B-Link PKP-2200-SI User manual

PKP-2200-SI
CANOPEN USER MANUAL
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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 Deutsch 4 pin:!...........................................................................................................!4!
2.!Reference!.............................................................................................................................................!4!
3.!Default settings!....................................................................................................................................!5!
NMT MESSAGES!..........................................................................................................................................!6!
4.!Start CANopen node (keypad activation message)!.............................................................................!6!
5.!Enter pre-operational!...........................................................................................................................!6!
6.!Reset CANopen node!..........................................................................................................................!6!
7.!Stop CANopen node!.............................................................................................................................!7!
8.!Boot-up service!....................................................................................................................................!7!
9.!Heartbeat message!.............................................................................................................................!7!
10.!Sync message!......................................................................................................................................!7!
PDO messages!.............................................................................................................................................!8!
11.!Keys state message!............................................................................................................................!8!
•!PKP-2200-SI!......................................................................................................................................!8!
12.!Set LED ON message!...........................................................................................................................!8!
•!PKP-2200-SI!......................................................................................................................................!8!
13.!Set LED Blink message!........................................................................................................................!9!
•!PKP-2200-SI!......................................................................................................................................!9!
14.!Indicator LEDs brightness level!...........................................................................................................!9!
15.!Backlight brightness level!....................................................................................................................!9!
SDO Messages:!..........................................................................................................................................!10!
16.!Object 2000h: Digital input module, keys states!..............................................................................!10!
•!PKP-2200-SI!....................................................................................................................................!10!
17.!Object 2001h: Digital output module.!...............................................................................................!11!
a)!Set LED ON!.........................................................................................................................................!11!
•!PKP-2200-SI!....................................................................................................................................!11!
b)!Read LED ON!......................................................................................................................................!11!
•!PKP-2200-SI!....................................................................................................................................!11!
18.!Object 2002h: Digital output module.!...............................................................................................!12!
a)!Set LED blink!.......................................................................................................................................!12!
•!PKP-2200-SI!....................................................................................................................................!12!
b)!Read LED blink!....................................................................................................................................!12!
•!PKP-2200-SI!....................................................................................................................................!12!
19.!Object 2003: Brightness Level!..........................................................................................................!13!
a)!Set Indicator LED brightness level!..................................................................................................!13!
b)!Backlight brightness level!................................................................................................................!13!
c)!Backlight color!.................................................................................................................................!14!
d)!Set default backlight color!...............................................................................................................!14!

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e)!Set startup Indicator LED brightness level!.....................................................................................!15!
f)!Set startup backlight brightness level!.............................................................................................!15!
20.!Object 2010h: Baud rate setting!......................................................................................................!15!
21.!Object 2011h: Set Boot-up service!...................................................................................................!16!
22.!Object 2012h: Set device active on startup!.....................................................................................!17!
23.!Object 2013h: Set CANopen node ID!...............................................................................................!17!
24.!Object 2014h: Set startup LED show!...............................................................................................!18!
25.!Object 2100h: Set DEMO mode!........................................................................................................!18!
26.!Object 1016h: Consumer heartbeat time!........................................................................................!19!
27.!Object 1017h: Producer heartbeat time!..........................................................................................!20!
Heartbeat message!....................................................................................................................................!20!
28.!Object 1000h: Device Type!...............................................................................................................!21!
29.!Object 1001h: Error Register!...........................................................................................................!21!
30.!Object 1008h: Manufacturer Device Name!.....................................................................................!21!
31.!Object 1009h: Manufacturer Hardware Revision!............................................................................!22!
32.!Object 100Ah: Manufacturer Firmware Revision!.............................................................................!22!
33.!Object 100Bh: Model ID!....................................................................................................................!23!
34.!Object 1018h: Identity Data!..............................................................................................................!23!
35.!Object 1400h: Receive PDO Communication Parm 0!.....................................................................!25!
36.!Object 1401h: Receive PDO communication Parm 1!......................................................................!26!
37.!Object 1402h: Receive PDO communication Parm 2!....................................................................!27!
38.!Object 1403h: Receive PDO communication Parm 3!....................................................................!27!
39.!Object 1600h: Receive PDO mapping Parameter 0!........................................................................!28!
40.!Object 1601h: Receive PDO mapping Parameter 1!........................................................................!29!
41.!Object 1602h: Receive PDO mapping Parameter 2!........................................................................!29!
42.!Object 1603h: Receive PDO mapping Parameter 3!........................................................................!30!
43.!Object 1800h:!....................................................................................................................................!31!
a)!Transmit PDO Communication Parm 0!..........................................................................................!31!
b)!Set periodic state transmission!......................................................................................................!32!
44.!Object 1A00h Transmit PDO Mapping Parameter!..........................................................................!32!
45.!Object 2200h: Serial number string!................................................................................................!33!
46.!Set CAN protocol!...............................................................................................................................!33!
APPENDIX: DEMO Mode instructions!.....................................................................................................!34!
47.!Revision history!..................................................................................................................................!34!
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1. How to connect Deutsch 4 pin:
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Each!end!of!the!CAN!bus!is!terminated!with!120Ω!resistors!in!compliance!with!the!standard!to!
minimize!signal!reflections!on!the!bus.!You!may!need!to!place!a!120Ω!resistor!between!CAN-L!and!
CAN-H.!
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2. Reference
Front!view.!
!7
777!"#!$$%%#&'7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
7
!'+7
COLOUR!
FUNCTION!
57
Blue!
CAN!L!
$7
White!
CAN!H!
87
Black!
Negative!battery!
97
Red!
Vbatt.!(12-24V)!

