Table of Contents
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Summary:
1.
How to connect the wires: .................................................................................................................... 5
2.
Reference .............................................................................................................................................. 6
3.
Mounting instructions .......................................................................................................................... 7
4.
Default settings ..................................................................................................................................... 9
CANopen Messages Structure ..................................................................................................................... 10
NMT MESSAGES ........................................................................................................................................... 11
5.
Start CANopen node (keypad activation message) ............................................................................ 11
6.
Enter pre-operational ......................................................................................................................... 11
7.
Reset CANopen node .......................................................................................................................... 11
8.
Stop CANopen node ........................................................................................................................... 12
9.
Boot-up service ................................................................................................................................... 12
10. Heartbeat message ............................................................................................................................. 12
11. Sync message ...................................................................................................................................... 12
PDO messages ............................................................................................................................................. 13
12. Keys state message ............................................................................................................................. 13
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Racepad ............................................................................................................................................ 13
13. Encoders 1-2 state message ............................................................................................................... 14
14. Encoders 3-4 state message ............................................................................................................... 15
15. Analog input message ......................................................................................................................... 16
16. Set Key and Ring encoder LED ON message ....................................................................................... 17
•
Racepad ............................................................................................................................................ 17
17. Set Key and Ring encoder LED Blink message .................................................................................... 18
•
Racepad ............................................................................................................................................ 18
18. Set Central and Encoder LED ON message ......................................................................................... 19
19. Backlight message............................................................................................................................... 20
SDO Messages: ............................................................................................................................................ 21
20. Object 2000h: Digital input module, keys states ................................................................................ 21
Sub 1 - Key state .............................................................................................................................. 21
b) Sub 2 - Read encoder 1 direction counter....................................................................................... 22
Sub 3 - Read encoder 1 tick counter ............................................................................................... 23
d) Sub 4 - Set/read TOP position encoder 1 ........................................................................................ 23
Sub 5 - Read encoder 2 direction counter....................................................................................... 24
Sub 6 - Read encoder 2 tick counter ............................................................................................... 25
h) Sub 8 - Read encoder 3 direction counter....................................................................................... 26
Racepad
CANopen User Manual
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Summary of Contents for Blink Marine Racepad
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Page 1: Table Of Contents
11. Sync message ............................12 PDO messages ............................. 13 12. Keys state message ..........................13 • Racepad ............................13 13. Encoders 1-2 state message ....................... 14 14. Encoders 3-4 state message ....................... 15 15. Analog input message ......................... 16 16. Set Key and Ring encoder LED ON message ..................17 •... - Page 2 Sub 9 – Read encoder 3 tick counter ....................27 Sub 10 – Set/read TOP position encoder 3 ..................27 Sub 11 – Read encoder 4 direction counter..................28 Sub 12 – Read encoder 4 tick counter ..................... 29 m) Sub 13 – Set/read TOP position encoder 4 ..................29 21.
- Page 3 30. Object 2013h: Set CANopen node ID ....................51 31. Object 2014h: Set startup LED show ....................52 32. Object 2100h: Set DEMO mode ......................53 33. Object 1016h: Consumer heartbeat time ................... 54 34. Object 1017h: Producer heartbeat time .................... 55 Heartbeat message ............................
- 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) 4/79 www.blinkmarine.com Racepad_CANopenUM_REV1.1...
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Page 5: How To Connect The Wires
1. How to connect the wires: Power Supply Connector Manufacturer TE Connectivity / Deutsch Amphenol Connector p/n DTM04-4P ATM04-4P Mating Connector Connector p/n DTM06-4S ATM06-4S Wedgelock p/n WM4S AWM4S Terminals 0462-201-20141 AT62-201-20141 COLOUR FUNCTION Blue CAN L White CAN H Black Negative battery Vbatt. -
Page 6: Reference
2. Reference Front view. Racepad 6/79 www.blinkmarine.com Racepad_CANopenUM_REV1.1... -
Page 7: Mounting Instructions
1: fasten the metal plate to the steering wheel by clamping the six screws. 2: assemble the Racepad to the steering wheel by fastening the M5 screws along the four holes of the metal plate and the backshell. Bend the wires to the preferred side to simplify the installation on the steering wheel. - Page 8 3: plug the connectors to complete the installation. 8/79 www.blinkmarine.com Racepad_CANopenUM_REV1.1...
