Table of Contents
Advertisement
Quick Links
Summary:
1.
How to connect the wires: .................................................................................................................... 5
2.
Reference .............................................................................................................................................. 6
3.
Default settings ..................................................................................................................................... 7
NMT MESSAGES ............................................................................................................................................. 8
4.
Start CANopen node (keypad activation message) .............................................................................. 8
5.
Enter pre-operational ........................................................................................................................... 8
6.
Reset CANopen node ............................................................................................................................ 8
7.
Stop CANopen node ............................................................................................................................. 9
8.
Boot-up service ..................................................................................................................................... 9
9.
Heartbeat message ............................................................................................................................... 9
10. Sync message ........................................................................................................................................ 9
PDO messages ............................................................................................................................................. 10
11. Keys state message ............................................................................................................................. 10
•
PKP 3500-MT .................................................................................................................................... 10
12. Encoder 1 state message .................................................................................................................... 11
13. Encoder 2 state message .................................................................................................................... 12
14. Analog input message ......................................................................................................................... 13
15. Set Key-LED ON message .................................................................................................................... 14
•
PKP 3500-MT .................................................................................................................................... 14
16. Set Key-LED Blink message ................................................................................................................. 15
•
PKP 3500-MT .................................................................................................................................... 15
17. Set LED encoder ON message ............................................................................................................. 16
18. Backlight setting ................................................................................................................................. 16
SDO Messages: ............................................................................................................................................ 17
19. Object 2000h: Digital input module, keys states ................................................................................ 17
Sub 1 - Key state .............................................................................................................................. 17
b) Sub 2 - Read encoder 1 direction counter....................................................................................... 18
Sub 3 - Read encoder 1 tick counter ............................................................................................... 19
d) Sub 4 - Read encoder 2 direction counter....................................................................................... 20
Sub 5 - Read encoder 2 tick counter ............................................................................................... 21
20. Object 2001h: Digital output module. ................................................................................................ 23
Set Key-LED ON ................................................................................................................................... 23
Read Key-LED ON ................................................................................................................................ 23
Set LED encoder ON ............................................................................................................................ 24
PKP3500-MT CANopen
Advertisement
Table of Contents
Subscribe to Our Youtube Channel
Related Manuals for Blink Marine PKP3500-MT
Summary of Contents for Blink Marine PKP3500-MT
-
Page 1: Table Of Contents
PKP3500-MT CANopen Summary: How to connect the wires: ........................5 Reference .............................. 6 Default settings ............................. 7 NMT MESSAGES ............................. 8 Start CANopen node (keypad activation message) ................8 Enter pre-operational ........................... 8 Reset CANopen node ..........................8 Stop CANopen node ..........................9 Boot-up service ............................. - Page 2 Read LED encoder ON ......................... 24 21. Object 2002h: Digital output module....................25 Set Key-LED blink ..........................25 Read Key-LED blink ..........................25 Set LED encoder blink ......................... 26 Read LED encoder blink ........................26 22. Object 2003h: Brightness Level ......................27 LED indicators brightness level: .......................
- Page 3 50. Object 1603h: Receive PDO mapping Parameter 3 ................51 51. Object 1800h: ............................. 52 Transmit PDO Communication Parm 0 .................... 52 • Set periodic state transmission ......................53 52. Object 1801h: ............................. 54 Transmit PDO Communication Parm 1 ....................54 53.