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7
3. Default settings
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&.::;/<!
=.>?@A:7B:?:.7,C7A.D.A7
E,F7:,7GH?/<.7
I?@J72?:.7
125!kbit/s!
Object!2010h!
)*+,-./7+,J.7'=7
15h!
Object!2013h!
=.D;G.7?G:;D.7,/7
B:?C:@-7
Not!active!
Object!2012h!
".K7IC;<H:/.BB7
3Fh!(Maximum!Brightness)!
Object!2003h!
I?GLA;<H:7IC;<H:/.BB7
00h!(OFF)!
Object!2003h!
I?GLA;<H:7),A,C7
Amber!
Object!2003h!
&:?C:@-7M3=7M;<H:7&H,F7
Complete!LED!Sequence!
Object!2014h!
!.C;,J;G7&:?:.7
NC?/BO;BB;,/7
Disable!
Object!1800h!
=31P7O,J.7
Disable!
Object!2100h!
E.?C:Q.?:7!C,[email protected]7
Disable!
Object!1017h!
E.?C:Q.?:7),/[email protected]7
Disable!
Object!1016h!
I,,:#@-7B.CD;G.7
Active!
Object!2011h!
2!=P7:C?/BO;BB;,/7
:K-.7
Asynchronous!
Object!1400h-1401h!
N!=P7:C?/BO;BB;,/7
:K-.7
Event-driven!
Object!1800h!
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!
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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.!
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4. Start CANopen node (keypad activation message)
'J./:;>;.C7
00h!
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IK:.7%7
01h!
Start!CANopen!node!
7
IK:.757
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XXh!
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Keypad!CAN!ID!
00h:!start!all!the!Keypads!
15h:!start!the!Keypad!with!CAN!ID!=!
15h.!
IK:.7$R7S7
00h!
Not!used!
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Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
N,7".K-?J7
0!
Std!
01!15!
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5. Enter pre-operational
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'J./:;>;.C7
00h!
!
IK:.7%7
80h!
Enter!pre-operational!
7
IK:.757
!
XXh!
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Keypad!CAN!ID!
00h:!enter!all!the!Keypads!
15h:!enter!the!Keypad!with!CAN!ID!=!
15h.!
IK:.7$R7S7
00h!
Not!used!
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Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
N,7".K-?J7
0!
Std!
80!15!
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6. Reset CANopen node
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'J./:;>;.C7
00h!
!
IK:.7%7
81h!
Reset!CANopen!node!
7
IK:.757
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XXh!
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Keypad!CAN!ID!
00h:!reset!all!the!Keypads!
15h:!reset!the!Keypad!with!CAN!ID!=!
15h.!
IK:.7$R7S7
00h!
Not!used!
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Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
N,7".K-?J7
0!
Std!
81!15!

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7. Stop CANopen node
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'J./:;>;.C7
00h!
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IK:.7%7
XXh!
02h:!Stop!CANopen!node!!!
00h:!Stop!CANopen!node!!
(old!PKP!sw!compatibility)!
IK:.757
YYh!
Keypad!CAN!ID!
00h:!stop!all!the!Keypads!
15h:!stop!the!Keypad!with!CAN!ID!=!15h.!
IK:.7$R7S7
00h!
Not!used!
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Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
N,7".K-?J7
0!
Std!
02!15!
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8. Boot-up service
This!service!is!used!to!signal!that!a!NMT!slave!has!entered!the!NMT!state!Pre-operational.!
'J./:;>;.C7
700h!+!current!CAN!ID!
Default!715h!
IK:.7%7
00h!
One!data!byte!is!transmitted!with!value!0.!
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Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
TC,O7".K-?J7
715h!
Std!
00h!
!The!keypad!with!CAN!ID!15h!has!entered!the!NMT!state!Pre-operational.!
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9. Heartbeat message
The!heartbeat!mechanism!for!a!CANopen!device!is!established!by!cyclically!transmitting!the!
heartbeat!message!by!the!heartbeat!producer.!
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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:!!
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Refer!to!Objects!1400-1401-1800h!for!more!details.!
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'J./:;>;.C7
80h!
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#7
-!
No!data!byte!is!transmitted!!