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Page 9: Default Settings
4. 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 Key-LED indicators brightness level 3Fh (100%) Object 2003h-Sub 1 Default Key-LED backlight brightness level 00h (OFF) Object 2003h-Sub 2... -
Page 10: Canopen Messages Structure
CANopen Messages Structure All the data type used are unsigned integer and the syntax is specified in the following table: NMT MESSAGES The Network Management messages follow a master-slave structure. Through NMT services, CANopen devices are initialized, started, reset, stopped. CANopen devices regarded... -
Page 11: 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. 5. Start CANopen node (keypad activation message) Identifier Byte 0 Start CANopen node Keypad CAN ID Byte 1 00h: start all the keypads... -
Page 12: Stop Canopen Node
8. 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 13: Pdo Messages
There are no answers for this kind of messages. Each PDO message has an equivalent Service Data Object message. 12. Keys state message The keypad must be activated, see NMT Start CANopen Node message. • Racepad Identifier 180h + current CAN ID Default 195h... -
Page 14: Encoders 1-2 State Message
13. Encoders 1-2 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 encoders 1 and 2. Note: The Encoders 1-2 are identified respectively with the key numbers 9-10. See chapter 2 further details. -
Page 15: Encoders 3-4 State Message
14. Encoders 3-4 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 encoders 3 and 4. Note: The Encoders 3-4 are identified respectively with the key numbers 11-12. See chapter 2 further details. -
Page 16: Analog Input Message
15. 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 17: Set Key And Ring Encoder Led On 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. • Racepad Identifier 200h + current CAN ID... -
Page 18: Set Key And Ring Encoder Led Blink Message
Note 4: 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. • Racepad Identifier 300h + current CAN ID... -
Page 19: Set Central And Encoder Led On Message
18. Set Central and Encoder LED ON message This command allows to switch on/off the central and the encoders’ LED indicators. See the table below for the details. Note: it is possible to adjust the brightness level of the Central and Encoder LED indicators by the object 2003h sub-index 05h. -
Page 20: Backlight Message
19. Backlight message The keypad must be activated, see NMT Start CANopen Node message. This message allows to switch on/off the backlight LEDs around the keys, the encoders and the logo (if applicable). Note: the setting is kept at the startup. Note 2: for the color and brightness level settings of each group of LEDs please refer to the object 2003h. -
Page 21: Sdo Messages
SDO Messages: A SDO (Service Data Object) is providing direct access to object entries of a CANopen device's object dictionary. 20. 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 22: 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 9. See chapter 2 for further details. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1... -
Page 23: 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 9. See chapter 2 for further details. -
Page 24: E) Sub 5 - Read Encoder 2 Direction Counter
e) Sub 5 – Read encoder 2 direction counter This module contains the Encoder 2 direction counter. Note: The Encoder 2 is identified with the key number 10. See chapter 2 for further details. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1... -
Page 25: F) Sub 6 - Read Encoder 2 Tick Counter
f) Sub 6 – 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 10. See chapter 2 for further details. -
Page 26: H) Sub 8 - Read Encoder 3 Direction Counter
h) Sub 8 – Read encoder 3 direction counter This module contains the Encoder 3 direction counter. Note: The Encoder 3 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 27: I) Sub 9 - Read Encoder 3 Tick Counter
i) Sub 9 – Read encoder 3 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 3 tick counter value. Note: The Encoder 3 is identified with the key number 11. See chapter 2 for further details. -
Page 28: K) Sub 11 - Read Encoder 4 Direction Counter
k) Sub 11 – Read encoder 4 direction counter This module contains the Encoder 4 direction counter. Note: The Encoder 4 is identified with the key number 12. See chapter 2 for further details. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1... -
Page 29: L) Sub 12 - Read Encoder 4 Tick Counter
