Blink Marine PowerTrack CANopen User manual

PowerTrack CANopen
Summary:
1. How to connect Deutsch 4 pin: ............................................................................................................ 3
2. Reference.............................................................................................................................................. 3
3. Default settings..................................................................................................................................... 3
NMT MESSAGES............................................................................................................................................. 4
4. Start CANopen node (keypad activation message) .............................................................................. 4
5. Enter pre-operational ........................................................................................................................... 4
6. Reset CANopen node............................................................................................................................ 4
7. Stop CANopen node ............................................................................................................................. 5
8. Boot-up service..................................................................................................................................... 5
PDO messages ............................................................................................................................................... 6
9. Keys and Encoder state message.......................................................................................................... 6
10. Set LED on message .............................................................................................................................. 7
11. Set LED blink message .......................................................................................................................... 7
12. Set Backlight brightness level message ................................................................................................ 8
SDO Messages: .............................................................................................................................................. 8
13. Object 1000h: Device Type................................................................................................................... 8
14. Object 1001h: Error Register ................................................................................................................ 8
15. Object 1008h: Manufacturer Device Name.......................................................................................... 9
16. Object 1009h: Manufacturer Hardware Revision............................................................................... 10
17. Object 100Ah: Manufacturer Firmware Revision............................................................................... 10
18. Object 1017h: Producer heartbeat time ............................................................................................ 11
Heartbeat message...................................................................................................................................... 11
19. Object 1018h: Identity Data ............................................................................................................... 12
20. Object 1400h: Receive PDO Communication Parm 0......................................................................... 12
21. Object 1401h: Receive PDO communication Parm 1 ......................................................................... 13
22. Object 1402h: Receive PDO communication Parm 2 ......................................................................... 13
23. Object 1600h: Receive PDO mapping Parameter 0............................................................................ 14
24. Object 1601h: Receive PDO mapping Parameter 1............................................................................ 15
25. Object 1602h: Receive PDO mapping Parameter 2............................................................................ 16
26. Object 1800h: ..................................................................................................................................... 17
a) Transmit PDO Communication Parm 0 ............................................................................................ 17
b) Set periodic state transmission........................................................................................................ 17
26. Object 1A00h Transmit PDO Mapping Parameter.............................................................................. 18
27. Object 2000h: Key and Encoder state ................................................................................................ 18

www.blinkmarine.com PowerTrackCANopenUM_REV1.4 2/31
a) Sub 1 –Key State.............................................................................................................................. 18
b) Sub 2 - Encoder direction counter ................................................................................................... 19
c) Sub 3 - Encoder tick counter ............................................................................................................ 19
28. Object 2001h: LED state ..................................................................................................................... 20
a) Sub 1 –LED green state.................................................................................................................... 20
b) Sub 2 - LED red state ........................................................................................................................ 20
c) Sub 3 - LED green blink state............................................................................................................ 21
d) Sub 4 - LED red blink state ............................................................................................................... 21
29. Object 2002h: LED RING state ............................................................................................................ 22
a) Sub 1 –RING LED green state ........................................................................................................... 22
b) Sub 2 –RING LED red state ............................................................................................................... 22
c) Sub 3 RING LED blue state ............................................................................................................... 23
d) Sub 4 –RING LED green blink state................................................................................................... 23
e) Sub 5 –RING LED red blink state ...................................................................................................... 24
f) Sub 6 –RING LED blue blink state..................................................................................................... 24
30. Object 2003: Brightness Level ............................................................................................................ 25
a) Set Indicator LEDs brightness level .................................................................................................. 25
b) Set green LEDs backlight brightness level........................................................................................ 25
c) Set red LEDs backlight brightness level............................................................................................ 25
d) Set blue LEDs backlight brightness level .......................................................................................... 26
e) Set startup Indicator LEDs brightness level...................................................................................... 26
f) Set startup green LEDs backlight brightness level ........................................................................... 26
g) Set startup red LEDs backlight brightness level............................................................................... 27
a) Set startup blue LEDs backlight brightness level ............................................................................. 27
31. Object 2010h: Baud rate setting......................................................................................................... 28
32. Object 2011h :Set Boot-up service ..................................................................................................... 28
33. Object 2012h : Set device active on startup....................................................................................... 29
34. Object 2013h: Set CANopen node ID.................................................................................................. 29
32. Object 2014h : Set startup LED show ................................................................................................. 30
33. Object 2100h: Set DEMO mode.......................................................................................................... 30