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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-2200-SI
!
'J./:;>;.C7
180h!+!current!CAN!ID!
Default!195h!
IK:.7%7
Keys!from!#1!to!#4!!
0!0!0!0!–!K4!K3!K2!K1!
Keys:!1=pressed;!0=released!
IK:.75R7877
00h!
Not!used!
IK:.797
XXh!
Tick!Timer!
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!Examples:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
".K7B:?:.7
TC,O7".K-?J7
195!
Std!
00!00!00!00!XX!!
No!Key!pressed!
TC,O7".K-?J7
195!
Std!
01!00!00!00!XX!!!
Key!#1!pressed!
TC,O7".K-?J7
195!
Std!
08!00!00!00!XX!!
Key!#4!pressed!
TC,O7".K-?J7
195!
Std!
05!00!00!00!XX!
Keys!#1!and!#3!
pressed!
TC,O7".K-?J7
195!
Std!
0F!00!00!00!XX!
All!Keys!pressed!
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12. Set LED ON message
The!keypad!must!be!activated,!see!NMT!Start!CANopen!Node!message.!
• PKP-2200-SI
!
'J./:;>;.C7
200h!+!current!CAN!ID!
Default!215h!
IK:.7%7
0!0!0!0!–!R4!R3!R2!R1!
Red!LED!!
IK:.7577
0!0!0!0!–!G4!G3!G2!G1!
Green!LED!!
IK:.7$7
0!0!0!0!–!B4!B3!B2!B1!
Blue!LED!
IK:.78RS77
00h!!
Not!used!
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!Examples:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
M3=7
N,7".K-?J7
215!
Std!
00!00!00!00!00!00!00!00!
Turn!OFF!all!the!LED!
N,7".K-?J7
215!
Std!
01!00!00!00!00!00!00!00!
Only!red!LED!#1!ON!
N,7".K-?J7
215!
Std!
00!0A!00!00!00!00!00!00!!
Green!LED!#2!and!#4!ON,!
other!LED!OFF!
N,7".K-?J7
215!
Std!
00!00!08!00!00!00!00!00!!
Only!blue!LED!#4!ON!
N,7".K-?J7
215!
Std!
00!00!01!00!00!00!00!00!!
Only!blue!LED!#1!ON!
N,7".K-?J7
215!
Std!
09!00!00!00!00!00!00!00!!
Red!LED!#1!and!#4!ON,!
other!LED!OFF!
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!
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-2200-SI
!
'J./:;>;.C7
300h!+!current!CAN!ID!
Default!315h!
IK:.7%7
0!0!0!0!–!R4!R3!R2!R1!
Red!LED!!
IK:.7577
0!0!0!0!–!G4!G3!G2!G1!
Green!LED!!
IK:.7$7
0!0!0!0!–!B4!B3!B2!B1!
Blue!LED!
IK:.78RS77
00h!!
Not!used!
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!Examples:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
M3=7
N,7".K-?J7
315!
Std!
00!00!00!00!00!00!00!00!
Turn!OFF!all!the!LED!
N,7".K-?J7
315!
Std!
01!00!00!00!00!00!00!00!
Only!red!LED!#1!blinks!
N,7".K-?J7
315!
Std!
05!00!00!00!00!00!00!00!!
Red!LED!#1!and!#3!blink!
N,7".K-?J7
315!
Std!
00!02!00!00!00!00!00!00!!
Only!green!LED!#2!blinks!
N,7".K-?J7
315!
Std!
00!00!08!00!00!00!00!00!!
Only!blue!LED!#4!blinks!
N,7".K-?J7
315!
Std!
0F!0F!0F!00!00!00!00!00!!
All!white!LED!blink!
N,7".K-?J7
215!
315!
Std!
Std!
03!00!00!00!00!00!00!00!!
03!00!03!00!00!00!00!00!!
LED!#1!and!2!blink!green!
and!red!in!alternate!
mode!
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14. Indicator LEDs brightness level
The!keypad!must!be!activated,!see!NMT!Start!CANopen!Node!message.!
!
'J./:;>;.C7
400h!+!current!CAN!ID!
Default!415h!
IK:.7%7
XXh!
Intensity!00h-3Fhà!min-100%!
IK:.75R7S777
00h!
Not!used!
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!Examples:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
M3=7
N,7".K-?J7
415!
Std!
08!00!00!00!00!00!00!00!
Brightness!=!12,5%!
N,7".K-?J7
415!
Std!
10!00!00!00!00!00!00!00!!
Brightness!=25%!
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15. Backlight brightness level
The!keypad!must!be!activated,!see!NMT!Start!CANopen!Node!message.!
!
'J./:;>;.C7
500h!+!current!CAN!ID!
Default!515h!
IK:.7%7
XXh!
Intensity!00h-3Fhà!0-100%!
IK:.75R7S777
00h!
Not!used!
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!Examples:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
M3=7
N,7".K-?J7
515!
Std!
00!00!00!00!00!00!00!00!
Turn!off!the!backlight!
N,7".K-?J7
515!
Std!
10!00!00!00!00!00!00!00!!
Backlight!brightness!=!
25%!