l) Sub 12 – Read encoder 4 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 4 tick counter value. Note: The Encoder 4 is identified with the key number 12. See chapter 2 for further details. -
Page 30: Object 2001H: Digital Output Module
21. 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 31: C) Set Encoder Led On
c) Set Encoder LED 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 encoder 1 Byte 5 L16 L15 L14 L13 L12 L11 L10 L9... -
Page 32: E) Set Central Led On
e) Set Central LED ON Identifier 600h + current CAN ID Default 615h Byte 0 Set Device Register Byte 1 CAN Object 2001h Byte 2 Byte 3 Sub index: central LED ON Byte 4 L40 L39 L38 L37 L36 L35 L34 L33 Central LED Byte 5 0 0 0 0 L44 L43 L42 L41... -
Page 33: G) Set Ring Encoder Led On
g) Set Ring encoder LED ON Identifier 600h + current CAN ID Default 615h Byte 0 Set Device Register Byte 1 CAN Object 2001h Byte 2 Byte 3 Sub index Byte 4 0 0 0 0 E4 E3 E2 E1 Ring LED around encoder Byte 5,7 Not used... -
Page 34: Object 2002H: Digital Output Module
22. 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 35: C) Set Encoder Led Blink
c) Set Encoder LED 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 encoder 1 Byte 5 L16 L15 L14 L13 L12 L11 L10 L9... -
Page 36: E) Set Central Led Blink
e) Set Central LED 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 central LED blink Byte 4 L40 L39 L38 L37 L36 L35 L34 L33 Central LED Byte 5 0 0 0 0 L44 L43 L42 L41... -
Page 37: G) Set Ring Encoder Led Blink
g) Set Ring encoder LED blink Identifier 600h + current CAN ID Default 615h Byte 0 Set Device Register Byte 1 CAN Object 2002h Byte 2 Byte 3 Sub index Byte 4 0 0 0 0 E4 E3 E2 E1 Ring LED around encoder Byte 6,7 Not used... -
Page 38: Object 2003H: Brightness Level
23. Object 2003h: Brightness Level The following configuration messages allow to set independently the brightness level and color the LEDs used as indicators and backlight. a) Default Key-LED indicators brightness level Set message: Note: the brightness settable range is 0-3Fh (63), but the actual available levels are 16. Note 2: the setting is kept at the startup. -
Page 39: B) Default Key-Led Backlight Brightness Level
b) Default Key-LED backlight brightness level Set message: Note: the brightness settable range is 0-3Fh (63), but the actual available levels are 16. Note 2: the setting is kept at the startup. Identifier 615h (600h + current CAN ID) Byte 0 Set Device Register Byte 1 CAN Object 2003h... -
Page 40: C) Default Key-Led Backlight Color
c) Default Key-LED backlight color Set message: Note: the setting is kept at the startup. 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... -
Page 41: D) Default Ring Led Indicators Brightness Level
d) Default Ring LED indicators brightness level Set message: Note: the setting is kept at the startup. 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-FFh→... -
Page 42: F) Default Central And Encoder Led Indicators Brightness Level
f) Default Central and encoder LED indicators brightness level Set message: Note: the setting is kept at the startup. 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-FFh→... -
Page 43: Object 2004H: Read Digital Input 8-Bit
24. 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 44: Object 2005H: Read Analog Input
25. 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 45: Object 2006H: Set Analog Input Message Period
26. Object 2006h: Set analog input message period This configuration message allows to disable or 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 46: Object 2007H: Enable/Disable Backlight
26. Object 2007h: Enable/Disable backlight The following SDO message allows to enable/disable the backlight. Note: the setting is kept at the startup. Set message: Identifier 615h (600h + current CAN ID) Byte 0 Set Device Register Byte 1 CAN Object 2007h Byte 2 Byte 3 Sub index... -
Page 47: Object 2008H: Enable/Disable Encoder State Message
26. Object 2008h: Enable/Disable Encoder state message The following configuration message allows to enable/disable the encoder state message transmission. Note: the setting is kept at the startup. Set message: Identifier 615h (600h + current CAN ID) Byte 0 Set Device Register Byte 1 CAN Object 2008h Byte 2... -
