Blink Marine PKP-1500-LI Manual de usuario

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Tel.$+39$(02)$3088583$–$Fax$+39$(02)$33406697$ $ $ $

www.blinkmarine.com$–$info@blinkgroup.com$ $ $ FOR REFERENCE ONLY!

PKP-1500-LI

CANOPEN USER MANUAL

THE PRESENT MANUAL IS FOR REFERENCE ONLY AND MIGHT BE NOT UP TO DATE TO THE LATEST

VERSION.PLEASE CONTACT US FOR GETTING THE MOST UPDATED FILE

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Table of contents

1.$How$to$connect$the$wires:$..........................................................................................$3$

2.$Reference$....................................................................................................................$4$

3.$Default$settings$...........................................................................................................$5$

NMT$MESSAGES$..................................................................................................................$5$

4.$Start$CANopen$node$(keypad$activation$message)$.....................................................$5$

5.$Enter$pre-operational$..................................................................................................$5$

6.$Reset$CANopen$node$...................................................................................................$6$

7.$Stop$CANopen$node$....................................................................................................$6$

8.$Boot-up$service$............................................................................................................$6$

9.$Heartbeat$message$......................................................................................................$6$

10.$Sync$message$..............................................................................................................$7$

PDO$messages$.....................................................................................................................$7$

11.$Keys$state$message$.....................................................................................................$7$

$ -PKP$1500LI$................................................................................................................$7$

12.$Set$LED$ON$message$....................................................................................................$8$

$ -PKP$1500LI$................................................................................................................$8$

13.$Set$LED$Blink$message$.................................................................................................$8$

$ -PKP$1500LI$................................................................................................................$8$

14.$LED$indicators$brightness$level$....................................................................................$9$

15.$Backlight$brightness$level$............................................................................................$9$

SDO$Messages:$....................................................................................................................$9$

16.$Object$2000h:$Digital$input$module,$keys$states$.........................................................$9$

$ -PKP$1500LI$................................................................................................................$9$

17.$Object$2001h:$Digital$output$module.$.......................................................................$10$

a)$Set$LED$ON$.................................................................................................................$10$

$ -PKP$1500LI$..............................................................................................................$10$

b)$Read$LED$ON$..............................................................................................................$11$

$ -PKP$1500LI$..............................................................................................................$11$

18.$Object$2002h:$Digital$output$module.$.......................................................................$11$

a)$Set$LED$blink$..............................................................................................................$11$

$ -PKP$1500LI$..............................................................................................................$11$

b)$Read$LED$blink$...........................................................................................................$12$

$ -PKP$1500LI$..............................................................................................................$12$

19.$Object$2003h:$Brightness$Level$.................................................................................$12$

a)$LED$indicators$brightness$level:$...............................................................................$12$

b)$Backlight$brightness$level$........................................................................................$13$

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c)$Backlight$color$.........................................................................................................$14$

d)$Default$backlight$color$............................................................................................$14$

e)$Default$LED$indicators$brightness$level$...................................................................$15$

f)$Default$backlight$brightness$level$...........................................................................$16$

20.$Object$2010h:$Baud$rate$setting$...............................................................................$16$

21.$Object$2011h:$Set$Boot-up$service$............................................................................$17$

22.$Object$2012h:$Set$device$active$on$startup$...............................................................$18$

23.$Object$2013h:$Set$CANopen$node$ID$........................................................................$18$

24.$Object$2014h:$Set$startup$LED$show$.........................................................................$19$

25.$Object$2100h:$Set$DEMO$mode$.................................................................................$20$

26.$Object$1016h:$Consumer$heartbeat$time$..................................................................$20$

27.$Object$1017h:$Producer$heartbeat$time$...................................................................$21$

Heartbeat$message$...........................................................................................................$21$

28.$Object$1000h:$Device$Type$........................................................................................$22$

29.$Object$1001h:$Error$Register$.....................................................................................$22$

30.$Object$1008h:$Manufacturer$Device$Name$...............................................................$23$

31.$Object$1009h:$Manufacturer$Hardware$Revision$......................................................$23$

32.$Object$100Ah:$Manufacturer$Firmware$Revision$......................................................$24$

33.$Object$100Bh:$Model$ID$............................................................................................$24$

34.$Object$1011h:$Restore$default$parameters$...............................................................$25$

35.$Object$1018h:$Identity$Data$......................................................................................$25$

36.$Object$1400h:$Receive$PDO$Communication$Parm$0$................................................$26$

37.$Object$1401h:$Receive$PDO$communication$Parm$1$................................................$27$

38.$Object$1402h:$Receive$PDO$communication$Parm$2$................................................$28$

39.$Object$1403h:$Receive$PDO$communication$Parm$3$................................................$28$

40.$Object$1600h:$Receive$PDO$mapping$Parameter$0$...................................................$29$

41.$Object$1601h:$Receive$PDO$mapping$Parameter$1$...................................................$29$

42.$Object$1602h:$Receive$PDO$mapping$Parameter$2$...................................................$30$

43.$Object$1603h:$Receive$PDO$mapping$Parameter$3$...................................................$31$

