PowerKey Pro CANopen user manual
Contents
1. e PKP 2200 Identifier 180 current CAN ID Default 195h Byte 0 Keys from 1 to 4 Keys 1 on Doft 0000 K4K3 K2 K1 Byte 1 3 00h Not used Byte 4 XXh Tick Timer Examples Direction Identifier Format Message Key state From Keypad 195 Std 00 00 00 00 XX No key pressed From Keypad 195 Std 04 00 00 00 XX Key 3 pressed From Keypad 195 Std 02 00 00 00 XX Key 2 pressed From Keypad 195 Std 05 00 00 00 XX Keys 1 and 3 pressed e PKP 2400 Identifier 180 current CAN ID Default 195h Byte 0 Keys from 1 to 8 Keys 1 on O off K8 K7 K6 K5 K4 K3 K2 K1 Byte 1 3 00h Not used Byte 4 XXh Tick Timer Examples Direction Identifier Format Message Key state From Keypad 195 Std 00 00 00 00 XX No key pressed From Keypad 195 Std 01 00 00 00 XX Key 1 pressed From Keypad 195 Std 02 00 00 00 XX Key 2 pressed From Keypad 195 Std 42 00 00 00 XX Keys 7 and 2 pressed e PKP 2600 Identifier 180 current CAN ID Default 195h Byte 0 Keys from 1 to 8 Keys 1 on O off K8 K7 K6 K5 K4 K3 K2 K1 Byte 1 Keys from 9 to 12 Keys 1 on O off 0000 K12 K11 K10 K9 Byte 2 3 00h Not used Byte 4 XXh Tick Timer Examples Direction Identifier Format Data Key state From Keypad 195 Std 00 00 00 00 XX No key pressed From Keypad 195 Std 01 00 00 00 XX Key 1 pressed From Keypad 195 Std 08 00 00 00 XX Key 4 pressed From Keypad 195 Std 092. Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 OAh CAN Object 100Ah Byte 2 10h Byte 3 7 00h Not used 1 additional byte Identifier 600h current CAN ID Default 615h Byte 0 60h Read Device Register second byte Byte 1 7 00h Not used 2 additional byte Identifier 600h current CAN ID Default 615h Byte 0 70h Read Device Register third byte Byte 1 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 OA 10 00 00 00 00 00 Keypad Reply 595 Std 41 OA 10 00 OA 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad Reply 595 Std 00 52 65 76 20 31 2E 30 Rev 1 0 To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad Reply 595 Std 19 00 52 00 00 00 00 00 R Manufacturer Firmware Revision Rev 1 0R The first byte of the last data message replied is 19h 22 Object 100Bh Model ID 27 37 Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 OBh CAN Object 100Bh Byte 2 10h Byte 3 7 00h Not used 1 additional byte Identifier 600h current CAN ID Default 615h Byte 0 60h Read Device Register second byte Byte 1 7 00h Not used 2 additional byte Identifier 600h current CAN ID Default 615h Byte 0 70h Read Device Register third byte Byte 1 7 00h Not used Example Dire
3. Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 00h CAN Object 1400h Byte 2 14h 00h Number of mapped objects Byte 3 XXh 01h COB Id 03h Inhibit Time Byte 4 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 00 14 00 00 00 00 00 Keypad Reply 595 Std 4F 00 14 00 02 0000 00 2 To Keypad 615 Std 40 00 14 01 00 00 00 00 Keypad Reply 595 Std 4B 00 14 01 00 02 00 00 0000 0200h To Keypad 615 Std 40 00 14 03 00 00 00 00 Keypad Reply 595 Std 4B 00 14 03 00 00 00 00 0000 0000h Receive PDO com munication Parm 0 Number of mapped objects 2 COB id 0000 0200h Inhibit Time 0000 0000h 25 Object 1401h Receive PDO communication Parm 1 Describes the Receive Parameters for the LED Blink States PDO Message Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 01h CAN Object 1401h Byte 2 14h 00h Number of mapped objects Byte 3 XXh 01h COB Id O3h Inhibit Time Byte 4 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 01 14 00 00 00 00 00 Keypad Reply 595 Std 4F 01 14 00 02 00 00 00 2 To Keypad 615 Std 40 01 14 01 00 00 00 00 Keypad Reply 595 Std 4B 01 14 01 00 03 00 00 0000 0300h To Keypad 615 Std 40 01 14 03 00 00 00 00 Keypad Reply 595 Std 4B 01 14 03 00 00 00 00 0000 0000h
4. e PKP 2400 Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 02h CAN Object 6002h Byte 2 60h Byte 3 00h Sub index Byte 4 XXh R8 R7 R6 R5 R4 R3R2R1 Red LED Byte 5 YYh G8 G7 G6 G5 G4 G3 G2 G1 Green LED Byte 6 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 23 02 60 00 00 00 00 00 No LED blinks Keypad Reply 595 Std 60 02 60 00 00 00 00 00 To Keypad 615 Std 23 02 60 00 01 00 00 00 Only red LED 1 blinks Keypad Reply 595 Std 60 02 60 00 00 00 00 00 To Keypad 615 Std 23 02 60 00 00 FF 00 00 All green LED blink red LED do not blink Keypad Reply 595 Std 60 02 60 00 00 00 00 00 21 37 PKPCANopenUM_REV1 4 MU AK www blinkmarine com e PKP 2600 Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 02h CAN Object 6002h Byte 2 60h Byte 3 00h Sub index Byte 4 XYh X R8 R7 R6 R5 Red LED Y R4 R3 R2 R1 Red LED Byte 5 ZKh Z G4 G3 G2 G1 Green LED K R12 R11 R10 R9 Red LED Byte 6 ABh A G12 G11 G10 G9 Green LED B G8 G7 G6 G5 Green LED Byte 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 23 02 60 00 00 00 00 00 No LED blinks Keypad Reply 595 Std 60 02 60 00 00 00 00 00 To Keypad 615 Std 23 02 60 00 10 20 40 00 Only re
5. 120 Q Each end of the CAN bus is terminated with 1200 resistors in compliance with the standard to minimize signal reflections on the bus You may need to place a 1200 resistor between CAN L and CAN H 2 Reference Front view 120 Q Goes Fei Ze ZG www blinkmarine com PKPCANopenUM_REV1 4 3 Default settings Setting Default status or level How to change Baud Rate 125 kbit s Object 6500h CANopen Node ID 15h Object 6500h CANopen Node Status Stop NMT Message Start CANopen node Key Brightness 3Fh Maximum Brightness Object 6500h Backlight Brightness 00h OFF Object 6500h Startup LED Light Show Complete LED Sequence Object 6500h Periodic Message Disable Object 6500h Transmission DEMO mode Disable Object 6500h Heartbeat Message Disable Object 1017h Boot up service Active Object 6500h 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 OOh 4 Start CANopen node Keypad activation message Identifier 00h Byte 0 01h Start CANopen node Keypad CAN ID Byte 1 XXh OOh start all the keypads 15h start the keypad with CAN ID 15h Byte 2 7 00h Not used Exa