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!
!
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-2200-SI
!
'J./:;>;.C7
600h!+!current!CAN!ID!
Default!615h7
IK:.7%7
40h!
Read!Device!Register!
IK:.757
00h!
CAN!Object!2000h!
IK:.7$7
20h!
IK:.787
01h!
Sub!index!
IK:.79RS7
00h!
Not!used!
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Examples:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
!40!00!20!01!00!00!00!00!
!
".K-?J7
C.-AK7
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!03!00!00!00!
Key!1!and!2!pressed!
!4F!00!20!01!0C!00!00!00!
Key!3!and!4!pressed!
!4F!00!20!01!0F!00!00!00!
All!Keys!pressed!
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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-2200-SI
!
'J./:;>;.C7
600h!+!current!CAN!ID!
Default!615h7
IK:.7%7
2Fh!
Set!Device!Register!
IK:.757
01h!
CAN!Object!2001h!
IK:.7$7
20h!
IK:.787
XXh!
XX:!Sub!index!
01h:!Red!Led!
02h:!Green!Led!
03h:!Blue!Led!
IK:.797
YYh!
0!0!0!0!L4!L3!L2!L1!!!!LED!position!
IK:.7URS7
00h!
Not!used!
!
Examples:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
2F!01!20!01!04!00!00!00!
Set!red!LED!#3!ON!
".K-?J7C.-AK7
595!
Std!
60!01!20!00!00!00!00!00!
!
N,7".K-?J7
615!
Std!
2F!01!20!03!01!00!00!00!
Set!blue!LED!#1!ON!
".K-?J7C.-AK7
595!
Std!
60!01!20!00!00!00!00!00!
!
!
b) Read LED ON
The!LED!have!the!same!mapping!of!Set!LED!ON!message!
• PKP-2200-SI
!
'J./:;>;.C7
600h!+!current!CAN!ID!
Default!615h7
IK:.7%7
40h!
Read!Device!Register!
IK:.757
01h!
CAN!Object!2001h!
IK:.7$7
20h!
IK:.787
XXh!
XX:!Sub!index!
01h:!Red!Led!
02h:!Green!Led!
03h:!Blue!Led!
IK:.79RS7
00h!
Not!used!
!
Examples:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
40!01!20!01!00!00!00!00!
Read!red!LED!
".K-?J7C.-AK7
595!
Std!
4F!01!20!01!08!00!00!00!
Only!red!LED!#4!ON!
N,7".K-?J7
615!
Std!
40!01!20!02!00!00!00!00!
Read!green!LED!
".K-?J7C.-AK7
595!
Std!
4F!01!20!02!01!00!00!00!
Only!green!LED!#1!ON!
N,7".K-?J7
615!
Std!
40!01!20!03!00!00!00!00!
Read!blue!LED!
".K-?J7C.-AK7
595!
Std!
4F!01!20!03!02!00!00!00!
Only!blue!LED!#2!ON!

