1403H: Receive Pdo Communication Parm 3

    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 Highest sub-index supported 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 615 Std 40 02 14 01 00 00 00 00 Keypad reply 595 Std 43 02 14 01 15 04 00 00...

  • Page 28: Object 1601H: Receive Pdo Mapping Parameter 1

    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 To Keypad 615 Std 40 00 16 01 00 00 00 00 Keypad reply 595 Std...

  • Page 29: Object 1602H: Receive Pdo Mapping Parameter 2

    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 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...

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

    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 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 Indicator LED brightness: Object 2003h, Sub index 01h, Length 08h; • 39. Object 1603h: Receive PDO mapping Parameter 3 Describes the mapping of backlight brightness PDO Message.
  • Page 31 00h Number of mapped objects 01h COB Id Byte 3 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 To Keypad 615 Std 40 00 18 01 00 00 00 00 Keypad reply 595 Std 4B 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...
  • Page 32 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 00 18 05 00 00 00 00 41. Object 1A00h Transmit PDO Mapping Parameter Describes the mapping of Key state PDO Message.

  • Page 33: Set Can Protocol

    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...

  • Page 34: Revision History

    Yellow; Cyan; Magenta; White/light blue; Amber; 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 LED keys pressing button 1) 3. Alternate blinking of LED keys number 1 red color; 2 with amber color; 3 with yellow; 4 with green color; 5 with violet color; 7 with blue color and 6-8 with white/light blue color. 44. Revision History Manual Related SW Date Comment version Revision 03/11/2017 1.0 First release 2.x 31/01/2018 1.1 Second release x.x Added Objects 1402h, 1403h • Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 34 - Tel.
  • Page 35 Included some examples in the • table of set LED on and set LED blink functions Corrected value identifier in the • reply message of object 2013h: SET CANopen NODE ID Added set CAN protocol • command and APPENDIX: DEMO MODE instructions Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 35 - Tel. +39 (02) 3088583 – Fax +39 (02) 33406697 www.blinkmarine.com – info@blinkgroup.com FOR REFERENCE ONLY...

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