6. 43 00 60 00 10 00 00 00 Key 5 pressed Keypad 595 std 4300600020000000 Key 6 pressed reply 43 00 60 00 40 00 00 00 Key 7 pressed 43 00 60 00 80 00 00 00 Key 8 pressed 43 00 60 00 03 00 00 00 Key 1 and 2 pressed 43 00 60 00 81 00 00 00 Key 1 and 8 pressed 43 00 60 00 FF 00 00 00 All keys pressed AI ZZ www blinkmarine com PKPCANopenUM_REV1 4 16 37 17 37 PKP 2600 Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 00h CAN Object 6000h Byte 2 60h Byte 3 00h Sub index Byte 4 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 00 60 00 00 00 00 00 43 00 60 00 00 00 00 00 No key pressed 43 00 60 00 01 00 00 00 Key 1 pressed 43 00 60 00 02 00 00 00 Key 2 pressed 43 00 60 00 04 00 00 00 Key 3 pressed 43 00 60 00 08 00 00 00 Key 4 pressed 43 00 60 00 10 00 00 00 Key 5 pressed 43 00 60 00 20 00 00 00 Key 6 pressed 43 00 60 00 40 00 00 00 Key 7 pressed Keypad 595 std 4300600080000000 Key8 pressed reply 4300600000010000 Key9 pressed 43 00 60 00 00 02 00 00 Key 10 pressed 43 00 60 00 00 04 00 00 Key 11 pressed 43 00 60 00 00 08 00 00 Key 12 pressed 43 00 60 00 41 00 00 00 Key 1 and 7 pressed 43 00 60 00 10 04 00 00 Key 5 and 11 pressed 43 00 60 00 30 08 00 00 Key 5 6 and 12 pressed 43 00 60 00 07 00 00 00 Key 1 2 and 3 pressed 43 00
7. Number of mapped objects 01h Address base 02h Transmission Type Byte 3 XXh asynchronous RTR only 03h Inhibit Time 05h Event Timer Writeable Int Value ms Byte 4 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 00 18 00 00 00 00 00 Keypad Reply 595 Std 4F 00 18 00 02 00 00 00 2 To Keypad 615 Std 40 00 18 01 00 00 00 00 Keypad Reply 595 Std 4B 00 18 01 80 01 00 00 180h To Keypad 615 Std 40 00 18 02 00 00 00 00 Keypad Reply 595 Std 4B 00 18 02 FD 00 00 00 Async RTR only To Keypad 615 Std 40 00 18 03 00 00 00 00 Keypad Reply 595 Std 4B 00 18 03 00 00 00 00 0 To Keypad 615 Std 40 00 18 05 00 00 00 00 Keypad Reply 595 Std 4B 00 18 05 00 00 00 00 0 Transmitt PDO communication parm 0 Address base 180h Transmission RTR only Inhibit Time 0 0 Event timer OFF 28 Object 1A00h Inputs description Number of mapped objects 2 Identifier 600h current CAN ID Default 615h Byte O 40h Read Device Register Byte 1 00h CAN Object 1A00h Byte 2 1Ah Byte 3 XXh 00h Number of mapped objects 01h Switch state Byte 4 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 00 1A 00 00 00 00 00 Keypad Reply 595 Std AE 00 1A 0001000000 1 To Keypad 615 Std 40 00 1A 01 00 00 00 00 Keypad Reply 595 Std 43 00 1A 01 20 00 00 60 6000 00 20h Inputs description SU ZZ
8. Receive PDO communication Parm 1 SU T www blinkmarine com Number of mapped objects 2 COB id 0000 0300h Inhibit Time 0000 0000h PKPCANopenUM_REV1 4 30 37 26 Object 1600h Output Descriptions Received asynchronously digital outputs mapping Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 00h CAN Object 1600h Byte 2 16h 00h Number of mapped objects Byte 3 XXh O1h Set LED outputs 02h Set LED blink Byte 4 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 00 16 00 00 00 00 00 Keypad Reply 595 Std 4F 00 16 00 02 00 00 00 2 To Keypad 615 Std 40 00 16 01 00 00 00 00 Keypad Reply 595 Std 43 00 16 01 20 00 01 60 6001 00 20h To Keypad 615 Std 40 00 16 02 00 00 00 00 Keypad Reply 595 Std 43 00 16 02 20 00 02 60 6002 00 20h Output descriptions 31 37 Number of mapped objects 2 Sets LED output Object 6001h Sub index 00h Length 20h Sets LED blink Object 6002h Sub index 00h Length 20h PKPCANopenUM_REV1 4 MU AK www blinkmarine com 27 Object 1800h Transmit PDO Communication Parm 0 Describes the Transmit Parameters for the Key States PDO Message Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 00h CAN Object 1800h Byte 2 18h 00h
9. www blinkmarine com Number of mapped objects 1 Switch state Object 6000h Sub index 00h Length 20h PKPCANopenUM_REV1 4 32 37 29 Object 6100h Device firmware specific This Object reads the Device Firmware specifications This includes the stored serial Number and the device generic model identification Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 00h CAN Object 6100h Byte 2 61h 00h Number of mapped objects Byte 3 XXh 01h Serial number 02h Device model ID 2 additional bytes Byte 4 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 00 61 00 00 00 00 00 Keypad Reply 595 Std 4F 00 61 00 02 00 00 00 2 To Keypad 615 Std 40 00 61 01 00 00 00 00 Keypad Reply 595 Std 43 00 610100000000 00 00 00 00h To Keypad 615 Std 40 00 61 02 00 00 00 00 Keypad Reply 595 Std 40 00 61 02 08 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad Reply 595 Std 00 50 4B 50 32 36 3030 PKP2600 To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad Reply 595 Std 1D 00 00 00 00 00 00 00 Number of mapped objects 2 serial number 00000000h Model ID PKP2600 Sub Index 02h needs 2 additional byte Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register By 00h CAN Object 6100h te 1 Byte 2 61h Byte 3 02h Device model ID Byte 4