3/31 PowerTrackCANopenUM_REV1.4 www.blinkmarine.com
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 120Ω resistor between CAN-L and
CAN-H.
2. Reference
3. Default settings
Setting
Default state or level
How to change
Baud Rate
125 kbit/s
Object 2010h
CANopen Node ID
15h
Object 2013h
CANopen Node State
Stop
NMT message start CANopen node
LED Indicator Brightness
09h (Maximum Brightness 0Fh)
Object 2003h
Backlight Brightness
00h (OFF)
Object 2003h
Periodic Message
Transmission
Disable
Object 1800h
Heartbeat Message
Disable
Object 1017h
Boot-up service
Active
Object 2011h
PIN
COLOUR
FUNCTION
1
Blue
CAN L
2
White
CAN H
3
Black
Negative battery
4
Red
Vbatt. (12-24V)

www.blinkmarine.com PowerTrackCANopenUM_REV1.4 4/31
NMT MESSAGES
The Network Management messages follow a master-slave structure. Through NMT services, CANopen
devices are initialized, started, reset or stopped. All CANopen devices are regarded as NMT slaves.
NMT messages have CAN-ID always equal to 00h.
4. Start CANopen node (keypad activation message)
Identifier
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
0
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
0
Std
80 15
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
0
Std
81 15

5/31 PowerTrackCANopenUM_REV1.4 www.blinkmarine.com
7. Stop CANopen node
Identifier
00h
Byte 0
XXh
02h: Stop CANopen node
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
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 has entered the NMT state Pre-operational.

www.blinkmarine.com PowerTrackCANopenUM_REV1.4 6/31
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
9. Keys and Encoder state message
This message is sent by the PowerTrack to indicate the state of the buttons and of the encoder.
The state of the buttons is transmitted in the Byte 0.
The state of the encoder is represented by 2 counter fields:
-The Direction counter (Byte1) transmit the number of ticks and the direction of the encoder
rotation since the last message sent. The MSB of the counter defines the direction.
-The Tick counter (Byte 2 and 3) is a two bytes counter incremented each clockwise tick and
decremented each counterclockwise tick.
Identifier
195h (180 + current CAN ID)
Default 195h
Byte 0
Keys from #1 to #7
0 K7 K6 K5 –K4 K3 K2 K1
Keys: 1=on; 0=off
Byte 1
Encoder Direction counter
X Y Y Y –Y Y Y Yh
X = 0 clockwise,
X = 1 counterclockwise.
YYYYYYY = number of Ticks.
1 Turn (360° rotation) = 20 Ticks
Byte 2,3
Encoder Tick counter
ZZ ZZh
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Data
Key and Encoder state
From Keypad
195
Std
00 00 00 00 00 00 00 00
No key pressed, No knob turn
From Keypad
195
Std
01 00 00 00 00 00 00 00
Key 1 pressed, No knob turn
From Keypad
195
Std
08 00 00 00 00 00 00 00
Key 4 pressed, No knob turn
From Keypad
195
Std
09 00 00 00 00 00 00 00
Keys 1 and 4 pressed, No knob turn
From Keypad
195
Std
00 81 FF FF 00 00 00 00
No key pressed, 1 tick CCW
From Keypad
195
Std
00 03 02 00 00 00 00 00
No key pressed, 3 ticks CW
From Keypad
195
Std
00 01 03 00 00 00 00 00
No key pressed, 1 tick CW
From Keypad
195
Std
00 81 02 00 00 00 00 00
No key pressed, 1 tick CCW
From Keypad
195
Std
09 02 04 00 00 00 00 00
Keys 1 and 4 pressed, 2 ticks CW
Keys and Encoder state message is mapped into:
-Object 2000 sub 1
-Object 2000 sub 2
-Object 2000 sub 3
Refer to the applicable object for more details.

