Table of Contents
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Summary:
1.
How to connect Deutsch 4 pin: ............................................................................................................ 3
2.
Reference .............................................................................................................................................. 4
3.
Default settings ..................................................................................................................................... 4
NMT MESSAGES ............................................................................................................................................. 5
4.
Start CANopen node (keypad activation message) .............................................................................. 5
5.
Enter pre-operational ........................................................................................................................... 5
6.
Reset CANopen node ............................................................................................................................ 5
7.
Stop CANopen node ............................................................................................................................. 6
8.
Boot-up service ..................................................................................................................................... 6
9.
Heartbeat message ............................................................................................................................... 6
10. Sync message ........................................................................................................................................ 6
PDO messages ............................................................................................................................................... 7
11. Keys and Encoder state message .......................................................................................................... 7
12. Set LED on message .............................................................................................................................. 8
13. Set LED blink message .......................................................................................................................... 9
14. Set Backlight brightness level message .............................................................................................. 10
SDO Messages: ............................................................................................................................................ 11
15. Object 1000h: Device Type ................................................................................................................. 11
16. Object 1001h: Error Register .............................................................................................................. 11
17. Object 1008h: Manufacturer Device Name ........................................................................................ 11
18. Object 1009h: Manufacturer Hardware Revision ............................................................................... 12
19. Object 100Ah: Manufacturer Firmware Revision ............................................................................... 12
20. Object 1011h: Restore default parameters ........................................................................................ 12
21. Object 1016h: Consumer heartbeat time ........................................................................................... 13
22. Object 1017h: Producer heartbeat time ............................................................................................ 14
Heartbeat message ...................................................................................................................................... 14
23. Object 1018h: Identity Data ............................................................................................................... 15
24. Object 1400h: Receive PDO Communication Parm 0 ......................................................................... 15
25. Object 1401h: Receive PDO communication Parm 1 ......................................................................... 16
26. Object 1402h: Receive PDO communication Parm 2 ......................................................................... 17
27. Object 1600h: Receive PDO mapping Parameter 0 ............................................................................ 18
28. Object 1601h: Receive PDO mapping Parameter 1 ............................................................................ 19
29. Object 1602h: Receive PDO mapping Parameter 2 ............................................................................ 20
30. Object 1800h: ..................................................................................................................................... 21
Transmit PDO Communication Parm 0 ............................................................................................ 21
PowerTrack CANopen
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Summary of Contents for Blink Marine PowerTrack
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Page 1: Table Of Contents
PowerTrack CANopen Summary: How to connect Deutsch 4 pin: ......................3 Reference .............................. 4 Default settings ............................. 4 NMT MESSAGES ............................. 5 Start CANopen node (keypad activation message) ................5 Enter pre-operational ........................... 5 Reset CANopen node ..........................5 Stop CANopen node ..........................6 Boot-up service ............................. - Page 2 b) Set periodic state transmission ......................22 31. Object 1A00h Transmit PDO Mapping Parameter................23 32. Object 2000h: Key and Encoder state ....................24 Sub 1 – Key State ..........................24 b) Sub 2 - Encoder direction counter ....................25 Sub 3 - Encoder tick counter ......................