10. 0000 Switch off the heartbeat Keypad Reply 595 Std 60 17 10 00 00 00 00 00 To Keypad 615 Std 2B 171000 32000000 Set heartbeat time 50ms Keypad Reply 595 Std 60 17 10 00 00 00 00 00 To Keypad 615 Std 2B 17 10 00 F4 01 00 00 Set heartbeat time 500ms Keypad Reply 595 Std 60 17 10 00 00 00 00 00 18 Object 1000h Device Type Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 00h CAN Object 1000h Byte 2 10h Byte 3 7 00h Not used Example Direction Identifier Format Data To Keypad 615 Std 40 00 10 00 00 00 00 00 Keypad Reply 595 Std 43 00 10 00 91 01 03 00 Device profile number 30191h SU T www blinkmarine com PKPCANopenUM_REV1 4 24 37 19 Object 1008h Manufacturer Device Name Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 08h CAN Object 1008h Byte 2 10h Byte 3 7 00h Non used 1 additional byte Identifier 600h current CAN ID Default 615h Byte 0 60h Read Device Register Next Byte Byte 1 7 00h Not used 2 additional byte Identifier 600h current CAN ID Default 615h Byte O 70h Read Device Register Next Byte Byte 1 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 08 10 00 00 00 00 00 Keypad Reply 595 Std 41 08 10 00 OB 00 00 00 To Keypad
11. 7 00h Not used 1 additional byte Identifier 600h current CAN ID Default 615h Byte 0 60h Read Device Register second byte Byte 1 7 00h Not used 2 additional byte Identifier 600h current CAN ID Default 615h Byte 0 70h Read Device Register third byte Byte 1 7 00h Not used MU AK 33 37 PKPCANopenUM_REV1 4 www blinkmarine com 30 Object 6201 Device brightness control This Object Sets Reads the Device the Brightness levels of both the Key LEDs and the Back light Level a Read brightness level Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 01h CAN Object 6201h Byte 2 62h 00h Number of mapped objects Byte 3 XXh 01h Key LED brightness level 02h Back light brightness level Byte 4 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 01 62 01 00 00 00 00 Keypad Reply 595 Std AE 01 62 01 3F 00 00 00 3Fh default To Keypad 615 Std 40 01 62 02 00 00 00 00 Keypad Reply 595 Std AF 01 62 02 00 00 00 00 Oh default b Set brightness level See also section 11b and 11c Identifier 600h current CAN ID Default 615h Byte 0 2Fh Set Device Register Byte 1 01h CAN Object 6201h Byte 2 62h Byte 3 XXh 01h Key LED brightness level 02h Back light brightness level Byte 4 00 3
12. 0 Keypad Reply 595 Std 43 02 60 00 00 01 00 00 Green LED 1 blink e PKP 2600 Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 02h CAN Object 6002h Byte 2 60h Byte 3 00h Sub index Byte 4 7 00h Not Used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 02 60 00 00 00 00 00 Keypad Reply 595 Std 43 02 60 00 00 00 01 00 Green LED 5 blink To Keypad 615 Std 40 02 60 00 00 00 00 00 Keypad Reply 595 Std 43 02 60 00 80 40 20 00 Green LED 3 8 and 10 blink To Keypad 615 Std 40 02 60 00 00 00 00 00 Keypad Reply 595 Std 43 02 60 00 08 000000 Red LED 4 blink PKPCANopenUM_REV1 4 Aar AK www blinkmarine com 17 Object 1017h Producer heartbeat time The producer heartbeat time shall indicate the configured cycle time of the heartbeat Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register 2B Set device register Byte 1 17h CAN Object 1017h Byte 2 10h Byte 3 00h Sub index Byte 4 YYh YYh Heartbeat time in milliseconds Byte 5 XXh XXh Heartbeat time in milliseconds Byte 5 7 00h Not used Heartbeat time XXYYh minimum OOOAh maximum FFFFh milliseconds Examples Direction Identifier Format Message Data To Keypad 615 Std 40 17 10 00 00 00 00 00 Read heartbeat time Keypad Reply 595 Std 4B 17 10 00 64 00 00 00 Heartbeat time 100ms To Keypad 615 Std 2B 17 10 00 00 00
13. 0 00 00 00 00 00 Keypad Reply 595 Std 43 01 60 00 08 00 00 00 Red LED 4 on To Keypad 615 Std 40 01 60 00 00 00 00 00 Keypad Reply 595 Std 43 01 60 00 20 00 00 00 Green LED 2 on To Keypad 615 Std 40 01 60 00 00 00 00 00 Keypad Reply 595 Std 43 01 60 00 00 FO 00 00 All green LED on Ml AK 19 37 PKPCANopenUM_REV1 4 www blinkmarine com e PKP 2400 Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 01h CAN Object 6001h Byte 2 60h Byte 3 00h Sub index Byte 4 7 00h Not Used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 01 60 00 00 00 00 00 Keypad Reply 595 Std 43 01 60 00 FF 00 00 00 All red LED on To Keypad 615 Std 40 01 60 00 00 00 00 00 Keypad Reply 595 Std 43 01 60 00 01 00 00 00 Red LED 1 on To Keypad 615 Std 40 01 60 00 00 00 00 00 Keypad Reply 595 Std 43 01 60 00 02 00 00 00 Red LED 2 on To Keypad 615 Std 40 01 60 00 00 00 00 00 Keypad Reply 595 Std 43 01 60 00 00 FF 00 00 All green LED on e PKP 2600 Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 01h CAN Object 6001h Byte 2 60h Byte 3 00h Sub index Byte 4 7 00h Not Used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 01 60 00 00 00 00 00 Keypad Reply 595 Std 43 01 60 00 OF 00 00 00 Red LED 1 2 3 an
14. 00 00 00 Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte 3 01h Sub index Byte 4 70h Command Set CAN ID Byte 5 XXh New ID 00h 7Fh default 15h Byte 6 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 70 18 00 00 New Id 18 Keypad Reply 595 Std 60 00 65 01 00 00 00 00 The first reply is with old identifier PKPCANopenUM_REV1 4 MU AK www blinkmarine com i Set default startup LED light level 7Ch Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte 3 01h Sub index Byte 4 7Ch Command Set startup LED level Byte 5 XXh 0 3Fh gt 0 100 Byte 6 7 00h Not used Example Direction Identifier Format Data To Keypad 615 Std 23 00 65 01 7C 3F 0000 100 Keypad Reply 595 Std 60 00 65 01 00 00 00 00 j Set default startup backlight level 7Bh Demo mode is a special feature that consist in different LED states for each button pressing Disconnect and reconnect the keypad to enter this mode Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte 3 01h Sub index Byte 4 7