- Page 4 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) 4/63 www.blinkmarine.com PKP3500-MT_CANopenUM_REV1.0...
-
Page 5: How To Connect The Wires
1. How to connect the wires: Power Supply Connector Connector: AMPHENOL AT04-4P or DEUTSCH DT04-4P COLOUR FUNCTION Blue CAN L White CAN H Black Negative battery Vbatt. (12-24V) Input Signal Connector Connector: MOLEX 39-013-069 (or -063) COLOUR FUNCTION Power +5V Yellow Blue Grey... -
Page 6: Reference
2. Reference Front view. PKP3500-MT 6/63 www.blinkmarine.com PKP3500-MT_CANopenUM_REV1.0... -
Page 7: Default Settings
3. 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 8: 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 Byte 0 Start CANopen node Keypad CAN ID Byte 1 00h: start all the keypads... -
Page 9: Stop Canopen Node
7. 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 10: 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. -
Page 11: Encoder 1 State Message
12. Encoder 1 state message The keypad must be activated, see NMT Start CANopen Node message. This message is sent by the keypad to indicate the state of the encoder 1. Note: the encoder 1 is identified with the key number 1. See chapter 2 for further details. -
Page 12: Encoder 2 State Message
13. Encoder 2 state message The keypad must be activated, see NMT Start CANopen Node message. This message is sent by the keypad to indicate the state of the encoder 2. Note: the encoder 2 is identified with the key number 11. See chapter 2 for further details. -
Page 13: Analog Input Message
14. Analog input message The keypad must be activated, see NMT Start CANopen Node message. This message transmits periodically the analog values of each of the four inputs. The default transmission period is 80 ms, but it is possible to change it by the Service Data Command 2006h: Set analog input message period. -
Page 14: Set Key-Led On Message
15. Set Key-LED ON message The keypad must be activated, see NMT Start CANopen Node message. Note: in case the RPDO message is transmitted periodically to the keypad, to ensure correct processing of the command the period used must be higher than 50ms; a value equal to 100ms is fairly good for most applications. -
Page 15: Set Key-Led Blink Message
16. Set Key-LED Blink message The keypad must be activated, see NMT Start CANopen Node message. Note: if the blink message is sent when the Key-LED is already ON, the Key-LED blinks in alternate mode. Note 2: in case the RPDO message is transmitted periodically to the keypad, to ensure correct processing of the command the period used must be higher than 50ms;... -
Page 16: Set Led Encoder On Message
17. Set LED encoder ON message The keypad must be activated, see NMT Start CANopen Node message. chapter 2 for LED encoder reference. Note: in case the RPDO message is transmitted periodically to the keypad, to ensure correct processing of the command the period used must be higher than 50ms; a value equal to 100ms is fairly good for most applications. -
Page 17: Sdo Messages
SDO Messages: A SDO (Service Data Object) is providing direct access to object entries of a CANopen device's object dictionary. 19. 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. a) Sub 1 –... -
Page 18: B) Sub 2 - Read Encoder 1 Direction Counter
b) Sub 2 – Read encoder 1 direction counter This module contains the Encoder 1 direction counter. Note: the encoder 1 is identified with the key number 1. See chapter 2 for further details. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1... -
Page 19: C) Sub 3 - Read Encoder 1 Tick Counter
c) Sub 3 – Read encoder 1 tick counter The Tick counter is a two bytes counter incremented each clockwise tick and decremented each counterclockwise tick. The following command allows to read the encoder 1 tick counter value. Note: the encoder 1 is identified with the key number 1. See chapter 2 for further details. -
Page 20: D) Sub 4 - Read Encoder 2 Direction Counter
d) Sub 4 – Read encoder 2 direction counter This module contains the Encoder 2 direction counter. Note: the encoder 2 is identified with the key number 11. See chapter 2 for further details. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1... -
Page 21: E) Sub 5 - Read Encoder 2 Tick Counter
e) Sub 5 – Read encoder 2 tick counter The Tick counter is a two bytes counter incremented each clockwise tick and decremented each counterclockwise tick. The following command allows to read the encoder 2 tick counter value. Note: the encoder 2 is identified with the key number 11. See chapter 2 for further details. -
Page 22: G) Sub 7 - Set/Read Top Position Encoder 2
g) Sub 7 – Set/read TOP position encoder 2 The following command allows to set and read the TOP position value for the tick counter of encoder 2. Note: if the value 00h is selected the maximum tick counter value achievable is 65535. Note 2: the encoder 2 is identified with the key number 1. -
Page 23: Object 2001H: Digital Output Module
20. 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 Key-LED ON Identifier 600h + current CAN ID Default 615h... -
Page 24: C) Set Led Encoder On
c) Set LED encoder ON Identifier 600h + current CAN ID Default 615h Byte 0 Set Device Register Byte 1 CAN Object 2001h Byte 2 Byte 3 Sub index: LED encoder ON Byte 4 L8 L7 L6 L5 L4 L3 L2 L1 LED position encoder 1 Byte 5... -
Page 25: Object 2002H: Digital Output Module
21. 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 26: C) Set Led Encoder Blink
c) Set LED encoder blink Identifier 600h + current CAN ID Default 615h Byte 0 Set Device Register Byte 1 CAN Object 2002h Byte 2 Byte 3 Sub index: Set LED encoder blink Byte 4 L8 L7 L6 L5 L4 L3 L2 L1 LED position encoder 1 Byte 5... -
Page 27: Object 2003H: Brightness Level
22. 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 28: 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 29: 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 30: Object 2004H: Read Digital Input 8-Bit
23. Object 2004h: Read Digital Input 8-bit This object reads digital input values. Note: please refer to chapter 1 for the connector pinout. Note 2: it is possible to connect up to 4 inputs 0-5V. For application examples please refer to Appendix Warning: the input voltage range is from 0V to 5V. -
Page 31: Object 2005H: Read Analog Input
24. Object 2005h: Read Analog Input This object reads analog input values with 8-bit resolution. 5V=FFh. Expected value: (Vin · 255/5) Note: please refer to chapter 1 for the connector pinout. Note 2: it is possible to connect up to 4 inputs 0-5V. For application examples please refer to Appendix Warning: the input voltage range is from 0V to 5V. -