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Page 3: How To Connect Deutsch 4 Pin
1. How to connect Deutsch 4 pin: 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 4: Reference
2. Reference 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 LED Indicator Brightness 3Fh (Maximum brightness) Object 2003h Backlight Brightness 00h (OFF) Object 2003h... -
Page 5: Nmt Messages
NMT MESSAGES The Network Management messages follow a master-slave structure. Through NMT services, CANopen devices are initialized, started, reset or stopped. All CANopen devices are regarded as NMT slaves. NMT messages have CAN-ID always equal to 00h. 4. Start CANopen node (keypad activation message) Identifier Byte 0 Start CANopen node... -
Page 6: Stop Canopen Node
7. Stop CANopen node Identifier Byte 0 02h: Stop CANopen node Byte 1 Keypad CAN ID 00h: stop all the keypads 15h: stop the keypad with CAN ID = 15h. Byte 2, 7 Not used Example: Direction Identifier Format Message To Keypad 02 15 8. -
Page 7: Pdo Messages
The keypad must be activated, see NMT Start CANopen Node message. This message is sent by the PowerTrack to indicate the state of the buttons and of the encoder. The state of the buttons is transmitted in the Byte 0. -
Page 8: Set Led On Message
12. Set LED on message The keypad must be activated, see NMT Start CANopen Node message. Identifier 215h (200h + current CAN ID) Default 215h Byte 0 LG8 LG7 LG6 LG5 - LG4 LG3 LG2 LG1 KEY LED green Byte 1 LG16 LG15 LG14 LG13 –... -
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. Identifier 315h (300h + current CAN ID) Default 315h Byte 0 LG8 LG7 LG6 LG5 - LG4 LG3 LG2 LG1... -
Page 10: Set Backlight Brightness Level Message
14. Set Backlight brightness level message The keypad must be activated, see NMT Start CANopen Node message Identifier 415h (400h + current CAN ID) Default 415h Byte 0 Green Backlight value 0 – 3Fh (0…100%) Byte 1 Red Backlight value 0 –... -
Page 11: Sdo Messages
00 6C 69 6E 6B 20 4D 61 link Ma To Keypad 70 00 00 00 00 00 00 00 From Keypad 17 72 69 6E 65 00 00 00 rine Manufacturer Device Name: PowerTrack – Blink Marine 11/39 PowerTrack_CANopenUM_REV1.10 www.blinkmarine.com... -
Page 12: Object 1009H: Manufacturer Hardware Revision
18. Object 1009h: Manufacturer Hardware Revision Identifier 615h (600h + current CAN ID) 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 20 30 33 V 03... -
Page 13: Object 1016H: Consumer Heartbeat Time
21. 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 14: Object 1017H: Producer Heartbeat Time
22. 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 Read Device Register Set device register Byte 1 CAN Object 1017h Byte 2 Byte 3 Sub index... -
Page 15: Object 1018H: Identity Data
From Keypad 43 18 10 01 E2 03 00 00 000003E2h Blink Marine Vendor Id: 000003E2h 24. Object 1400h: Receive PDO Communication Parm 0 Describes the Receive Parameters and sets the transmission type for the LED state PDO Message. Identifier... -
Page 16: Object 1401H: Receive Pdo Communication Parm 1
25. 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 Read Device Register Set Device Register Byte 1 CAN Object 1401h Byte 2 Number of mapped objects... -
Page 17: Object 1402H: Receive Pdo Communication Parm 2
26. Object 1402h: Receive PDO communication Parm 2 Describes the Receive Parameters for the Backlight state PDO Message. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1 CAN Object 1402h Byte 2 Number of mapped objects Byte 3 COB Id Transmission Type... -
Page 18: Object 1600H: Receive Pdo Mapping Parameter 0
27. 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 PDO Mapping Entry 2 Byte 3 PDO Mapping Entry 3... -
Page 19: Object 1601H: Receive Pdo Mapping Parameter 1
28. 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 PDO Mapping Entry 2 Byte 3... -
Page 20: Object 1602H: Receive Pdo Mapping Parameter 2
29. Object 1602h: Receive PDO mapping Parameter 2 Describes the mapping of backlight LED state PDO Message. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1 CAN Object 1602h Byte 2 Number of mapped objects PDO Mapping Entry 1 Byte 3 PDO Mapping Entry 2... -
Page 21: Object 1800H
30. 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 Read Device Register Set Device Register Byte 1 CAN Object 1800h Byte 2 Highest sub-index supported... -
Page 22: 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 timerin milliseconds MSByte Byte 6, 7 Not used... -
Page 23: Object 1A00H Transmit Pdo Mapping Parameter