15. 00 00 00 XX Key 1 and 4 pressed From Keypad 195 Std 00 OC 00 00 XX Key 11 and 12 pressed SU ZZ www blinkmarine com PKPCANopenUM_REV1 4 11 Set LED ON message 9 37 e PKP 2200 Identifier 200 current CAN ID Default 215h Byte 0 G4 G3 G2 G1 R4 R3 R2 R1 Green and Red LED Byte 1 7 00h Not used Examples Direction Identifier Format Message LED To Keypad 215 Std 0000000000000000 Turn off all the LED To Keypad 215 Std 01 00 00 00 00 00 00 00 Only red LED 1 on To Keypad 215 Std 03 00 00 00 00 00 00 00 Red LED 1 and 2 on other LED off To Keypad 215 Std 80 00 00 00 00 00 00 00 Only green LED 4 on e PKP 2400 Identifier 200 current CAN ID Default 215h Byte O R8 R7 R6 R5 R4 R3 R2 R1 Red LED Byte 1 G8 G7 G6 G5 G4 G3 G2 G1 Green LED Byte 2 7 00h Not used Examples Direction Identifier Format Message LED To Keypad 215 Std 00 00 00 00 00 00 00 00 Turn off all the LED To Keypad 215 Std 01 00 00 00 00 00 00 00 Only red LED 1 on To Keypad 215 Std 42 00 00 00 00 00 00 00 Red LED 2 and 7 on other LED off To Keypad 215 Std 80 00 00 00 00 00 00 00 Only red LED 8 on To Keypad 215 Std 00 10 00 00 00 00 00 00 Only green LED 5 on To Keypad 215 Std 00 11 00 00 00 00 00 00 Green LED 1 and 5 on other LED off e PKP 2600 Identifier 200 current C
16. 3 01h Sub index Byte 4 11h Command Set baud rate 00h 125k default Byte 5 XXh 01h 250k 02h 500k Byte 6 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 11 01 00 00 Baud rate 250k Keypad Reply 595 Std 60 00 65 01 00 00 00 00 AIr I PKPCANopenUM_REV1 4 12 37 f Set periodic transmission 12h Note the keypad must be activated see NMT messages g Set Boot up service 13h h Set CANopen node ID 70h 13 37 Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte 3 01h Sub index Byte 4 12h Command Set periodic messages Byte 5 XXh OOh off 01h on Byte 6 YYh Period in milliseconds 10 Byte 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 12 01 32 00 Period 500 ms Keypad Reply 195 Std 60 00 65 01 00 00 00 00 Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte 3 01h Sub index Byte 4 13h Command Set Boot up service Byte 5 XXh 00h Not active Oth Active Byte 6 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 13 00 00 00 Set Boot up service not active Keypad Reply 595 Std 60 00 65 01 00
17. 60 00 FF OF 00 00 All keys pressed PKPCANopenUM_REV1 4 MU AK www blinkmarine com 15 Object 6001h Digital output module This module sets and reads the LED Outputs States A one indicates the LED is on a zero indicates the LED is off a Set LED ON e PKP 2200 Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 01h CAN Object 6001h Byte 2 60h Byte 3 00h Sub index Byte 4 XYh X G4G3G2G1 Green LED Y R4R3R2R1 Red LED Byte 5 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 2301600000000000 Set all LED off Keypad Reply 595 Std 60 01 60 00 00 00 00 00 To Keypad 615 Std 2301600080000000 Set green LED 4 on Keypad Reply 595 Std 60 01 60 00 00 00 00 00 To Keypad 615 Std 23016000 04 000000 Set red LED 3 on Keypad Reply 595 Std 60 01 60 00 00 00 00 00 e PKP 2400 Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 01h CAN Object 6001h Byte 2 60h Byte 3 00h Sub index Byte 4 XXh R8 R7 R6 R5 R4R3R2R1 Red LED Byte 5 YYh G8 G7 G6 G5 G4 G3 G2 G1 Green LED Byte 6 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 23 01 60 00 00 00 0000 Set all LED off Keypad Reply 595 Std 60 01 60 00 00 00 00 00 To Keypad 615 Std 23 01 60 00 00 010000 Set green LED 1 o
18. 615 Std 60 00 00 00 00 00 00 00 Keypad Reply 595 Std 00 44 4E 41 20 67 72 6F DNA Gro To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad Reply 595 Std 19 75 70 00 00 00 00 00 up Manufacturer Device Name DNA Group The first byte of the last data message replied is 19h 25 37 PKPCANopenUM_REV1 4 Aar AK www blinkmarine com 20 Object 1009h Manufacturer Hardware Revision Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 09h CAN Object 1009h Byte 2 10h Byte 3 7 00h Not used 1 additional byte Identifier 600h current CAN ID Default 615h Byte O 60h Read Device Register second byte Byte 1 7 00h Not used 2 additional byte Identifier 600h current CAN ID Default 615h Byte 0 70h Read Device Register third byte Byte 1 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 09 10 00 00 00 00 00 Keypad Reply 595 Std 41 09 10 00 0A 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad Reply 595 Std 00 52 65 76 20 31 2E 30 Rev1 0 To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad Reply 595 Std 19 00 440000000000 D Manufacturer Hardware Revision Rev 1 0D The first byte of the last data message replied is 19h MU ZZ www blinkmarine com PKPCANopenUM_REV1 4 26 37 21 Object 100Ah Manufacturer Firmware Revision
