Blink Marine PKP-2300-SI-FR User manual

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Tel.$+39$(02)$3088583$–$Fax$+39$(02)$33406697$ $ $ $
www.blinkmarine.com$–$[e-mail]$ $ $ PKP-2300-SI-FR_CANopenUM_REV1.39
PKP-2300-SI-FR
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
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1.$How to connect Deutsch 4 pin:$...........................................................................................................$4$
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.$Heartbeat message$.............................................................................................................................$7$
PDO messages$.............................................................................................................................................$7$
10.$Keys state message$............................................................................................................................$7$
•$PKP-2300-SI-FR$.................................................................................................................................$7$
11.$Set LED ON message$...........................................................................................................................$8$
•$PKP-2300-SI$......................................................................................................................................$8$
12.$Set LED Blink message$........................................................................................................................$9$
•$PKP-2300-SI-FR$.................................................................................................................................$9$
13.$Indicator LEDs brightness level$...........................................................................................................$9$
14.$Backlight brightness level$..................................................................................................................$10$
SDO Messages:$..........................................................................................................................................$10$
15.$Object 2000h: Digital input module, keys states$..............................................................................$10$
•$PKP-2300-SI-FR$...............................................................................................................................$10$
16.$Object 2001h: Digital output module.$...............................................................................................$11$
a)$Set LED ON$.........................................................................................................................................$11$
•$PKP-2300-SI-FR$...............................................................................................................................$11$
b)$Read LED ON$......................................................................................................................................$11$
•$PKP-2300-SI-FR$...............................................................................................................................$11$
17.$Object 2002h: Digital output module.$...............................................................................................$12$
a)$Set LED blink$.......................................................................................................................................$12$
•$PKP-2300-SI-FR$...............................................................................................................................$12$
b)$Read LED blink$....................................................................................................................................$12$
•$PKP-2300-SI-FR$...............................................................................................................................$12$

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18.$Object 2003: Brightness Level$..........................................................................................................$13$
a)$Set Indicator LED brightness level$..................................................................................................$13$
b)$Backlight brightness level$................................................................................................................$13$
c)$Backlight color$.................................................................................................................................$14$
d)$Set default backlight color$...............................................................................................................$14$
e)$Set startup Indicator LED brightness level$.....................................................................................$15$
f)$Set startup backlight brightness level$.............................................................................................$15$
19.$Object 2010h: Baud rate setting$......................................................................................................$15$
20.$Object 2011h: Set Boot-up service$...................................................................................................$16$
21.$Object 2012h: Set device active on startup$.....................................................................................$16$
22.$Object 2013h: Set CANopen node ID$...............................................................................................$16$
23.$Object 2014h: Set startup LED show$...............................................................................................$17$
24.$Object 2100h: Set DEMO mode$........................................................................................................$17$
25.$Object 1017h: Producer heartbeat time$..........................................................................................$18$
Heartbeat message$....................................................................................................................................$18$
26.$Object 1000h: Device Type$...............................................................................................................$19$
27.$Object 1001h: Error Register$...........................................................................................................$19$
28.$Object 1008h: Manufacturer Device Name$.....................................................................................$19$
29.$Object 1009h: Manufacturer Hardware Revision$............................................................................$20$
30.$Object 100Ah: Manufacturer Firmware Revision$.............................................................................$20$
31.$Object 100Bh: Model ID$....................................................................................................................$21$
32.$Object 1018h: Identity Data$..............................................................................................................$22$
33.$Object 1400h: Receive PDO Communication Parm 0$.....................................................................$22$
34.$Object 1401h: Receive PDO communication Parm 1$......................................................................$23$
35.$Object 1402h: Receive PDO communication Parm 2............................................................................... 23$
36.$Object 1403h: Receive PDO communication Parm 3............................................................................... 24$
37.$Object 1600h: Receive PDO mapping Parameter 0$........................................................................$25$
38.$Object 1601h: Receive PDO mapping Parameter 1$........................................................................$26$
39.$Object 1602h: Receive PDO mapping Parameter 2$........................................................................$26$
40.$Object 1603h: Receive PDO mapping Parameter 3$........................................................................$27$
41.$Object 1800h:$....................................................................................................................................$27$
a)$Transmit PDO Communication Parm 0$..........................................................................................$27$
b)$Set periodic state transmission$......................................................................................................$28$
42.$Object 1A00h Transmit PDO Mapping Parameter$..........................................................................$28$
43.$Object 2200h: Serial number string$................................................................................................$29$
44.$Set CAN protocol$...............................................................................................................................$29$
APPENDIX: DEMO Mode instructions$.....................................................................................................$30$
45.$Revision History$..................................................................................................................................$31$
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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$CAN-H.$
2. Reference
Front$view.$
PKP-2300-SI-FR9
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9
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9
9
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9
9
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9
9
9
PIN9
COLOUR$
FUNCTION$
19
Blue$
CAN$L$
29
White$
CAN$H$
39
Black$
Negative$battery$
49
Red$
Vbatt.$(12-24V)$