Via!Montefeltro,!6!–!20156!Milano!(MI)!–!Italy! -!12!-! !
Tel.!+39!(02)!3088583!–!Fax!+39!(02)!33406697! ! ! !
www.blinkmarine.com!–![e-mail]! ! ! !"!#$$%%#&'()*+,-./01(23456%7
!
18. 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.!
a) Set LED blink
• PKP-2200-SI
!
'J./:;>;.C7
600h!+!current!CAN!ID!
Default!615h7
IK:.7%7
2Fh!
Set!Device!Register!
IK:.757
02h!
CAN!Object!2002h!
IK:.7$7
20h!
IK:.787
XXh!
XX:!Sub!index!
01h:!Red!Led!
02h:!Green!Led!
03h:!Blue!Led!
IK:.797
YYh!
0!0!0!0!L4!L3!L2!L1!!!!LED!position!
IK:.7URS7
00h!
Not!used!
!
Examples:!
Direction!
'J./:7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
2F!02!20!01!01!00!00!00!
Set!red!LED!#1!in!blinking!
mode!
".K-?J7C.-AK7
595!
Std!
60!02!20!00!00!00!00!00!
!
N,7".K-?J7
615!
Std!
2F!02!20!02!08!00!00!00!
Set!green!LED!#4!in!
blinking!mode!
".K-?J7C.-AK7
595!
Std!
60!02!20!00!00!00!00!00!
!
N,7".K-?J7
615!
Std!
2F!02!20!03!0F!00!00!00!!
Set!blue!all!LED!in!blinking!
mode!
".K-?J7C.-AK7
595!
Std!
60!02!20!00!00!00!00!00!!
!
!
b) Read LED blink
• PKP-2200-SI
!
'J./:;>;.C7
600h!+!current!CAN!ID!
Default!615h7
IK:.7%7
2Fh!
Set!Device!Register!
IK:.757
02h!
CAN!Object!2002h!
IK:.7$7
20h!
IK:.787
XXh!
XX:!Sub!index!
01h:!Red!Led!
02h:!Green!Led!
03h:!Blue!Led!
IK:.79RS7
00h!
Not!used!
!
!
!
!

Via!Montefeltro,!6!–!20156!Milano!(MI)!–!Italy! -!13!-! !
Tel.!+39!(02)!3088583!–!Fax!+39!(02)!33406697! ! ! !
www.blinkmarine.com!–![e-mail]! ! ! !"!#$$%%#&'()*+,-./01(23456%7
!
!
!
!Examples:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
40!02!20!01!00!00!00!00!
Read!red!LED!blink!
".K-?J7C.-AK7
595!
Std!
4F!02!20!01!0F!00!00!00!
All!red!LED!blink!
N,7".K-?J7
615!
Std!
40!02!20!02!00!00!00!00!
Read!green!LED!blink!
".K-?J7C.-AK7
595!
Std!
4F!02!20!02!01!00!00!00!
Green!LED!#1!blinks!
N,7".K-?J7
615!
Std!
40!02!20!03!00!00!00!00!
Read!blue!LED!blink!
".K-?J7C.-AK7
595!
Std!
4F!02!20!03!00!00!00!00!
No!blue!LED!blinks!
!
19. Object 2003: Brightness Level
a) Set Indicator LED brightness level
!
'J./:;>;.C7
615h!(600h!+!current!CAN!ID)!
7
IK:.7%7
2Fh!
Set!Device!Register!
IK:.757
03h!
CAN!Object!2003h!
IK:.7$7
20h!
IK:.787
01h!
Sub!index!
IK:.797
YYh!
Intensity!00h-3Fhà!min-100%!
IK:.7URS7
00h!
Not!used!
!
Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
2F!03!20!01!10!00!00!00!
Brightness!=!25%!
".K-?J7C.-AK7
595!
Std!
60!03!20!01!00!00!00!00!
!
!
b) Backlight brightness level
!
'J./:;>;.C7
615h!(600h!+!current!CAN!ID)!
7
IK:.7%7
2Fh!
Set!Device!Register!
IK:.757
03h!
CAN!Object!2003h!
IK:.7$7
20h!
IK:.787
02h!
Sub!index!
IK:.797
XXh!
Intensity!00h-3Fhà!0-100%!
IK:.7URS7
00h!
Not!used!
!
!!!!!!!!!!!!!!Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
2F!03!20!02!10!00!00!00!
Brightness!=!25%!
".K-?J7C.-AK7
595!
Std!
60!03!20!02!00!00!00!00!
!
!
!
!
!
!
!
!
!
!

