Table of Contents
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Summary:
1.
How to connect the wires: .................................................................................................................... 4
1.
Reference .............................................................................................................................................. 4
2.
Default settings ..................................................................................................................................... 5
NMT MESSAGES ............................................................................................................................................. 6
3.
Start CANopen node (keypad activation message) .............................................................................. 6
4.
Enter pre-operational ........................................................................................................................... 6
5.
Reset CANopen node ............................................................................................................................ 6
6.
Stop CANopen node ............................................................................................................................. 7
7.
Boot-up service ..................................................................................................................................... 7
8.
Heartbeat message ............................................................................................................................... 7
9.
Sync message ........................................................................................................................................ 7
PDO messages ............................................................................................................................................... 8
10. Keys state message ............................................................................................................................... 8
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PKP 2400SI .......................................................................................................................................... 8
11. Set LED ON message ............................................................................................................................. 8
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PKP 2400SI .......................................................................................................................................... 8
12. Set LED Blink message .......................................................................................................................... 9
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PKP 2400SI .......................................................................................................................................... 9
13. LED indicators brightness level ........................................................................................................... 10
14. Backlight setting ................................................................................................................................. 10
SDO Messages: ............................................................................................................................................ 11
15. Object 2000h: Digital input module, keys states ................................................................................ 11
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PKP 2400SI ........................................................................................................................................ 11
16. Object 2001h: Digital output module. ................................................................................................ 12
Set LED ON .......................................................................................................................................... 12
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PKP 2400SI ........................................................................................................................................ 12
Read LED ON ....................................................................................................................................... 12
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PKP 2400SI ........................................................................................................................................ 12
17. Object 2002h: Digital output module. ................................................................................................ 13
Set LED blink ....................................................................................................................................... 13
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PKP 2400SI ........................................................................................................................................ 13
Read LED blink .................................................................................................................................... 13
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PKP 2400SI ........................................................................................................................................ 13
18. Object 2003h: Brightness Level .......................................................................................................... 14
LED indicators brightness level: ....................................................................................................... 14
PKP2400SI CANopen
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Summary of Contents for Blink Marine PKP2400SI CANopen
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Page 1: Table Of Contents
PKP2400SI CANopen Summary: How to connect the wires: ........................4 Reference .............................. 4 Default settings ............................. 5 NMT MESSAGES ............................. 6 Start CANopen node (keypad activation message) ................6 Enter pre-operational ........................... 6 Reset CANopen node ..........................6 Stop CANopen node ..........................7 Boot-up service ............................. - Page 2 b) Backlight brightness level ......................... 14 Backlight color ..........................15 d) Default backlight color ........................15 Default LED indicators brightness level ................... 16 Default backlight brightness level ....................16 19. Object 2010h: Baud rate setting ......................17 20. Object 2011h: Set Boot-up service ..................... 18 21.
- Page 3 NOTE: this document complies with the following CAN in Automation (CiA) specifications: • 301 (CANopen application layer and communication profile) • 401 (Device profile for generic I/O modules) 3/39 PKP2400SI_CANopenUM_REV1.6 www.blinkmarine.com...