44.$Object$1800h:$............................................................................................................$31$

a)$Transmit$PDO$Communication$Parm$0$....................................................................$31$

b)$Set$periodic$state$transmission$...............................................................................$32$

45.$Object$1A00h$Transmit$PDO$Mapping$Parameter$.....................................................$33$

46.$Object$2200h:$$Serial$number$string$..........................................................................$34$

47.$Set$CAN$protocol$.......................................................................................................$34$

APPENDIX:$DEMO$Mode$instructions$35$

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1. How to connect Deutsch 4 pin:

Each end of the CAN bus is terminated with 120Ωresistors in compliance with the standard to

minimize signal reflections on the bus. You may need to place a 120Ωresistor between CAN-L

and CAN-H.

Warning: to avoid breakage do not tighten the backshell nuts with a torque exceeding 0.8 Nm!

2. Reference

Front view.

PKP1500LI

PIN!

COLOUR$

FUNCTION$

Blue$

CAN$L$

White$

CAN$H$

Black$

Negative$battery$

Red$

Vbatt.$(12-24V)$

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3. Default settings

Setting

Default state or level

How to change

Baud Rate

125 kbit/s

Object 2010h

CANopen Node ID

15h

Object 2013h

Device active on startup

Not active

Object 2012h

Default LED indicators

brightness

3Fh (Maximum Brightness)

Object 2003h

Default backlight brightness

00h (OFF)

Object 2003h

Default backlight color

Amber

Object 2003h

Startup LED Light Show

Complete LED Sequence

Object 2014h

Periodic key-state transmission

Disabled

Object 1800h

DEMO mode

Disabled

Object 2100h

Heartbeat producer

Disabled

Object 1017h

Heartbeat consumer

Disabled

Object 1016h

Boot-up service

Active

Object 2011h

RPDO 200h transmission type

Event-driven

Object 1400h

RPDO 300h transmission type

Event-driven

Object 1401h

TPDO 180h transmission type

Event-driven

Object 1800h

NMT MESSAGES

The Network Management messages follow a master-slave structure. Through NMT

services, CANopen devices are initialized, started, reset or stopped.

NMT messages have CAN-ID always equal to 00h.

4. Start CANopen node (keypad activation message)

Identifier

00h

Byte 0

01h

Start CANopen node

Byte 1

XXh

Keypad CAN ID

00h: start all the keypads

15h: start the keypad with CAN ID =

15h.

Byte 2, 7

00h

Not used

Example:

Direction

Identifier

Format

Message

To Keypad

Std

01 15

5. Enter pre-operational

Identifier

00h

Byte 0

80h

Enter pre-operational

Byte 1

XXh

Keypad CAN ID

00h: 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

Std

80 15

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6. Reset CANopen node

Identifier

00h

Byte 0

81h

Reset CANopen node

Byte 1

XXh

Keypad CAN ID

00h: 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

Std

81 15

7. Stop CANopen node

Identifier

00h

Byte 0

XXh

02h: Stop CANopen node

00h: Stop CANopen node

(old PKP sw compatibility)

Byte 1

YYh

Keypad CAN ID

00h: 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

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 has entered the NMT state Pre-operational.

9. Heartbeat message

The heartbeat mechanism for a CANopen device is established by cyclically transmitting the

heartbeat message by the heartbeat producer.

Refer to Object 1017h for more details.

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10. Sync message

This mechanism modifies the PDO operation in the following way: both the RPDOs and

TPDOs are stored at the receiving of the 1st SYNC message but, while the RPDOs are

always processed with the arrival of next one, the TPDOs are transmitted each n-th

time the SYNC message is received depending on the value chosen for transmission

type. The structure of the SYNC message is:

Refer to Objects 1400-1401-1800h for more details.

PDO messages

PDO (Process Data Object) are fast telegram messages that can simply manage most

important functions. There are no answers for this kind of messages. Each PDO

message has an equivalent Service Data Object message.

11. Keys state message

The keypad must be activated, see NMT Start CANopen Node message.

• PKP 1500LI

Identifier

180h + current CAN ID

Default 195h

Byte 0

Keys from #1 to #8

0 0 0 K5 – K4 K3 K2 K1

Key state: 1=pressed;

0=released

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

Only Key #1 pressed

From Keypad

195

Std

10 00 00 00 XX

Only Key #5 pressed

From Keypad

195

Std

11 00 00 00 XX

Keys #1 and #5

pressed

*= this hexadecimal value increases each 100ms regardless a key state variation has

occurred or not. This parameter can be used to evaluate the time interval elapsed

between two consecutive key states through the difference of the related two tick timer

values. Since this counter is coded on 1-byte length, the maximum time interval which can

be monitored is about 25 seconds.

Identifier

80h

No data byte is transmitted

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12. Set LED ON message

The keypad must be activated, see NMT Start CANopen Node message.