7/31 PowerTrackCANopenUM_REV1.4 www.blinkmarine.com
10.Set LED on message
Identifier
215h (200 + current CAN ID)
Default 215h
Byte 0
LG8 LG7 LG6 LG5 - LG4 LG3 LG2 LG1
KEY LED green
Byte 1
LG16 LG15 LG14 LG13 –LG12 LG11 LG10 LG9
KEY LED green
Byte 2
LR4 LR3 LR2 LR1–0 0 LG18 LG17
KEY LED green and red
Byte 3
LR12 LR11 LR10 LR9 –LR8 LR7 LR6 LR5
KEY LED red
Byte 4
0 0 LR18 LR17 –LR16 LR15 LR14 LR13
KEY LED red
Byte 5
LR26 LR25 LR24 LR23 –LR22 LR21 LR20 LR19
RING LED red
Byte6
LG26 LG25 LG24 LG23 –LG22 LG21 LG20 LG19
RING LED green
Byte 7
LB26 LB25 LB24 LB23 –LB22 LB21 LB20 LB19
RING LED blue
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
Turn on LED LG1
To Keypad
215
Std
42 00 00 00 00 00 00 00
Turn on LED LG2 and LG7
To Keypad
215
Std
00 00 01 00 00 00 00 00
Turn on LED LG17
To Keypad
215
Std
00 10 00 00 00 00 00 00
Turn on LED LG13
To Keypad
215
Std
00 20 00 08 00 00 00 00
Turn on LED LG14 and LR8
Set LED state message is mapped into:
-Object 2001 sub 1 and sub 2
-Object 2002 sub 1, sub 2 and sub 3
Refer to the applicable objects for more details.
11. Set LED blink message
Note: if the blink message is sent when the LED is already on, the LED blinks in alternate mode.
Identifier
315h (300 + current CAN ID)
Default 315h
Byte 0
LG8 LG7 LG6 LG5 - LG4 LG3 LG2 LG1
KEY LED green
Byte 1
LG16 LG15 LG14 LG13 –LG12 LG11 LG10 LG9
KEY LED green
Byte 2
LR4 LR3 LR2 LR1–0 0 LG18 LG17
KEY LED green and red
Byte 3
LR12 LR11 LR10 LR9 –LR8 LR7 LR6 LR5
KEY LED red
Byte 4
0 0 LR18 LR17 –LR16 LR15 LR14 LR13
KEY LED red
Byte 5
LR26 LR25 LR24 LR23 –LR22 LR21 LR20 LR19
RING LED red
Byte6
LG26 LG25 LG24 LG23 –LG22 LG21 LG20 LG19
RING LED green
Byte 7
LB26 LB25 LB24 LB23 –LB22 LB21 LB20 LB19
RING LED blue
Examples:
Direction
Identifier
Format
Data
LED
To Keypad
315
Std
00 00 00 00 00 00 00 00
Turn off all the BLINK LED
To Keypad
315
Std
01 00 00 00 00 00 00 00
Turn on BLINK LED LG1
To Keypad
315
Std
42 00 00 00 00 00 00 00
Turn on BLINK LED LG2 and
LG7
To Keypad
315
Std
00 00 01 00 00 00 00 00
Turn on BLINK LED LG17
To Keypad
315
Std
00 10 00 00 00 00 00 00
Turn on BLINK LED LG13
To Keypad
315
Std
00 20 00 08 00 00 00 00
Turn on BLINK LED LG14 and
LR8
Set LED Blink message is mapped into:
-Object 2001 sub 3 and sub 4
-Object 2002 sub 4, sub 5 and sub 6
Refer to the applicable objects for more details.