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Page 4: How To Connect The Wires
1. How to connect the wires: COLOUR FUNCTION Blue CAN L White CAN H Black Negative battery 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. -
Page 5: Default Settings
2. Default settings Setting Default state or level How to change Baud rate 125 kbit/s Object 2010h CANopen Node ID Object 2013h Device active on startup Not active Object 2012h Default LED indicators brightness 3Fh (Maximum Brightness) Object 2003h Default backlight brightness 00h (OFF) Object 2003h Default backlight color... -
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. 3. Start CANopen node (keypad activation message) Identifier Byte 0 Start CANopen node Keypad CAN ID Byte 1 00h: start all the keypads... -
Page 7: Stop Canopen Node
6. Stop CANopen node Identifier 02h: Stop CANopen node Byte 0 00h: Stop CANopen node (old PKP sw compatibility) Keypad CAN ID Byte 1 00h: stop all the keypads 15h: stop the keypad with CAN ID = 15h. Byte 2, 7 Not used Example: Direction... -
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. 10. Keys state message The keypad must be activated, see NMT Start CANopen Node message. -
Page 9: Set Led Blink Message
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 alternate mode. • PKP 2400SI Identifier 300h + current CAN ID Default 315h Byte 0 R8 R7 R6 R5 –... -
Page 10: Led Indicators Brightness Level
13. LED indicators brightness level The keypad must be activated, see NMT Start CANopen Node message. NOTE: this setting has temporary effect and at the startup comes back to the default level. If the default level is desired to change, please refer to the object 2003h sub-index 05h. -
Page 11: Sdo Messages
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. •... -
Page 12: Object 2001H: Digital Output Module
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 •... -
Page 13: Object 2002H: Digital Output Module
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 alternate mode. -
Page 14: Object 2003H: Brightness Level
18. Object 2003h: Brightness Level a) LED indicators brightness level: Set message: Identifier 615h (600h + current CAN ID) Byte 0 Set Device Register Byte 1 CAN Object 2003h Byte 2 Byte 3 Sub index Byte 4 Intensity 00h-3Fh→ min-100% Byte 5,7 Not used Read message:... -
Page 15: C) Backlight Color
c) Backlight color Set message: Identifier 615h (600h + current CAN ID) Byte 0 Set Device Register Byte 1 CAN Object 2003h Byte 2 Byte 3 Sub index Color 05h: cyan 01h: red 06h: violet Byte 4 02h: green 07h: white/light blue 03h: blue 08: amber/orange 04h: yellow... -
Page 16: E) Default Led Indicators Brightness Level
e) Default LED indicators brightness level Set message: Identifier 615h (600h + current CAN ID) Byte 0 Set Device Register Byte 1 CAN Object 2003h Byte 2 Byte 3 Sub index Byte 4 Intensity 00h-3Fh→ min-100% Byte 5,7 Not used Read message: Identifier 615h (600h + current CAN ID) -
Page 17: Object 2010H: Baud Rate Setting
19. Object 2010h: Baud rate setting Set message: Identifier 615h (600h + current CAN ID) Byte 0 Set Device Register Byte 1 CAN Object 2010h Byte 2 Byte 3 Sub index 1000k Reserved (force to 125k) 500k 250k Byte 4 125k (Default) Reserved (force to 125k) Byte 5,7... -
Page 18: Object 2011H: Set Boot-Up Service
20. 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. Set message: Identifier 600h + current CAN ID Default 615h Byte 0 Set Device Register Byte 1 CAN Object 2011h Byte 2... -
Page 19: Object 2012H: Set Device Active On Startup
21. Object 2012h: Set device active on startup If keypad is active on startup don’t need the Start CANopen command from host. Set message: Identifier 600h + current CAN ID Default 615h Byte 0 Set Device Register Byte 1 CAN Object 2012h Byte 2 Byte 3 Sub index... -
Page 20: Object 2013H: Set Canopen Node Id
22. Object 2013h: Set CANopen node ID Note: make sure that when changing node ID to the keypad, no other device on the network has the same address set. Set message: Identifier 600h + current CAN ID Default 615h Byte 0 Set Device Register Byte 1 CAN Object 2013h... -
Page 21: Object 2014H: Set Startup Led Show
23. Object 2014h: Set startup LED show Set message: Identifier 600h + current CAN ID Default 615h Byte 0 Set Device Register Byte 1 CAN Object 2014h Byte 2 Byte 3 Sub index 00h: Disable Byte 4 01h: Complete LED Show (default) 02h: Fast Flash Byte 5,7 Not used... -
Page 22: Object 2100H: Set Demo Mode