• PKP 1500LI

Identifier

200h + current CAN ID

Default 215h

Byte 0

0 0 0 R5 – R4 R3 R2 R1

Red LED

Byte 1

0 0 0 G5 – G4 G3 G2 G1

Green LED

Byte 2

0 0 0 B5 – B4 B3 B2 B1

Blue LED

Byte 3,7

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

05 00 00 00 00 00 00 00

Red LED #1 and #3

ON, other LED OFF

To Keypad

215

Std

00 10 00 00 00 00 00 00

Only green LED #5

To Keypad

215

Std

00 00 01 00 00 00 00 00

Only blue LED #1 ON

To Keypad

215

Std

00 11 00 00 00 00 00 00

Green LED #1 and

#5 ON, other LEDs

OFF

To Keypad

215

Std

1F 1F 1F 00 00 00 00 00

All LED white ON

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.

• PKP 1500LI

Identifier

300h + current CAN ID

Default 315h

Byte 0

0 0 0 R5 – R4 R3 R2 R1

Red LED

Byte 1

0 0 0 G5 – G4 G3 G2 G1

Green LED

Byte 2

0 0 0 B5 – B4 B3 B2 B1

Blue LED

Byte 3,7

00h

Not used

Examples:

Direction

Identifier

Format

Message

LED

To Keypad

315

Std

00 00 00 00 00 00 00 00

Turn OFF all the LED

To Keypad

315

Std

01 00 00 00 00 00 00 00

Only red LED #1

blinks

To Keypad

315

Std

05 00 00 00 00 00 00 00

Red LED #1 and #3

blink

To Keypad

315

Std

00 02 00 00 00 00 00 00

Only green LED #2

blinks

To Keypad

315

Std

00 00 10 00 00 00 00 00

Only blue LED #5

blinks

To Keypad

315

Std

1F 00 1F 00 00 00 00 00

All LED blink with

magenta color

To Keypad

215

315

Std

1F 00 00 00 00 00 00 00

1F 1F 00 00 00 00 00 00

All LED blink red and

green in alternate

mode

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14. LED indicators brightness level

The keypad must be activated, see NMT Start CANopen Node message.

Identifier

400h + current CAN ID

Default 415h

Byte 0

XXh

Intensity 00h-3Fhàmin-100%

Byte 1, 7

00h

Not used

Examples:

Direction

Identifier

Format

Message

LED

To Keypad

415

Std

1F 00 00 00 00 00 00 00

Brightness = 50%

To Keypad

415

Std

3F 00 00 00 00 00 00 00

Brightness = 100%

15. Backlight brightness level

The keypad must be activated, see NMT Start CANopen Node message.

Identifier

500h + current CAN ID

Default 515h

Byte 0

XXh

Intensity 00h-3Fhà0-100%

Byte 1, 7

00h

Not used

Examples:

Direction

Identifier

Format

Message

LED

To Keypad

515

Std

00 00 00 00 00 00

00 00

Turn off the backlight

To Keypad

515

Std

10 00 00 00 00 00

00 00

Backlight brightness =

25%

SDO Messages:

A SDO (Service Data Object) is providing direct access to object entries of a CANopen

device's object dictionary.

16. 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.

• PKP 1500LI

Identifier

600h + current CAN ID

Default 615h

Byte 0

40h

Read Device Register

Byte 1

00h

CAN Object 2000h

Byte 2

20h

Byte 3

01h

Sub index

Byte 4,7

00h

Not used

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Examples:

Direction

Identifier

Format

Message

Data

Keypad

615

Std

40 00 20 01 00 00 00 00

Read keys state

Keypad

595

Std

4F 00 20 01 00 00 00 00

No Key pressed

4F 00 20 01 01 00 00 00

Key 1 pressed

4F 00 20 01 02 00 00 00

Key 2 pressed

4F 00 20 01 04 00 00 00

Key 3 pressed

4F 00 20 01 08 00 00 00

Key 4 pressed

4F 00 20 01 10 00 00 00

Key 5 pressed

4F 00 20 01 03 00 00 00

Key 1 and 2 pressed

4F 00 20 01 11 00 00 00

Key 1 and 5 pressed

4F 00 20 01 1F 00 00 00

All Keys pressed

17. Object 2001h: Digital output module.

This module sets and reads the LED Outputs States. Each bit position represents the

corresponding LED. A one indicates the LED is ON a zero indicates the LED is OFF.

a) Set LED ON

• PKP 1500LI

Examples:

Direction

Identifier

Format

Message

Data

To Keypad

615

Std

2F 01 20 01 04 00

00 00

Set red LED #3 ON

Keypad reply

595

Std

60 01 20 01 00 00

00 00

Command accepted

To Keypad

615

Std

2F 01 20 03 10 00

00 00

Set blue LED #5 ON

Keypad reply

595

Std

60 01 20 03 00 00

00 00

Command accepted

Identifier

600h + current CAN ID

Default 615h

Byte 0

2Fh

Set Device Register

Byte 1

01h

CAN Object 2001h

Byte 2

20h

Byte 3

XXh

XX: Sub index

01h: Red LED

02h: Green LED

03h: Blue LED

Byte 4

YYh

0 0 0 L5 L4 L3 L2 L1 LED position

Byte 5,7

00h

Not used

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