www.blinkmarine.com PowerTrackCANopenUM_REV1.4 8/31
12. Set Backlight brightness level message
Identifier
415h (400 + current CAN ID)
Default 415h
Byte 0
xxh
Green Backlight value
0 –3Fh (0…100%)
Byte 1
xxh
Red Backlight value
0 –3Fh (0…100%)
Byte 2
xxh
Blue Backlight value
0 –3Fh (0…100%)
Byte 3, 7
00h
Not used
Examples:
Direction
Identifier
Format
Data
LED
To Keypad
415
Std
00 00 00 00 00
Turn off all the backlight LEDs
To Keypad
415
Std
10 00 00 00 00
Turn on backlight green color
at brightness 10h.
To Keypad
415
Std
10 10 00 00 00
Turn on backlight green and
red (amber) color at brightness
10h.
Set Backlight message is mapped into:
-Object 2001 sub 3
-Object 2001 sub 4
Refer to the applicable object for more details.
SDO Messages:
A SDO (Service Data Object) is providing direct access to object entries of a CANopen device's object
dictionary.
13.Object 1000h: Device Type
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Byte 1
00h
Read Device Register
Byte 2
10h
CAN Object 1000h
Byte 3
00h
Byte 4, 7
00h
Not used
Example:
Direction
Identifier
Format
Message
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.
14.Object 1001h: Error Register
This object is not yet implemented in the device.

9/31 PowerTrackCANopenUM_REV1.4 www.blinkmarine.com
15.Object 1008h: Manufacturer Device Name
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
08h
CAN Object 1008h
Byte 2
10h
Byte 3, 7
00h
Non used
Odd additional byte
Identifier
615h (600h + current CAN ID)
Byte 0
60h
Read Device Register Next Byte
Byte 1, 7
00h
Not used
Even additional byte
Identifier
615h (600h + current CAN ID)
Byte 0
70h
Read Device Register Next Byte
Byte 1, 7
00h
Not used
Examples:
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 19 00 00 00
To Keypad
615
Std
60 00 00 00 00 00 00 00
Keypad Reply
595
Std
00 50 6F 77 65 72 54 72
PowerTr
To Keypad
615
Std
70 00 00 00 00 00 00 00
Keypad Reply
595
Std
10 61 63 6B 20 2D 20 42
ack - B
To Keypad
615
Std
60 00 00 00 00 00 00 00
Keypad Reply
595
Std
00 6C 69 6E 6B 20 4D 61
link Ma
To Keypad
615
Std
70 00 00 00 00 00 00 00
Keypad Reply
595
Std
17 72 69 6E 65 00 00 00
rine
Manufacturer Device Name: PowerTrack –Blink Marine

www.blinkmarine.com PowerTrackCANopenUM_REV1.4 10/31
16.Object 1009h: Manufacturer Hardware Revision
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
09h
CAN Object 1009h
Byte 2
10h
Byte 3, 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
43 09 10 00 31 30 20 56
V 02
Manufacturer Hardware Revision: V 02
17.Object 100Ah: Manufacturer Firmware Revision
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
0Ah
CAN Object 100Ah
Byte 2
10h
Byte 3, 7
00h
Not used
Example:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 0A 10 00 00 00 00 00
Keypad Reply
595
Std
43 0A 10 00 34 2E 31 56
V1.4
Manufacturer Firmware Revision: V1.4

11/31 PowerTrackCANopenUM_REV1.4 www.blinkmarine.com
18. 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
2Bh
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 (from 000Ah to FFFFh: 10ms to 65535 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 00 00
Switch off the heartbeat
Keypad Reply
595
Std
60 17 10 00 00 00 00 00
To Keypad
615
Std
2B 17 10 00 32 00 00 00
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
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.
Identifier
700h + current CAN ID
Default 715h
Byte 0
XXh
XXh :State of heartbeat producer
00h: Boot-up
04h: Stopped
05h: Operational
7Fh: Pre-operational
Examples:
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