Via!Montefeltro,!6!–!20156!Milano!(MI)!–!Italy! -!14!-! !
Tel.!+39!(02)!3088583!–!Fax!+39!(02)!33406697! ! ! !
www.blinkmarine.com!–![e-mail]! ! ! !"!#$$%%#&'()*+,-./01(23456%7
!
!
!
c) Backlight color
!
'J./:;>;.C7
615h!(600h!+!current!CAN!ID)!
7
IK:.7%7
2Fh!
Set!Device!Register!
IK:.757
03h!
CAN!Object!2003h!
IK:.7$7
20h!
IK:.787
03h!
Sub!index!
IK:.797
XXh!
Color!
01h:!red!!
02h:!green!!
03h:!blue!!
04h:!yellow!!
05h:!cyan!!
06h:!violet!!
07h:!white/light!blue!!
08h:!amber/orange!!
09h:!yellow/green!!
IK:.7URS7
00h!
Not!used!
!
Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
2F!03!20!03!01!00!00!00!
Red!Backlight!color!!
".K-?J7C.-AK7
595!
Std!
60!03!20!03!00!00!00!00!
!
d) Set default backlight color
!
'J./:;>;.C7
615h!(600h!+!current!CAN!ID)!
7
IK:.7%7
2Fh!
Set!Device!Register!
IK:.757
03h!
CAN!Object!2003h!
IK:.7$7
20h!
IK:.787
04h!
Sub!index!
IK:.797
XXh!
Color!
01h:!red!!
02h:!green!!
03h:!blue!!
04h:!yellow!!
05h:!cyan!!
06h:!violet!!
07h:!white/light!blue!!
08h:!amber/orange!!
09h:!yellow/green!
IK:.7URS7
00h!
Not!used!
!
!
!!!!!!!!!!!!!!Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
2F!03!20!04!03!00!00!00!
Blue!backlight!color!!
".K-?J7C.-AK7
595!
Std!
60!03!20!04!00!00!00!00!
!
!

Via!Montefeltro,!6!–!20156!Milano!(MI)!–!Italy! -!15!-! !
Tel.!+39!(02)!3088583!–!Fax!+39!(02)!33406697! ! ! !
www.blinkmarine.com!–![e-mail]! ! ! !"!#$$%%#&'()*+,-./01(23456%7
e) Set startup Indicator LED brightness level
!
'J./:;>;.C7
615h!(600h!+!current!CAN!ID)!
7
IK:.7%7
2Fh!
Set!Device!Register!
IK:.757
03h!
CAN!Object!2003h!
IK:.7$7
20h!
IK:.787
05h!
Sub!index!
IK:.797
XXh!
Intensity!00h-3Fhà!min-100%!
IK:.7URS7
00h!
Not!used!
!
Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
2F!03!20!05!10!00!00!00!
Brightness!=!25%!
".K-?J7C.-AK7
595!
Std!
60!03!20!05!00!00!00!00!
!
!
f) Set startup backlight brightness level
!
'J./:;>;.C7
615h!(600h!+!current!CAN!ID)!
7
IK:.7%7
2Fh!
Set!Device!Register!
IK:.757
03h!
CAN!Object!2003h!
IK:.7$7
20h!
IK:.787
06h!
Sub!index!
IK:.797
XXh!
Intensity!00h-3Fhà!0-100%!
IK:.7URS7
00h!
Not!used!
!
!!!!!!!!!!!!!!Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
2F!03!20!06!10!00!00!00!
Brightness!=!25%!
".K-?J7C.-AK7
595!
Std!
60!03!20!06!00!00!00!00!
!
20. Object 2010h: Baud rate setting
!
'J./:;>;.C7
615h!(600h!+!current!CAN!ID)!
7
IK:.7%7
2Fh!
Set!Device!Register!
IK:.757
10h!
CAN!Object!2010h!
IK:.7$7
20h!
IK:.787
00h!
Sub!index!
7
IK:.797
00h!
1000k!
01h!
Reserved!(force!to!125k)!
02h!
500k!
03h!
250k!
04h!
125k!(Default)!
05h!
Reserved!(force!to!125k)!
06h!
50k!
07h!
20k!
IK:.7URS7
00h!
Not!used!
!
!!!!!!!!!!!!!!Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
2F!10!20!00!03!00!00!00!
Baud!rate!=!250k!!

Via!Montefeltro,!6!–!20156!Milano!(MI)!–!Italy! -!16!-! !
Tel.!+39!(02)!3088583!–!Fax!+39!(02)!33406697! ! ! !
www.blinkmarine.com!–![e-mail]! ! ! !"!#$$%%#&'()*+,-./01(23456%7
".K-?J7C.-AK7
595!
Std!
60!10!20!00!00!00!00!00!
!
!
!
21. 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.!
!
'J./:;>;.C7
600h!+!current!CAN!ID!
Default!615h7
IK:.7%7
2Fh!
Set!Device!Register!
IK:.757
11h!
CAN!Object!2011h!
IK:.7$7
20h!
IK:.787
00h!
Sub!index!
IK:.797
XXh!
00h:!Not!active!
01h:!Active!(default)!
IK:.7URS7
00h!
Not!used!
!
!!!!!!!!!!!!!!Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
2F!11!20!00!00!00!00!00!
Boot-up!service!not!active!
".K-?J7C.-AK7
595!
Std!
60!11!20!00!00!00!00!00!
!
!
! !