Page 48: 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 49: 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 50: 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 51: 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 52: 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 53: 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 54: 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 55: 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 56: 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 57: 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 58: Object 100Bh: Model Id
From Keypad 01 52 41 43 45 50 41 44 RACEPAD Model ID: RACEPAD 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. This procedure shall only be executed when the specific signature ‘’load’’... -
Page 59: 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 59/79 Racepad_CANopenUM_REV1.1 www.blinkmarine.com... -
Page 60: 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 and Ring encoder LED on state PDO Message. Identifier 615h (600h + current CAN ID) Read Device Register Byte 0 Set Device Register Byte 1 CAN Object 1400h... -
Page 61: 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 and Ring encoder 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... -
Page 62: Object 1402H: Receive Pdo Communication Parm 2
Object 1402h: Receive PDO communication Parm 2 Describes the Receive Parameters for Central and Encoder LED ON PDO Message. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Set Device Register Byte 1 CAN Object 1402h Byte 2 Number of mapped objects Byte 3 COB Id... -
Page 63: Object 1403H: Receive Pdo Communication Parm 3
Object 1403h: Receive PDO communication Parm 3 Describes the Receive Parameters for backlight 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 Not used... -
Page 64: Object 1600H: Receive Pdo Mapping Parameter 0
47. Object 1600h: Receive PDO mapping Parameter 0 Describes the mapping of Key and Ring encoder LED ON 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... -
Page 65: Object 1601H: Receive Pdo Mapping Parameter 1
48. Object 1601h: Receive PDO mapping Parameter 1 Describes the mapping of Key and Ring encoder 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... -
Page 66: Object 1602H: Receive Pdo Mapping Parameter 2
49. Object 1602h: Receive PDO mapping Parameter 2 Describes the mapping of Central and Encoder LED ON 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 Byte 3 PDO Mapping Entry 1 PDO Mapping Entry 2... -
Page 67: 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 68: 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 69: Object 1801H
52. Object 1801h: Transmit PDO Communication Parm 1 Describes the Transmission Parameters for the Encoders 1-2 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 70: Object 1802H
53. Object 1802h: Transmit PDO Communication Parm 2 Describes the Transmission Parameters for the Encoders 3-4 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 Byte 3 COB Id Transmission Type... -
Page 71: Object 1803H
54. Object 1803h: Transmit PDO Communication Parm 3 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 COB Id Byte 3 Transmission Type... -
Page 72: 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 73: Object 1A01H Transmit Pdo Mapping Parameter 1
56. Object 1A01h Transmit PDO Mapping Parameter 1 Describes the mapping of Encoders 1-2 state PDO Message. Identifier 615h (600h + current CAN ID) Byte 0 Read Device Register Byte 1 CAN Object 1A01h Byte 2 Number of mapped objects PDO Mapping Entry 1 PDO Mapping Entry 2 Byte 3... -
Page 74: Object 1A02H Transmit Pdo Mapping Parameter 2
57. Object 1A02h Transmit PDO Mapping Parameter 2 Describes the mapping of Encoders 3-4 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 1 PDO Mapping Entry 2 Byte 3... -
Page 75: 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 76: Appendix: Demo Mode Instructions
APPENDIX: DEMO Mode instructions In DEMO Mode you can try the following functions by pressing keys on the Racepad. Entering this mode (opening feature): the key-LED indicators are ON with red color; the encoder LEDs 1-9-17-25 are ON; the ring LED backlight (including logo LEDs if available) is ON Each time you press the key 1 you can change the key-LED backlight color with the following sequence: Red;... -
Page 77: 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 78 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! 78/79 www.blinkmarine.com...
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Page 79: Revision History
59. Revision history Manual Date Comment Revision 12/04/2023 First release Second release: 08/05/2023 • Updated descriptions in the chapters 13-14. 79/79 Racepad_CANopenUM_REV1.1 www.blinkmarine.com...
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