www.blinkmarine.com PowerTrackCANopenUM_REV1.4 12/31
19.Object 1018h: Identity Data
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
18h
CAN Object 1018h
Byte 2
10h
Byte 3
00h
Number of mapped objects
01h
Vendor Id
04h
Serial number
Byte 4,7
00h
Not used
Examples:
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 01 00 00 00
1
To Keypad
615
Std
40 18 10 01 00 00 00 00
Keypad Reply
595
Std
43 18 10 01 E2 03 00 00
000003E2h
Blink Marine Vendor Id: 000003E2h
20.Object 1400h: Receive PDO Communication Parm 0
Describes the Receive Parameters for the LED state PDO Message.
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
00h
CAN Object 1400h
Byte 2
14h
Byte 3
00h
Number of mapped objects
01h
COB Id
02h
Transmission Type
Byte 4,7
00h
Not used
Examples:
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 00 00 00
2
To Keypad
615
Std
40 00 14 01 00 00 00 00
Keypad Reply
595
Std
4B 00 14 01 15 02 00 00
0000 0215h
To Keypad
615
Std
40 00 14 02 00 00 00 00
Keypad Reply
595
Std
4B 00 14 02 FE 00 00 00
FEh
Receive PDO communication Parm 0:
Number of mapped objects: 2;
COB id: 0000 0200h + NODE ID;
Transmission Type: FEh.

13/31 PowerTrackCANopenUM_REV1.4 www.blinkmarine.com
21.Object 1401h: Receive PDO communication Parm 1
Describes the Receive Parameters for the LED blink PDO Message.
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
01h
CAN Object 1401h
Byte 2
14h
Byte 3
00h
Number of mapped objects
01h
COB Id
02h
Transmission Type
Byte 4,7
00h
Not used
Examples:
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
3
To Keypad
615
Std
40 01 14 01 00 00 00 00
Keypad Reply
595
Std
4B 01 14 01 15 02 00 00
0000 0315h
To Keypad
615
Std
40 01 14 02 00 00 00 00
Keypad Reply
595
Std
4B 01 14 02 FE 00 00 00
FEh
Receive PDO communication Parm 1:
Number of mapped objects: 2;
COB id: 0000 0300h + NODE ID;
Transmission Type: FEh.
22.Object 1402h: Receive PDO communication Parm 2
Describes the Receive Parameters for the Backlight state PDO Message.
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
02h
CAN Object 1402h
Byte 2
14h
Byte 3
00h
Number of mapped objects
01h
COB Id
02h
Transmission Type
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 0214 00 00 00 00 00
Keypad Reply
595
Std
4F 02 14 00 02 00 00 00
2
To Keypad
615
Std
40 02 14 01 00 00 00 00
Keypad Reply
595
Std
4B 02 14 01 15 04 00 00
0000 0415h
To Keypad
615
Std
40 02 14 03 00 00 00 00
Keypad Reply
595
Std
4B 01 14 02 FE 00 00 00
FEh
Receive PDO communication Parm 2:
Number of mapped objects: 2 ;
COB id: 0000 0400h + NODE ID;
Transmission Type: FEh.

www.blinkmarine.com PowerTrackCANopenUM_REV1.4 14/31
23.Object 1600h: Receive PDO mapping Parameter 0
Describes the mapping of LED state PDO Message.
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
00h
CAN Object 1600h
Byte 2
16h
Byte 3
00h
Number of mapped objects
01h
PDO Mapping Entry 1
02h
PDO Mapping Entry 2
03h
PDO Mapping Entry 3
04h
PDO Mapping Entry 4
05h
PDO Mapping Entry 5
Byte 4,7
00h
Not used
Examples:
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 05 00 00 00
5
To Keypad
615
Std
40 00 16 01 00 00 00 00
Keypad Reply
595
Std
43 00 16 01 18 01 01 20
2001 01 18
To Keypad
615
Std
40 00 16 02 00 00 00 00
Keypad Reply
595
Std
43 00 16 01 18 02 01 20
2001 02 18
To Keypad
615
Std
40 00 16 03 00 00 00 00
Keypad Reply
595
Std
43 00 16 03 08 01 02 20
2002 01 08
To Keypad
615
Std
40 00 16 04 00 00 00 00
Keypad Reply
595
Std
43 00 16 04 08 02 02 20
2002 02 08
To Keypad
615
Std
40 00 16 05 00 00 00 00
Keypad Reply
595
Std
43 00 16 05 08 03 02 20
2002 03 08
Receive PDO mapping Parameter 0:
Number of mapped objects: 5;
Set KEY LED green: Object 2001h, Sub index 01h, Length 18h;
Set KEY LED red: Object 2001h, Sub index 02h, Length 18h;
Set RING LED green: Object 2002h, Sub index 01h, Length 08h;
Set RING LED red: Object 2002h, Sub index 02h, Length 08h;
Set RING LED blue: Object 2002h, Sub index 03h, Length 08h.