19. 8h Command Set backlight level Byte 5 XXh 0 3Fh gt 0 100 Byte 6 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 7B 00 00 00 Backlight 0 at startup Keypad Reply 595 Std 60 00 65 01 00 00 00 00 k Set DEMO mode 7Ah Identifier 615h 600h current CAN ID Byte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte 3 01h Sub index Byte 4 7Ah Command Set DEMO mode Byte 5 XXh 01h on 00h off Byte 6 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 230065017A010000 Set demo mode on Keypad Reply 595 Std 60 00 65 01 00 00 00 00 SU T www blinkmarine com PKPCANopenUM_REV1 4 14 37 I Set startup LED show 50h 15 37 Identifier 600h current CAN ID Default 615h Byte O 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte 3 01h Sub index Byte 4 50h Command Set startup LED show 01h Complete LED Show default Byte 5 XXh 02h Amber fast flash 03h Disable Byte 6 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 50 03 00 00 Startup LED show disable Keypad Reply 595 Std 60 00 65 01 00 00 00 00 PKPCANopenUM_REV1 4 MU AK www blinkmarine com 14 Object 6000h Digital input module Keys states Th
20. AN ID Default 215h Byte O R8 R7 R6 R5 R4 R3 R2 R1 Red LED Byte 1 G4 G3 G2 G1 R12 R11 R10 RO Green and Red LED Byte 2 G12 G11 G10 G9 G8 G7 G6 G5 Green LED Byte 3 7 00h Not used Examples Direction Identifier Format Data LED To Keypad 215 Std 00 00 00 00 00 00 00 00 Turn off all the LED To Keypad 215 Std 01 00 00 00 00 00 00 00 Only red 1 LED on To Keypad 215 Std 42 00 00 00 00 00 00 00 Red LED 2 7 on other LED off To Keypad 215 Std 00 00 01 00 00 00 00 00 Green LED 5 on other LED off To Keypad 215 Std 00 10 00 00 00 00 00 00 Only green LED 1 on To Keypad 215 Std 00 11 00 00 00 00 00 00 Green LED 1 and red LED 9 on other LED off PKPCANopenUM_REV1 4 MT AK www blinkmarine com 12 Set LED Blink message Note if the blink message is sent when the LED is already ON the LED blinks in alternate mode e PKP 2200 Identifier 300 current CAN ID Default 315h Byte 0 G4 G3 G2 G1 R4 R3 R2 R1 Green and Red LED Byte 1 7 00h Not used Examples Direction Identifier Format Message LED To Keypad 315 Std 00 00 00 00 00 00 00 00 No LED blinks To Keypad 315 Std 01 00 00 00 00 00 00 00 Only red LED 1 blinks To Keypad 315 Std 02 00 00 00 00 00 00 00 Only red LED 2 blinks To Keypad 315 Std 80 00 00 00 00 00 00 00 Only green LED 4 blinks e P
21. Fh 0 100 Byte 5 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 2F 01 62 01 20 00 00 00 Set key LED value 20h Keypad Reply 595 Std 60 01 62 01 00 00 00 00 To Keypad 615 Std 2F 01 62 02 31 00 00 00 Set backlight 31h Keypad Reply 595 Std 60 01 62 02 00 00 00 00 SU T www blinkmarine com PKPCANopenUM_REV1 4 34 37 31 Object 6300h Serial number string Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 00h CAN Object 6300h Byte 2 63h Byte 3 7 00h Not used 1 additional byte Identifier 600h current CAN ID Default 615h Byte 0 60h Read Device Register second byte Byte 1 7 00h Not used 2 additional byte Identifier 600h current CAN ID Default 615h Byte O 70h Read Device Register third byte Byte 1 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 41 00 63 00 00 00 00 00 Keypad Reply 595 Std 41 00 63 00 06 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad Reply 595 Std 00 30 30 30 30 303000 000000 To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad Reply 595 Std 1D 00 00 00 00 00 00 00 Serial number ascii 000000 32 Object 6301h Bootloader presence Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device
22. KP 2400 Identifier 300 current CAN ID Default 315h Byte O R8 R7 R6 R5 R4 R3 R2 R1 Red LED Byte 1 G8 G7 G6 G5 G4 G3 G2 G1 Green LED Byte 2 7 00h Not used Examples Direction Identifier Format Message LED To Keypad 315 Std 00 00 00 00 00 00 00 00 No LED blinks To Keypad 315 Std 01 00 00 00 00 00 00 00 Only red LED 1blinks To Keypad 315 Std 42 00 00 00 00 00 00 00 Only red LED 2 and 7 blink To Keypad 315 Std 80 00 00 00 00 00 00 00 Only red LED 8 blinks To Keypad 315 Std 00 10 00 00 00 00 00 00 Only green LED 5 blinks To Keypad 315 Std 00 11 00 00 00 00 00 00 Only green LED 1 and 5 blink e PKP 2600 Identifier 300 current CAN ID Default 315h Byte O R8 R7 R6 R5 R4 R3 R2 R1 Red LED Byte 1 G4 G3 G2 G1 R12 R11 R10 RO Green and Red LED Byte 2 G12 G11 G10 G9 G8 G7 G6 G5 Green LED Byte 3 7 00h Not used Examples Direction Identifier Format Data LED To Keypad 315 Std 00 00 00 00 00 00 00 00 No LED blinks To Keypad 315 Std 01 00 00 00 00 00 00 00 Only red LED 1 blinks To Keypad 315 Std 42 00 00 00 00 00 00 00 Only red LED 2 and 7 blinks To Keypad 315 Std 00 00 01 00 00 00 00 00 Only green LED 5 blink To Keypad 315 Std 00 10 00 00 00 00 00 00 Only green LED 1 blink To Keypad 315 Std 00 11 00 00 00 00 00 00 Only green LED 1 and red LED 9 blink AU I www blinkmarine com PKPCANopenUM_REV1 4 10 37 SDO Messages A SDO Service Data Object is providing direct access to object entries of a CANopen de
23. PowerKey Pro 2200 PowerKey Pro 2400 PowerKey Pro 2600 Summary 1 How to connect Deuitsch A piN ccseccccccecscenvccaceaseccecnsnntsecsedexedvennecdeceavencesvenesdeveeauenddeeseddesnusaceedceneedevantecaceseneteantasass 4 2 A a OO NN 4 3 REUTER 5 NMT MESSAGES orrien seese aiaa a tods 5 4 Start CANopen node keypad activation message 5 5 A A 5 6 Reset CANOPEN NOGE iii aia 6 7 ele Beete Le A c 6 8 BOOtUP SERVICE css csdccsanccecccescadcctaneteressocsdentacastecsancedeetanatesetancsdcebanesvestancedcedaineseeasancsdicebacasvecaccedcebsinsteawencsacenseeteweses 6 9 Heartbeat IMESSA BES RRA 7 PDOMESSI pes roras sa nE ee ee ee eeh 8 TOs Keysstatus messagers aaia eegene eet eege eege 8 TEL EE 8 E le EE 8 AA E E E ES 8 TT Set LED ON MESSAGE CAN AA 9 A EE 9 El EE 9 A EE 9 12 SetLED BlinNk MOSSABE tere de deeg cen deeg Ee dee eege e Deeg 10 PKP 2200 NN 10 e PRP 24D00 ET 10 E O a a Eae a 10 SDO Mess EE 11 13 Object 6500h Command Module 2 cccssssecccecsesessscecececseseeeesececeeseeseeseeeceeseeeseseeecsesesesseseesceseeseeaeseeseseeeeees 11 ah SET SINGIEALE Distate Olas od 11 bj SetLED brightness level OZ Wisc ccccess cessed ccsosnducoesdecncssevecseveaacsbensensnesstdesh sntecesenctecen eeieeodancsideonecdesodtvedennshvevesetes 11 c Set backlight brightness level 03h cccccccssccecssecccssssececsseseceesaeeecesssececeseseceesaececsesececsesseceesaeeecsesseeeeseseeees 12 d Set device active