Via!Montefeltro,!6!–!20156!Milano!(MI)!–!Italy! -!17!-! !
Tel.!+39!(02)!3088583!–!Fax!+39!(02)!33406697! ! ! !
www.blinkmarine.com!–![e-mail]! ! ! !"!#$$%%#&'()*+,-./01(23456%7
22. Object 2012h: Set device active on startup
If!keypad!is!active!on!startup!don’t!need!the!Start!CANopen!command!from!host.!
!
'J./:;>;.C7
600h!+!current!CAN!ID!
Default!615h7
IK:.7%7
2Fh!
Set!Device!Register!
IK:.757
12h!
CAN!Object!2012h!
IK:.7$7
20h!
IK:.787
00h!
Sub!index!
IK:.797
XXh!
00h:!Not!active!(default)!
01h:!Active!
IK:.7URS7
00h!
Not!used!
!
!!!!!!!!!!!!!!Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
2F!12!20!00!01!00!00!00!
Device!active!on!startup!
".K-?J7C.-AK7
595!
Std!
60!12!20!00!00!00!00!00!
!
!
23. Object 2013h: Set CANopen node ID
!
'J./:;>;.C7
600h!+!current!CAN!ID!
Default!615h7
IK:.7%7
2Fh!
Set!Device!Register!
IK:.757
13h!
CAN!Object!2013h!
IK:.7$7
20h!
IK:.787
00h!
Sub!index!
IK:.797
XXh!
XX:!New!node!id!(00h-7Fh),!
default!15h!
IK:.7URS7
00h!
Not!used!
!
!!!!!!!!!!!!!!Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
2F!13!20!00!18!00!00!00!
New!CANopen!node!ID!18h!
".K-?J7C.-AK7
598!
Std!
60!13!20!00!00!00!00!00!
!
!
! !

Via!Montefeltro,!6!–!20156!Milano!(MI)!–!Italy! -!18!-! !
Tel.!+39!(02)!3088583!–!Fax!+39!(02)!33406697! ! ! !
www.blinkmarine.com!–![e-mail]! ! ! !"!#$$%%#&'()*+,-./01(23456%7
24. Object 2014h: Set startup LED show
!
'J./:;>;.C7
600h!+!current!CAN!ID!
Default!615h7
IK:.7%7
2Fh!
Set!Device!Register!
IK:.757
14h!
CAN!Object!2014h!
IK:.7$7
20h!
IK:.787
00h!
Sub!index!
IK:.797
XXh!
00h:!Disable!
01h:!Complete!LED!Show!(default)!
02h:!Fast!Flash!
IK:.7URS7
00h!
Not!used!
!
Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
2F!14!20!00!00!00!00!00!
Disable!startup!LED!show!!
".K-?J7C.-AK7
595!
Std!
60!14!20!00!00!00!00!00!
!
!
!
25. 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!enable!message!to!enter!
this!mode.!To!exit!the!Demo!mode,!send!the!Disable!Demo!mode!command!or!another!command!
message.!
!
'J./:;>;.C7
600h!+!current!CAN!ID!
Default!615h7
IK:.7%7
2Fh!
Set!Device!Register!
IK:.757
00h!
CAN!Object!2100!
IK:.7$7
21h!
IK:.787
00h!
Sub!index!
IK:.797
XXh!
00h:!Not!active!
01h:!Active!
IK:.7URS7
00h!
Not!used!
!
!!!!!!!!!!!!!!Example:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
2F!00!21!00!01!00!00!00!
Set!DEMO!mode!Active!
".K-?J7C.-AK7
595!
Std!
60!00!21!00!00!00!00!00!
!
!
!
!
!
!
!
!
!