15/31 PowerTrackCANopenUM_REV1.4 www.blinkmarine.com
24.Object 1601h: Receive PDO mapping Parameter 1
Describes the mapping of LED blink state PDO Message.
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
01h
CAN Object 1601h
Byte 2
16h
Byte 3
00h
Number of mapped objects
01h
PDO Mapping Entry 1
02h
PDO Mapping Entry 2
03h
PDO Mapping Entry 3
04h
PDO Mapping Entry 4
05h
PDO Mapping Entry 5
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 01 16 00 00 00 00 00
Keypad Reply
595
Std
4F 01 16 00 05 00 00 00
5
To Keypad
615
Std
40 01 16 01 00 00 00 00
Keypad Reply
595
Std
43 01 16 01 18 03 01 20
2001 03 18
To Keypad
615
Std
40 01 16 02 00 00 00 00
Keypad Reply
595
Std
43 01 16 02 18 04 01 20
2001 04 18
To Keypad
615
Std
40 01 16 03 00 00 00 00
Keypad Reply
595
Std
43 01 16 03 08 04 02 20
2002 04 08
To Keypad
615
Std
40 01 16 04 00 00 00 00
Keypad Reply
595
Std
43 01 16 03 08 05 02 20
2002 05 08
To Keypad
615
Std
40 01 16 05 00 00 00 00
Keypad Reply
595
Std
43 01 16 03 08 06 02 20
2002 06 08
Receive PDO mapping Parameter 1:
Number of mapped objects: 5;
Blink KEY LED green: Object 2001h, Sub index 03h, Length 18h;
Blink KEY LED red: Object 2001h, Sub index 04h, Length 18h;
Blink RING LED green: Object 2002h, Sub index 04h, Length 08h;
Blink RING LED red: Object 2002h, Sub index 05h, Length 08h;
Blink RING LED blue: Object 2002h, Sub index 06h, Length 08h.

www.blinkmarine.com PowerTrackCANopenUM_REV1.4 16/31
25.Object 1602h: Receive PDO mapping Parameter 2
Describes the mapping of backlight LED state PDO Message.
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
02h
CAN Object 1602h
Byte 2
16h
Byte 3
00h
Number of mapped objects
01h
PDO Mapping Entry 1
02h
PDO Mapping Entry 2
03h
PDO Mapping Entry 3
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 02 16 00 00 00 00 00
Keypad Reply
595
Std
4F 02 16 00 04 00 00 00
3
To Keypad
615
Std
40 02 16 01 00 00 00 00
Keypad Reply
595
Std
43 02 16 01 08 02 03 20
2003 02 08
To Keypad
615
Std
40 02 16 02 00 00 00 00
Keypad Reply
595
Std
43 02 16 01 08 03 03 20
2003 03 08
To Keypad
615
Std
40 02 16 03 00 00 00 00
Keypad Reply
595
Std
43 02 16 01 08 04 03 20
2003 04 08
Receive PDO mapping Parameter 2:
Number of mapped objects: 3;
Set backlights LED green: Object 2003h, Sub index 02h, Length 08h;
Set backlights LED red: Object 2003h, Sub index 03h, Length 08h;
Set backlights LED blue: Object 2003h, Sub index 04h, Length 08h.