24. Register Byte 1 01h CAN Object 6301h Byte 2 63h Byte 3 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 01 63 00 00 00 00 00 Keypad Reply 595 Std 4F 01 63 00 00 00 00 00 Bootloader not present To Keypad 615 Std 40 01 63 00 00 00 00 00 Keypad Reply 595 Std 4F 01 63 00 01 00 00 00 Bootloader present 35 37 PKPCANopenUM_REV1 4 MU AK www blinkmarine com 33 Object 6302h Device key and LED count Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 02h CAN Object 6302h Byte 2 63h 00h Number of objects 01h Total number of Keys Byte 3 XXh 02h Number of external Keys 03h Total number of LED 04h Number of external LED Byte 4 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 02 63 00 00 00 00 00 Keypad Reply 595 Std 4F 02 63 00 02 00 00 00 2 To Keypad 615 Std 40 02 63 01 00 00 00 00 Keypad Reply 595 Std 4F 02 63 01 OF 000000 OFh To Keypad 615 Std 40 02 63 02 00 00 00 00 Keypad Reply 595 Std 4F 02 63 02 03 00 00 00 3h To Keypad 615 Std 40 02 63 03 00 00 00 00 Keypad Reply 595 Std 4F 02 63 03 1E 00 00 00 1Eh To Keypad 615 Std 40 02 63 04 00 00 00 00 Keypad Reply 595 Std 4F 02 630406000000 06h PKP2600 key and LED count Number of objects 2 Total number of keys 15 Number of external keys 3 Numbe
25. ction Identifier Format Message Data To Keypad 615 Std 40 OB 10 00 00 00 00 00 Keypad Reply 595 Std 41 OB 10 00 07 00 00 00 To Keypad 615 Std 60 00 00 00 00 00 00 00 Keypad Reply 595 Std 00 50 4B 50 32 36 30 30 PKP2600 To Keypad 615 Std 70 00 00 00 00 00 00 00 Keypad Reply 595 Std 1D 00 00 00 00 00 00 00 Model ID PKP2600 PKPCANopenUM_REV1 4 MU AK www blinkmarine com 23 Object 1018h Identity Data a Number of mapped objects Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 18h CAN Object 1018h Byte 2 10h Byte 3 00h Sub index Byte 4 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 18 10 00 00 00 00 00 Keypad Reply 595 Std 4F 18 10 00 04 00 00 00 4 Number of mapped objects 4 b Vendor ID Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 18h CAN Object 1018h Byte 2 10h Byte 3 01h Sub index Byte 4 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 18 10 01 00 00 00 00 Keypad Reply 595 Std 43 18 10 01 5A 03 00 00 000035Ah Vendor Id 000035Ah c Product code Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 18h CAN Object 1018h Byte 2 10h Byte 3 02h Sub index Byt
26. d 4 on To Keypad 615 Std 40 01 60 00 00 00 00 00 Keypad Reply 595 Std 43 01 60 00 00 01 00 00 Red LED 9 on To Keypad 615 Std 40 01 60 00 00 00 00 00 Keypad Reply 595 Std 43 01 60 00 00 00 01 00 Green LED 5 on To Keypad 615 Std 40 01 60 00 00 00 00 00 Keypad Reply 595 Std 43 01 60 00 00 FO 00 00 Green LED 1 2 3 and 4 on SU ZZ www blinkmarine com PKPCANopenUM_REV1 4 20 37 16 Object 6002h 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 Normal If the Blink Bit is active with the ON Bit Active the LED will Blink Inverse to Normal Operation ALT blink a Set LED blink e PKP 2200 Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 02h CAN Object 6002h Byte 2 60h Byte 3 00h Sub index Byte 4 XYh X G4G3G2G1 Green LED Y R4R3R2R1 Red LED Byte 5 7 Not Used Examples Direction Identifier Format Message Data To Keypad 615 Std 23 02 60 00 00 00 00 00 No LED blinks Keypad Reply 595 Std 60 02 60 00 00 00 00 00 To Keypad 615 Std 23 02 60 00 08 00 00 00 Only red LED 4 blinks Keypad Reply 595 Std 60 02 60 00 00 00 00 00 To Keypad 615 Std 23 02 60 00 10 00 00 00 Only green LED 1 blinks Keypad Reply 595 Std 60 02 60 00 00 00 00 00
27. d LED 5 green LED 2 and 11 blink Keypad Reply 595 Std 60 02 60 00 00 00 00 00 To Keypad 615 Std 23 02 60 00 00 00 05 00 Only green LED 5 and 7 blink Keypad Reply 595 Std 60 02 60 00 00 00 00 00 b Read LED blink e PKP 2200 Identifier 600h current CAN ID Default 615h Byte O 40h Read Device Register Byte 1 02h CAN Object 6002h Byte 2 60h Byte 3 00h Sub index Byte 4 7 00h Not Used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 02 60 00 00 00 00 00 Keypad Reply 595 Std 43 02 60 00 FF 00 00 00 All LED blink To Keypad 615 Std 40 02 60 00 00 00 00 00 Keypad Reply 595 Std 43 02 60 00 81 00 00 00 Red LED 1and green LED 4 blink To Keypad 615 Std 40 02 60 00 00 00 00 00 Keypad Reply 595 Std 43 02 60 00 08 00 0000 Red LED 4 blink AI ZZ www blinkmarine com PKPCANopenUM_REV1 4 22 37 23 37 e PKP 2400 Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 02h CAN Object 6002h Byte 2 60h Byte 3 00h Sub index Byte 4 7 00h Not Used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 02 60 00 00 00 00 00 Keypad Reply 595 Std 43 02 60 00 FF 00 00 00 All red LED blink To Keypad 615 Std 40 02 60 00 00 00 00 00 Keypad Reply 595 Std 43 02 60 00 00 FF 00 00 All green LED blink To Keypad 615 Std 40 02 60 00 00 00 00 0