Page 32: Object 2006H: Set Analog Input Message Period
26. Object 2006h: Set analog input message period This configuration message allows to change the default transmission period of the analog input message Warning: the input voltage range is from 0V to 5V. Do not connect input signals beyond these limits. -
Page 33: Object 2010H: Baud Rate Setting
27. 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 34: Object 2011H: Set Boot-Up Service
28. 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 35: Object 2012H: Set Device Active On Startup
29. 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 36: Object 2013H: Set Canopen Node Id
30. 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 37: Object 2014H: Set Startup Led Show
31. 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 38: Object 2100H: Set Demo Mode
32. 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 sending the message to enter this mode. -
Page 39: Object 1016H: Consumer Heartbeat Time
33. 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 40: Object 1017H: Producer Heartbeat Time
34. 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 41: Object 1000H: Device Type
35. 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 42: Object 1009H: Manufacturer Hardware Revision
38. 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 30 V_00... -
Page 43: Object 100Bh: Model Id
70 00 00 00 00 00 00 00 From Keypad 1B 4D 54 00 00 00 00 00 Model ID: PKP3500-MT The first byte of the last data message replied is 1Bh. 41. Object 1011h: Restore default parameters With this object the default values of parameters according to the communication profile, device profile, and application profile are restored. -
Page 44: 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 44/63 www.blinkmarine.com PKP3500-MT_CANopenUM_REV1.0... -
Page 45: Object 1400H: Receive Pdo Communication Parm 0
43. Object 1400h: Receive PDO Communication Parm 0 Describes the Receive Parameters and sets the transmission type for the Key-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 46: Object 1401H: Receive Pdo Communication Parm 1
44. Object 1401h: Receive PDO communication Parm 1 Describes the Receive Parameters and sets the transmission type for the Key-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 47: Object 1402H: Receive Pdo Communication Parm 2
Object 1402h: Receive PDO communication Parm 2 Describes the Receive Parameters for Indicator LED encoder ON PDO Message. Identifier 615h (600h + current CAN ID) Read Device Register Byte 0 Byte 1 CAN Object 1402h Byte 2 Number of mapped objects Byte 3 COB Id Transmission Type... -
Page 48: Object 1403H: Receive Pdo Communication Parm 3
Object 1403h: Receive PDO communication Parm 3 Describes the Receive Parameters for backlight setting PDO message. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1 CAN Object 1403h Byte 2 Highest sub-index supported Byte 3 COB Id Transmission Type Byte 4,7... -
Page 49: Object 1600H: Receive Pdo Mapping Parameter 0
47. Object 1600h: Receive PDO mapping Parameter 0 Describes the mapping of Key-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 50: Object 1601H: Receive Pdo Mapping Parameter 1
48. Object 1601h: Receive PDO mapping Parameter 1 Describes the mapping of Key-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 51: Object 1602H: Receive Pdo Mapping Parameter 2
49. Object 1602h: Receive PDO mapping Parameter 2 Describes the mapping of LED encoder 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 Not used... -
Page 52: Object 1800H
51. 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 53: Set Periodic State Transmission
• 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 54: Object 1801H
52. Object 1801h: Transmit PDO Communication Parm 1 Describes the Transmission Parameters for the Encoder 1 state PDO Message. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1 CAN Object 1801h Byte 2 Highest sub-index supported COB Id Byte 3 Transmission Type... -
Page 55: Object 1802H
53. Object 1802h: Transmit PDO Communication Parm 2 Describes the Transmission Parameters for the Encoder 2 state PDO Message. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1 CAN Object 1802h Byte 2 Highest sub-index supported COB Id Byte 3 Transmission Type... -
Page 56: Object 1803H
54. Object 1803h: Transmit PDO Communication Parm 2 Describes the Transmission Parameters for the analog input state PDO Message. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1 CAN Object 1803h Byte 2 Highest sub-index supported Byte 3 COB Id Transmission Type... -
Page 57: Object 1A00H Transmit Pdo Mapping Parameter 0
55. Object 1A00h Transmit PDO Mapping Parameter 0 Describes the mapping of Key state PDO Message. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1 CAN Object 1A00h Byte 2 Number of mapped objects Byte 3 PDO Mapping Entry 1 Byte 4,7 Not used... -
Page 58: Object 1A02H Transmit Pdo Mapping Parameter 2
57. Object 1A02h Transmit PDO Mapping Parameter 2 Describes the mapping of Encoder 2 state PDO Message. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1 CAN Object 1A02h Byte 2 Number of mapped objects PDO Mapping Entry 4 Byte 3 PDO Mapping Entry 5... -
Page 59: Object 2200H: Serial Number String
58. 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 60: Appendix: Demo Mode Instructions
APPENDIX: DEMO Mode instructions In DEMO Mode you can try the following functions by pressing keys on the PKP3500-MT. Entering this mode, you turn the LED indicators on with red color (opening feature); each time you press the key 1 you can change the color of the indicators with the following sequence: Red;... -
Page 61: Appendix 2: Input Application Examples
APPENDIX 2: Input application examples This chapter shows a list of possible input applications. NOTE: the power supply and ground available on the Input Signal Connector must be used for the external connected devices. 1. Switch high side on input 3: 2. - Page 62 3. Digital active signal on input 2: 4. Active analog sensor: • Pressure transducer – signal on input 0 • Hall effect position sensor – signal on input 0 5. The use of passive sensors such as NTC thermistors, potentiometers, and all kind of variable resistors is not recommended! 62/63 www.blinkmarine.com...
-
Page 63: Revision History
59. Revision history Manual Date Comment Revision 18/11/2022 First release 63/63 PKP3500-MT_CANopenUM_REV1.0 www.blinkmarine.com...
Need help?
Do you have a question about the PKP3500-MT and is the answer not in the manual?
Questions and answers