17/31 PowerTrackCANopenUM_REV1.4 www.blinkmarine.com
26.Object 1800h:
a) Transmit PDO Communication Parm 0
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
00h
CAN Object 1800h
Byte 2
18h
Byte 3
00h
Number of mapped objects
01h
COB Id
02h
Transmission Type
05h
Event Timer
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 95 01 00 00
195h
To Keypad
615
Std
40 00 18 02 00 00 00 00
Keypad Reply
595
Std
4B 00 18 02 FE 00 00 00
FEh
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 = OFF
Transmit PDO communication Parm 0:
Number of mapped objects: 2;
Address base: 195h= 180h+ NODE ID;
Transmission Type: FEh;
Event timer: XXYY in milliseconds, 0 = OFF.
b) Set periodic state transmission
Identifier
600h + current CAN ID
Default 615h
Byte 0
2Bh
Set device register
Byte 1
00h
CAN Object 1800h
Byte 2
18h
Byte 3
05h
Sub index
Byte 4
YYh
YYh: Event timer period in milliseconds
Byte 5
XXh
XXh: Event timer period in milliseconds
Byte 5, 7
00h
Not used
Event timer period: XXYYh (from 000Ah to FFFFh: 10ms to 65535 milliseconds).
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
2B 00 18 05 00 00 00 00
Switch off the periodic
transmission
Keypad Reply
595
Std
60 00 18 05 00 00 00 00
To Keypad
615
Std
2B 00 18 05 32 00 00 00
Set period = 50ms
Keypad Reply
595
Std
60 00 18 05 00 00 00 00
To Keypad
615
Std
2B 00 18 05 F4 01 00 00
Set period = 500ms
Keypad Reply
595
Std
60 00 18 05 00 00 00 00

www.blinkmarine.com PowerTrackCANopenUM_REV1.4 18/31
26. Object 1A00h Transmit PDO Mapping Parameter
Describes the mapping of KEY and Encoder state PDO Message.
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
00h
CAN Object 1A00h
Byte 2
1Ah
Byte 3
00h
Number of mapped objects
01h
PDO Mapping Entry 1
02h
PDO Mapping Entry 2
03h
PDO Mapping Entry 3
Byte 4,7
00h
Not used
Examples:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 00 1A 00 00 00 00 00
Keypad Reply
595
Std
4F 00 1A 00 03 00 00 00
3
To Keypad
615
Std
40 00 1A 01 00 00 00 00
Keypad Reply
595
Std
43 00 1A 01 08 01 00 20
2000 01 08h
Transmit PDO Mapping Parameter:
Number of mapped objects: 3;
Switch state: Object 2000h, Sub index 01h, Length 08h;
Encoder direction counter: Object 2000h, Sub index 02h, Length 08h.
Encoder tick counter: Object 2000h, Sub index 03h, Length 10h.
27. Object 2000h: Key and Encoder state
a) Sub 1 –Key State
This module contains all the button state information. A one indicates the button is pressed; a zero
indicates the button is not pressed. The keypad must be enabled, see 4. Start CANopen node (keypad
activation message).
Identifier
615h (600h + current CAN ID)
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
Example:
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 00 20 00 00 00 00 00
Keypad
reply
595
std
4F 00 20 00 00 00 00 00
No key pressed
4F 00 20 00 01 00 00 00
Key K1 pressed
4F 00 20 00 02 00 00 00
Key K2 pressed
4F 00 20 00 04 00 00 00
Key K3 pressed
4F 00 20 00 08 00 00 00
Key K4 pressed
4F 00 20 00 10 00 00 00
Key K5 pressed
4F 00 20 00 20 00 00 00
Key K6 pressed
4F 00 20 00 40 00 00 00
Key K7 pressed
4F 00 20 00 41 00 00 00
Keys K7 and K1 pressed
4F 00 20 00 07 00 00 00
Keys K1, K2 and K3
pressed
4F 00 20 00 7F 00 00 00
All keys pressed