28. e 4 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 18 10 02 00 00 00 00 Keypad Reply 595 Std 43 18 10 02 00 00 00 00 00h Product code Oh SU ZZ www blinkmarine com PKPCANopenUM_REV1 4 28 37 d Revision Number e 29 37 Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 18h CAN Object 1018h Byte 2 10h Byte 3 03h Sub index Byte 4 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 18 10 03 00 00 00 00 00 10 15 10 Keypad Reply 595 Std 43 18 10 03 10 16 12 00 Byte O App Revision Byte 1 Com Lib Rev Byte 2 HW Lib Rev Revision Number App revision 10h Com lib revision 16h HW lib revision 12h Firmware checksum Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 18h CAN Object 1018h Byte 2 18h Byte 3 04h Sub index Byte 4 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 40 18 10 04 00 00 00 00 Keypad Reply 595 Std 43 18 10 04 DE E5 2C 00 00 2C ES DEh Firmware checksum 00 2C E5 DEh PKPCANopenUM_REV1 4 MU AK www blinkmarine com 24 Object 1400h Receive PDO Communication Parm 0 Describes the Receive Parameters for the LED States PDO Message
29. is module contains all the Switch State information A one indicates the switch is on a zero indicates the switch is off The keypad must be enabled see NMT messages e PKP 2200 Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 00h CAN Object 6000h Byte 2 60h Byte 3 00h Sub index Byte 4 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 00 60 00 00 00 00 00 43 00 60 00 00 00 00 00 No key pressed 43 00 60 00 01 00 00 00 Key 1 pressed 43 00 60 00 02 00 00 00 Key 2 pressed Keypad 595 std 43 00 60 00 04 00 00 00 Key 3 pressed reply 43 00 60 00 08 00 00 00 Key 4 pressed 43 00 60 00 03 00 00 00 Key 1 and 2 pressed 43 00 60 00 0A 00 00 00 Key 2 and 4 pressed 43 00 60 00 07 00 00 00 Key 1 2 and 3 pressed 43 00 60 00 OF 00 00 00 All keys pressed e PKP 2400 Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 00h CAN Object 6000h Byte 2 60h Byte 3 00h Sub index Byte 4 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 00 60 00 00 00 00 00 43 00 60 00 00 00 00 00 No key pressed 43 00 60 00 01 00 00 00 Key 1 pressed 43 00 60 00 02 00 00 00 Key 2 pressed 43 00 60 00 04 00 00 00 Key 3 pressed 43 00 60 00 08 00 00 00 Key 4 pressed
30. mple Direction Identifier Format Message To Keypad 0 Std 0115 5 Enter pre operational Identifier 00h Byte 0 80h Enter pre operational Keypad CAN ID Byte 1 XXh OOh enter all the keypads 15h enter the keypad with CAN ID 15h Byte 2 7 00h Not used Example Direction Identifier Format Message To Keypad 0 Std 80 15 5 37 PKPCANopenUM_REV1 4 Ml AK www blinkmarine com 6 Reset CANopen node Identifier 00h Byte 0 81h Reset CANopen node Keypad CAN ID Byte 1 XXh OOh reset all the keypads 15h reset the keypad with CAN ID 15h Byte 2 7 00h Not used Example Direction Identifier Format Message To Keypad 0 Std 81 15 7 Stop CANopen node Identifier 00h Byte 0 XXh 02h Stop CANopen node 00h Stop CANopen node old sw compatibility Byte 1 YYh Keypad CAN ID OOh stop all the keypads 15h stop the keypad with CAN ID 15h Byte 2 7 00h Not used Example Direction Identifier Format Message To Keypad 0 Std 02 15 8 Boot up service This service is used to signal that a NMT slave has entered the NMT state Pre operational Identifier 700h current CAN ID Default 715h Byte 0 00h One data byte is transmitted with value 0 Example Direction Identifier Format Message From Keypad 715h Std 00h The keypad with CAN ID 15h ha
31. n Keypad Reply 595 Std 60 01 60 00 00 00 00 00 AI I www blinkmarine com PKPCANopenUM_REV1 4 18 37 e PKP 2600 Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 01h CAN Object 6001h Byte 2 60h Byte 3 00h Sub index Byte 4 XYh X R8 R7 R6 R5 Red LED Y R4 R3 R2 R1 Red LED Byte 5 ZKh Z G4 G3 G2 G1 Green LED K R12 R11 R10 R9 Red LED Byte 6 ABh A G12 G11 G10 G9 Green LED B G8 G7 G6 G5 Green LED Byte 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 23 01 60 00 00 00 00 00 Set all LED off Keypad Reply 595 Std 60 01 60 00 00 00 00 00 To Keypad 615 Std 23 01 60 00 80 00 00 00 Set red LED 8 on other LED off Keypad Reply 595 Std 60 01 60 00 00 00 00 00 To Keypad 615 Std 23 01 60 00 40 40 40 00 Set LED R7 G3 G11 on other off Keypad Reply 595 Std 60 01 60 00 00 00 00 00 b Read LED ON The LEDs have the same mapping of Set LED ON message e PKP2200 Identifier 600h current CAN ID Default 615h Byte 0 40h Read Device Register Byte 1 01h CAN Object 6001h Byte 2 60h Byte 3 00h Sub index Byte 4 7 00h Not Used Examples Direction Identifier Format Message Data To Keypad 615 Std 40 01 60 00 00 00 00 00 Keypad Reply 595 Std 43 01 60 00 OF 00 00 00 All red LED on To Keypad 615 Std 40 01 6
32. nnnnnncnnnnennnnnnncnnannnnns 24 18 Object 1000h Device EE 24 19 Object 1008h Manufacturer Device Name 25 20 Object 1009h Manufacturer Hardware Bevislon 26 21 Object 100Ah Manufacturer Firmware Revision coccoooconccnccononoonnnnnnccnnonnonnnnncnnnononnnnnnncnnnnnonnnnnnncnnnnnenonnnnncnnn 27 22 Object 100Bh Model ID 27 23 Object 1018h Identity Data 28 24 Object 1400h Receive PDO Communication Parm 0 30 25 Object 1401h Receive PDO communication Bam 30 26 Object 1600h Output Descriptions sssessseersseseerrrtrnssesrrerrtsresrerretrsssrrrrrnnssesrternttrssttrrttntssesrteeenstesrternennene 31 27 Object 1800h Transmit PDO Communication Parm 0 32 A A NO 32 29 Object 6100h Device firmware Specifi Cerroni aea E E e A A aa E E REEE 33 30 Object 6201 Device brightness Control 34 a Read brightnessleVelsnsi in ae 34 b Setibrightness level ans 34 31 Object 6300h Serial number String cocisscec cacessnsscccedovsvecearceeccdsasseneceasaaavecekenvcsensssosvenssaaecaseasvandesdaacvooseantectisdoenees 35 32 Object 6301h Bootloader presence 35 33 Object 6302h Device key and LED count essssssssessssrrsssesrrirrsssesrrerirssssrrrersessesrrereisessrerreeressesrrereassesrrereesessee 36 MU AK 3 37 PKPCANopenUM_REV1 4 www blinkmarine com 1 How to connect Deutsch 4 pin PIN COLOUR FUNCTION 1 Blue CAN L 2 White CAN H 3 Black Negative battery 4 Red Vbatt 12 24V