31. Object 1A00h Transmit PDO Mapping Parameter Describes the mapping of KEY and Encoder 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 PDO Mapping Entry 1 Byte 3 PDO Mapping Entry 2... -
Page 24: Object 2000H: Key And Encoder State
32. Object 2000h: Key and Encoder state a) Sub 1 – Key State This module contains all the button state information. A one indicates the button is pressed; a zero indicates the button is not pressed. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1... -
Page 25: B) Sub 2 - Encoder Direction Counter
b) Sub 2 - Encoder direction counter This module contains the Encoder direction counter. The command works only in the pre- operational state. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1 CAN Object 2000h Byte 2 Byte 3 Sub index... -
Page 26: C) Sub 3 - Encoder Tick Counter
c) Sub 3 - Encoder tick counter The Tick counter is a two bytes counter incremented each clockwise tick and decremented each counterclockwise tick. • Read encoder tick counter value The following command allows to read the encoder tick counter value Identifier 615h (600h + current CAN ID) Byte 0... -
Page 27: Object 2001H: Led State
33. Object 2001h: LED state a) Sub 1 – LED #1-18 green state / LED #1-4 red state Identifier 615h (600h + current CAN ID) Byte 0 Set Device Register Byte 1 CAN Object 2001h Byte 2 Byte 3 Sub index Byte 4 LG8 LG7 LG6 LG5 - LG4 LG3 LG2 LG1 LED green 1-8... -
Page 28: C) Sub 3 - Led Green #1-18 Blink State / Led Red #1-4 Blink State
c) Sub 3 - LED green #1-18 blink state / LED red #1-4 blink state Note: if the blink message is sent when the LED is already on, the LED blinks in alternate mode. Identifier 615h (600h + current CAN ID) Byte 0 Set Device Register Byte 1... -
Page 29: Object 2002H: Led Ring State
34. Object 2002h: LED RING state The RING LEDs can be illuminated as indicator and backlight function as well. Each LED on the RING in off state (not used as indicator) will be illuminated according to the backlight command. a) Sub 1 –RING LED green state Identifier 615h (600h + current CAN ID) Byte 0... -
Page 30: C) Sub 3 Ring Led Blue State
c) Sub 3 RING LED blue state Identifier 615h (600h + current CAN ID) Byte 0 Set Device Register Byte 1 CAN Object 2002h Byte 2 Byte 3 Sub index Byte 4 LB26 LB25 LB24 LB23 – LB22 LB21 LB20 LB19 LED blue Byte 5,7 Not used... -
Page 31: E) Sub 5 -Ring Led Red Blink State
e) Sub 5 –RING LED red blink state Note: if the blink message is sent when the LED is already on, the LED blinks in alternate mode. Identifier 615h (600h + current CAN ID) Byte 0 Set Device Register Byte 1 CAN Object 2002h Byte 2 Byte 3... -
Page 32: Object 2003H: Brightness Level
35. Object 2003h: Brightness Level a) Set Indicator LEDs brightness level 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 Example: Direction... -
Page 33: D) Set Blue Leds Backlight Brightness Level
d) Set blue LEDs backlight brightness level 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→ 0-100% Byte 5,7 Not used Example: Direction Identifier Format... -
Page 34: G) Set Startup Red Leds Backlight Brightness Level
g) Set startup red LEDs backlight brightness level 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→ 0-100% Byte 5,7 Not used Example: Direction Identifier... -
Page 35: Object 2010H: Baud Rate Setting
36. Object 2010h: Baud rate setting 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 Not used... -
Page 36: Object 2012H: Set Device Active On Startup
38. 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 Set Device Register Byte 1 CAN Object 2012h Byte 2 Byte 3 Sub index... -
Page 37: Object 2014H: Set Startup Led Show
40. Object 2014h: Set startup LED show Identifier 600h + current CAN ID Default 615h Byte 0 Set Device Register Byte 1 CAN Object 2014h Byte 2 Byte 3 Sub index Byte 4 00h: Not active 01h: Active Byte 5,7 Not used Example: Direction... -
Page 38: Appendix: Demo Mode Instructions
APPENDIX: DEMO Mode instructions In DEMO Mode you can try these functions by pressing buttons on the PowerTrack. For the Key 1, each time that you press the button, there are different steps in this sequence: 1) No LEDs on and no backlight;... -
Page 39: Revision History
43. Revision history Related Manual Date Comment Revision version 18/04/2016 Updated examples for the object 1800h set periodic 14/10/2016 transmission New release: • Added the sentence concerning keypad activation in every PDOs commands • Replaced the symbol ‘h’(hexadecimal) with the correct one ‘b’ (binary) in the ‘’keys and encoder state’’...
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