19/31 PowerTrackCANopenUM_REV1.4 www.blinkmarine.com
b) Sub 2 - Encoder direction counter
This module contains the Encoder direction counter. The keypad must be enabled, see keypad
activation message
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
00h
CAN Object 2000h
Byte 2
20h
Byte 3
02h
Sub index
Byte 4,7
00h
Not used
Keypad Reply:
Identifier
595h (580h + current CAN ID)
Byte 0
4Fh
Byte 1
00h
CAN Object 2000h
Byte 2
20h
Byte 3
02h
Sub index
Byte 4
XXh
Bit 7: encoder direction
0: Clockwise
1: Counterclockwise
Bit 0…6: Number of ticks
Byte 5,7
00h
Not used
The number of ticks are counted from the last Encoder State message sent.
The counter is reset after the message is sent out.
Examples:
c) Sub 3 - Encoder tick counter
The Tick counter is a two bytes counter incremented each clockwise tick and decremented each
counterclockwise tick.
Identifier
615h (600h + current CAN ID)
Byte 0
40h
Read Device Register
Byte 1
00h
CAN Object 2000h
Byte 2
20h
Byte 3
03h
Sub index
Byte 4,7
00h
Not used
Keypad Reply:
Identifier
595h (580h + current CAN ID)
Byte 0
4Bh
Byte 1
00h
CAN Object 2000h
Byte 2
20h
Byte 3
03h
Sub index
Byte 4,5
XXXXh
Tick counter
Byte 6,7
00h
Not used
Direction
Identifier
Format
Message
Data
To Keypad
615
Std
40 00 20 02 00 00 00 00
Keypad reply
595
Std
4F 00 20 02 00 00 00 00
No ticks completed
4F 00 20 02 01 00 00 00
One tick clockwise
4F 00 20 02 81 00 00 00
One tick
counterclockwise
4F 00 20 02 02 00 00 00
Two tick clockwise

www.blinkmarine.com PowerTrackCANopenUM_REV1.4 20/31
28. Object 2001h: LED state
a) Sub 1 –LED green state
Identifier
615h (600h + current CAN ID)
Byte 0
27h
Set Device Register
Byte 1
01h
CAN Object 2001h
Byte 2
20h
Byte 3
01h
Sub index
Byte 4
LG8 LG7 LG6 LG5 - LG4 LG3 LG2 LG1
LED green
Byte 5
LG16 LG15 LG14 LG13 –LG12 LG11 LG10 LG9
LED green
Byte 6
0 0 0 0 –0 0 LG18 LG17
LED green
Byte 7
00h
Not used
Examples:
Direction
Identifier
Format
Data
LED
To Keypad
615
Std
27 01 20 01 00 00 00
Turn off all the LED green
To Keypad
615
Std
27 01 20 01 01 00 00
Turn on LED 1 green (LG1)
To Keypad
615
Std
27 01 20 01 05 00 00
Turn on LED 1 and 3 green
(LG1 and LG3)
To Keypad
615
Std
27 01 20 01 00 02 00
Turn on LED 10 green (LG10)
b) Sub 2 - LED red state
Identifier
615h (600h + current CAN ID)
Byte 0
27h
Set Device Register
Byte 1
01h
CAN Object 2001h
Byte 2
20h
Byte 3
02h
Sub index
Byte 4
LR8 LR7 LR6 LR5 - LR4 LR3 LR2 LR1
LED red
Byte 5
LR16 LR15 LR14 LR13 –LR12 LR11 LR10 LR9
LED red
Byte 6
0 0 0 0 –0 0 LR18 LR17
LED red
Byte 7
00h
Not used
Example:
Direction
Identifier
Format
Data
LED
To Keypad
615
Std
27 01 20 02 00 00 00
Turn off all the LED red
To Keypad
615
Std
27 01 20 02 01 00 00
Turn on LED 1 red (LR1)
To Keypad
615
Std
27 01 20 02 05 00 00
Turn on LED 1 and 3 red (LR1
and LR3)
To Keypad
615
Std
27 01 20 02 00 02 00
Turn on LED 10 red (LR10)
.