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. -
Page 23: Object 1016H: Consumer Heartbeat Time
25. 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. -
Page 24: Object 1017H: Producer Heartbeat Time
26. 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 Read Device Register Byte 0 Set device register Byte 1 CAN Object 1017h Byte 2 Byte 3 Sub index... -
Page 25: Object 1000H: Device Type
27. Object 1000h: Device Type Identifier 600h + current CAN ID Default 615h Byte 0 Read Device Register Byte 1 CAN Object 1000h Byte 2 Byte 3, 7 Not used Example: Direction Identifier Format Data To Keypad 40 00 10 00 00 00 00 00 From Keypad 43 00 10 00 91 01 0B 00 Device profile number 0xB0191h. -
Page 26: Object 1009H: Manufacturer Hardware Revision
30. Object 1009h: Manufacturer Hardware Revision Identifier 600h + current CAN ID Default 615h Byte 0 Read Device Register Byte 1 CAN Object 1009h Byte 2 Byte 3, 7 Not used Example: Direction Identifier Format Message Data To Keypad 40 09 10 00 00 00 00 00 From Keypad 43 09 10 00 56 5F 30 31 V_01... -
Page 27: Object 100Bh: Model Id
32. Object 100Bh: Model ID Identifier 600h + current CAN ID Default 615h Byte 0 Read Device Register Byte 1 CAN Object 100Bh Byte 2 Byte 3, 7 Not used 1° additional byte Identifier 600h + current CAN ID Default 615h Byte 0 Read Device Register second byte Byte 1, 7... -
Page 28: Object 1018H: Identity Data
40 18 10 00 00 00 00 00 From Keypad 4F 18 10 00 04 00 00 00 To Keypad 40 18 10 01 00 00 00 00 From Keypad 43 18 10 01 E2 03 00 00 000003E2h Blink Marine Vendor Id: 000003E2h 28/39 www.blinkmarine.com PKP2400SI_CANopenUM_REV1.6... -
Page 29: 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) Read Device Register Byte 0 Set Device Register Byte 1 CAN Object 1400h Byte 2 Number of mapped objects... -
Page 30: 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) Read Device Register Byte 0 Set Device Register Byte 1 CAN Object 1401h Byte 2 Number of mapped objects... -
Page 31: 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 Read Device Register Byte 1 CAN Object 1402h Byte 2 Highest sub-index supported Byte 3 COB Id Transmission Type Byte 4,7 Not used... -
Page 32: 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 Read Device Register Byte 1 CAN Object 1600h Byte 2 Number of mapped objects PDO Mapping Entry 1 Byte 3 PDO Mapping Entry 2 PDO Mapping Entry 3... -
Page 33: 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 Read Device Register Byte 1 CAN Object 1601h Byte 2 Number of mapped objects PDO Mapping Entry 1 Byte 3 PDO Mapping Entry 2... -
Page 34: Object 1602H: Receive Pdo Mapping Parameter 2
41. Object 1602h: Receive PDO mapping Parameter 2 Describes the mapping of Indicator LED brightness PDO Message. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1 CAN Object 1602h Byte 2 Number of mapped objects Byte 3 PDO Mapping Entry 1 Byte 4,7... -
Page 35: 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) Read Device Register Byte 0 Set Device Register Byte 1 CAN Object 1800h Byte 2 Highest sub-index supported... -
Page 36: B) Set Periodic State Transmission
b) Set periodic state transmission Identifier 600h + current CAN ID Default 615h Byte 0 Set device register Byte 1 CAN Object 1800h Byte 2 Byte 3 Sub index Byte 4 YYh: Periodic transmission timer in milliseconds LSByte Byte 5 XXh: Periodic transmission timer in milliseconds MSByte Byte 6, 7 Not used... -
Page 37: Object 2200H: Serial Number String
45. Object 2200h: Serial number string Identifier 600h + current CAN ID Default 615h Byte 0 Read Device Register Byte 1 CAN Object 2200h Byte 2 Byte 3,7 Not used 1° additional byte Identifier 600h + current CAN ID Default 615h Byte 0 Read Device Register second byte Byte 1, 7... -
Page 38: Appendix: Demo Mode Instructions
APPENDIX: DEMO Mode instructions In DEMO Mode you can try the following functions by pressing buttons on the PKP2400SI. Entering this mode, you turn the LED indicators on with red color; each time you press the key 1, you can change the color of the indicators with the following sequence: Red;... -
Page 39: Revision History
47. Revision history Manual Date Comment Revision 03/11/2017 First release Second release • Added Objects 1402h, 1403h • Included some examples in the table of set LED on and set LED blink functions 31/01/2018 • Corrected value identifier in the reply message of object 2013h: SET CANopen NODE ID •...
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