Via!Montefeltro,!6!–!20156!Milano!(MI)!–!Italy! -!19!-! !
Tel.!+39!(02)!3088583!–!Fax!+39!(02)!33406697! ! ! !
www.blinkmarine.com!–![e-mail]! ! ! !"!#$$%%#&'()*+,-./01(23456%7
!
26. 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.!
NOTE!2:!if!the!keypad!does!not!receive!the!heartbeat!message!producer!anymore,!it!goes!to!pre-
operational!state!until!a!new!NMT!start!message!is!received,!even!if!the!producer!restarts!to!
transmit!the!heartbeat.!
NOTE!3:!if!the!consumer!heartbeat!time!is!set!with!a!value!lower!than!the!producer!one,!the!
keypad!will!not!be!able!to!change!its!state!from!pre-operational!to!operational.!
'J./:;>;.C7
600h!+!current!CAN!ID!
Default!615h7
IK:.7%7
40h!
Read!Device!Register!
23h!
Set!device!register!
IK:.757
16h!
CAN!Object!1016h!
IK:.7$7
10h!
IK:.787
ZZh!
00h:!Highest!sub-index!supported!(read-only)!
01h:!Sub-index!(read/write)!
IK:.7977
YYh!
YYh:!Heartbeat!time!in!milliseconds!LSByte!
IK:.7U77
XXh!
XXh:!Heartbeat!time!in!milliseconds!MSByte!
IK:.7V7
NNh!
Node!to!be!monitored!
01h-7Fh!(01h!default)!
IK:.7S7
00h!
Reserved!
!!!Heartbeat!time:!XXYYh!(from!0001h!to!FFFFh:!1ms!to!65535!ms)!
!!!When!the!period!is!set!to!0000h,!the!consumer!heartbeat!function!is!disabled.!
!
!!!!!!!!!!!!!!!Examples:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
40!16!10!00!00!00!00!
00!
Read!highest!sub-index!
supported!
".K-?J7
C.-AK7
595!
Std!
4F!16!10!00!01!00!00!
00!
01h!is!the!highest!sub-
index!supported!
N,7".K-?J7
615!
Std!
23!16!10!01!64!00!7E!
00!
Set!heartbeat!time!
consumer!=!100ms!
expected!from!the!node!
7Eh!
".K-?J7
C.-AK7
595!
Std!
60!16!10!01!00!00!00!
00!
!
N,7".K-?J7
615!
Std!
23!16!01!01!F4!01!01!
00!
Set!heartbeat!time!
consumer=!500ms!
expected!from!the!node!
01h!
".K-?J7
C.-AK7
595!
Std!
60!16!10!01!00!00!00!
00!
!
N,7".K-?J7
615!
Std!
40!16!10!01!00!00!00!
00!
Read!heartbeat!consumer!
time!expected!from!the!
node!01h!

Via!Montefeltro,!6!–!20156!Milano!(MI)!–!Italy! -!20!-! !
Tel.!+39!(02)!3088583!–!Fax!+39!(02)!33406697! ! ! !
www.blinkmarine.com!–![e-mail]! ! ! !"!#$$%%#&'()*+,-./01(23456%7
".K-?J7
C.-AK7
595!
Std!
43!16!10!01!F4!01!01!
00!
Heartbeat!consumer!time!
set!to!500ms!!
!
27. Object 1017h: Producer heartbeat time
!!!The!producer!heartbeat!time!shall!indicate!the!configured!cycle!time!of!the!heartbeat.!
!
'J./:;>;.C7
600h!+!current!CAN!ID!
Default!615h7
IK:.7%7
40h!
Read!Device!Register!
2Bh!
Set!device!register!
IK:.757
17h!
CAN!Object!1017h!
IK:.7$7
10h!
IK:.787
00h!!
Sub!index!
IK:.7977
YYh!
YYh:!Heartbeat!time!in!milliseconds!
LSByte!
IK:.7U77
XXh!
XXh:!Heartbeat!time!in!milliseconds!
MSByte!
IK:.7VR7S77
00h!
Not!used!
!!Heartbeat!time:!XXYYh!(from!000Ah!to!FEFFh:!10ms!to!65534!ms)!
!!When!the!period!is!set!to!0000h,!the!producer!heartbeat!function!is!disabled.!
!
!!!!!!!!!!!!!!!!!Examples:!
Direction!
'J./:;>;.C7
T,CO?:7
1.BB?<.7
=?:?7
N,7".K-?J7
615!
Std!
40!17!10!00!00!00!00!00!
Read!heartbeat!time!
".K-?J7
C.-AK7
595!
Std!
4B!17!10!00!64!00!00!00!
Heartbeat!time!=!
100ms!
N,7".K-?J7
615!
Std!
2B!17!10!00!00!00!00!00!
Switch!off!the!
heartbeat!
".K-?J7
C.-AK7
595!
Std!
60!17!10!00!00!00!00!00!
!
N,7".K-?J7
615!
Std!
2B!17!10!00!32!00!00!00!
Set!heartbeat!time!=!
50ms!
".K-?J7
C.-AK7
595!
Std!
60!17!10!00!00!00!00!00!
!
N,7".K-?J7
615!
Std!
2B!17!10!00!F4!01!00!00!
Set!heartbeat!time!=!
500ms!
".K-?J7
C.-AK7
595!
Std!
60!17!10!00!00!00!00!00!
!
!
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!0!the!boot-up!
message!is!regarded!as!first!heartbeat!message.!
!
'J./:;>;.C7
700h!+!current!CAN!ID!
Default!715h!