33. on startup b 12 el Setdevicebaud FATEH A lincoln indeseadas ainda diia AER 12 D Set periodictransmissi n Tina aia Ada didnt 13 e SetBootsup s rvice 13h invicta cidos ita diari nar ada adi EERE danas sdbeavesdagdaveasecastacaness 13 h Set CANopen node ID ZOW WEE 13 i Set default startup LED light level 2ch retori enaint aui oinnia riirii inani 14 j Set default startup backlight level 2pb 14 k Set DEMO Mode TA EE 14 I Set startup LED show b 15 14 Object 6000h Digital input module keys states c cc cecessssscecececeesesssseseeececseeeeeseeeceesesesseseeececseeeaeeeeeeeseeeees 16 PKP 2200 ti 16 e IO EE 16 PRP 2600 EE 17 AI ZZ www blinkmarine com PKPCANopenUM_REV1 4 2 37 15 Object 6001h Digital output module cc cccccsssssscecececeesessecesececeesesessesececessesesseseeeceesesesseseeececsesesaeseesesseesees 18 a SO dE DON EE 18 PRE 2200 ses conc 18 e PRP 2400 enee NO 18 E d EE 19 b READ LED ON 19 MP2 2 Oia EE 19 PRP 2A OO EE 20 gv PK 2600 or 20 16 Object 6002h Digital output Module coocoooccnccccnonocooncnncnnnononononnnoncnnnononnnnncnnnnnnnonnnnnnncnnnnnnnnnnnnnnnnnnnennnnnnncnnannnons 21 a SetLED Dl e ee ee EE ee e 21 PRP tail 21 e PRP224 00 sd Anas 21 OPK P2600 EE 22 b Read lED Dlls cd 22 BEE it A 22 PIPED td 23 a d EE 23 17 Object 1017h Producer heartbeat time occcccconecooncnncnnnonenannnnnonnnnnonnnnnnnnnnnnnononnonnnncnnnnnnnn
34. r of LED 30 Number of external LED 6 MIDI www blinkmarine com PKPCANopenUM_REV1 4 36 37 Check for updates on www blinkmarine com download 37 37 PKPCANopenUM_REV1 4 www blinkmarine com
35. s entered the NMT state Pre operational AI I www blinkmarine com PKPCANopenUM_REV1 4 6 37 9 Heartbeat message The heartbeat mechanism for a CANopen device is established by cyclically transmitting the heartbeat message by the heartbeat producer One or more CANopen devices in the network are aware of this heartbeat message If the heartbeat cycle fails for the heartbeat producer the local application on the heartbeat consumer will be informed about that event If a CANopen device starts with a value for the heartbeat producer time unequal to O the boot up message is regarded as first heartbeat message 7 37 Identifier 700h current CAN ID Default 715h XXh State of heartbeat producer Byte 0 XXh 00h Boot up 05h Operational 7Fh Pre operational Example Direction Identifier Format Message Data From Keypad 715h Std 00h Boot up From Keypad 715h Std 7Fh Pre operational To keypad 00h Std 01h 15h Start keypad with CAN id 15h From Keypad 715h Std 05h Operational PKPCANopenUM_REV1 4 Aar AK www blinkmarine com 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 status message The keypad must be activated see NMT Start CANopen Node message
36. vice s object dictionary 13 Object 6500h Command Module a Set single LED state 01h Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte 3 01h Sub index Byte 4 01h Command Set single LED state Key Number 01 04h for PKP 2200 Byte 5 XXh Key Number 01 08h for PKP 2400 Key Number 01 OCh for PKP 2600 00h OFF 01h 03h RED 01h on 02h blink 03h alt blink 04h 06h GREEN 04h on 05h blink 06h alt blink Byte 6 07h 09h AMBER 07h on 08h blink 09h alt blink OAh RED GREEN blink OAh OCh AMBER RED blink OCh OEh GREEN AMBER blink OEh Byte 7 00h Not used Examples Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 01 08 01 00 Switch on LED 8 red Keypad Reply 595 Std 60 00 65 01 00 00 00 00 To Keypad 615 Std 23 00 65 01 01 09 04 00 Switch on LED 9 green Keypad Reply 595 Std 60 00 65 01 00 00 00 00 b Set LED brightness level 02h 11 37 Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte 3 01h Sub index Byte 4 02h Command Set LED brightness Byte 5 XXh Intensity OOh 3Fh gt 0 100 Byte 6 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 02 10 00 00 Brightness 25 Keypad Repl
37. y 595 Std 60 00 65 01 00 00 00 00 PKPCANopenUM_REV1 4 MU AK www blinkmarine com www blinkmarine com c Set backlight brightness level 03h Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte 3 01h Sub index Byte 4 03h Command Set backlight brightness Byte 5 XXh Intensity OOh 3Fh gt 0 100 Byte 6 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 03 2F 00 00 Backlight brightness 75 Keypad Reply 595 Std 60 00 65 01 00 00 00 00 d Set device active on startup 10h If keypad is active on startup don t need Start command from host Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte 3 01h Sub index Byte 4 10h Command Set device active on startup Byte 5 XXh 00h Not active Oth Active Byte 6 7 00h Not used Example Direction Identifier Format Message Data To Keypad 615 Std 23 00 65 01 10 01 00 00 Set device active on startup Keypad Reply 595 Std 60 00 65 01 00 00 00 00 e Set device baud rate 11h Identifier 600h current CAN ID Default 615h Byte 0 23h Set Device Register Byte 1 00h CAN Object 6500h Byte 2 65h Byte
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