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3. Default settings
$
Setting$
Default9state9or9level9
How9to9change9
Baud9Rate9
125$kbit/s$
Object$2010h$
CANopen9Node9ID9
15h$
Object$2013h$
Device9active9on9
startup9
Not$active$
Object$2012h$
Key9Brightness9
3Fh$(Maximum$Brightness)$
Object$2003h$
Backlight9Brightness9
00h$(OFF)$
Object$2003h$
Backlight9Color9
Amber$
Object$2003h$
Startup9LED9Light9Show9
Complete$LED$Sequence$
Object$2014h$
Periodic9State9
Transmission9
Disable$
Object$1800h$
DEMO9mode9
Disable$
Object$2100h$
Heartbeat9Message9
Disable$
Object$1017h$
Boot-up9service9
Active$
Object$2011h$
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)
$
Identifier9
00h$
$
Byte909
01h$
Start$CANopen$node$
9
Byte919
$
XXh$
$
Keypad$CAN$ID$
00h:$start$all$the$keypads$
15h:$start$the$keypad$with$CAN$ID$=$
15h.$
Byte92,979
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
To9Keypad9
0$
Std$
01$15$
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5. Enter pre-operational
$
Identifier9
00h$
$
Byte909
80h$
Enter$pre-operational$
9
Byte919
$
XXh$
$
Keypad$CAN$ID$
00h:$enter$all$the$keypads$
15h:$enter$the$keypad$with$CAN$ID$=$
15h.$
Byte92,979
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
To9Keypad9
0$
Std$
80$15$
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6. Reset CANopen node
$
Identifier9
00h$
$
Byte909
81h$
Reset$CANopen$node$
9
Byte919
$
XXh$
$
Keypad$CAN$ID$
00h:$reset$all$the$keypads$
15h:$reset$the$keypad$with$CAN$ID$=$
15h.$
Byte92,979
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
To9Keypad9
0$
Std$
81$15$
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7. Stop CANopen node
$
Identifier9
00h$
$
Byte909
XXh$
02h:$Stop$CANopen$node$$$
00h:$Stop$CANopen$node$$
(old$PKP$sw$compatibility)$
Byte919
YYh$
Keypad$CAN$ID$
00h:$stop$all$the$keypads$
15h:$stop$the$keypad$with$CAN$ID$=$15h.$
Byte92,979
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
To9Keypad9
0$
Std$
02$15$
$
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8. Boot-up service
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This$service$is$used$to$signal$that$a$NMT$slave$has$entered$the$NMT$state$Pre-operational.$
Identifier9
700h$+$current$CAN$ID$
Default$715h$
Byte909
00h$
One$data$byte$is$transmitted$with$value$0.$
$
Example:$
Direction$
Identifier$
Format$
Message$
From9Keypad9
715h$
Std$
00h$
$The$keypad$with$CAN$ID$15h$has$entered$the$NMT$state$Pre-operational.$
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9. Heartbeat message
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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.$
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$message.$
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10. Keys state message
The$keypad$must$be$activated,$see$NMT$Start$CANopen$Node$message.$
• PKP-2300-SI-FR
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Identifier9
180$+$current$CAN$ID$
Default$195h$
Byte909
Keys$from$#1$to$#4$$
0$0$K6$K5$-$K4$K3$K2$K1$
Keys:$1=pressed;$0=released$
Byte91,9399
00h$
Not$used$
Byte949
XXh$
Tick$Timer$
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$Examples:$
Direction$
Identifier$
Format$
Message$
Key9state$
From9Keypad9
195$
Std$
00$00$00$00$XX$$
No$key$pressed$
From9Keypad9
195$
Std$
04$00$00$00$XX$$$
Key$#3$pressed$
From9Keypad9
195$
Std$
20$00$00$00$XX$$
Key$#6$pressed$
From9Keypad9
195$
Std$
11$00$00$00$XX$
Keys$#1$and$#5$pressed$
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11. Set LED ON message
The$keypad$must$be$activated,$see$NMT$Start$CANopen$Node$message.$
• PKP-2300-SI-FR
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Identifier9
200$+$current$CAN$ID$
Default$215h$
Byte909
0$0$R6$R5$-$R4$R3$R2$R1$
Red$LED$$
Byte9199
0$0$G6$G5$-$G4$G3$G2$G1$
Green$LED$$
Byte929
0$0$B6$B5$-$B4$B3$B2$B1$
Blue$LED$
Byte92,799
00h$$
Not$used$
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$Examples:$
Direction$
Identifier$
Format$
Message$
LED$
To9Keypad9
215$
Std$
00$00$00$00$00$00$00$00$
Turn$OFF$all$the$LED$
To9Keypad9
215$
Std$
01$00$00$00$00$00$00$00$
Only$red$LED$#1$ON$
To9Keypad9
215$
Std$
05$00$00$00$00$00$00$00$$
Red$LED$#1$and$#3$ON,$
other$LED$OFF$
To9Keypad9
215$
Std$
00$20$00$00$00$00$00$00$$
Only$green$LED$#6$ON$
To9Keypad9
215$
Std$
00$00$01$00$00$00$00$00$$
Only$blue$LED$#1$ON$
To9Keypad9
215$
Std$
00$11$00$00$00$00$00$00$$
Green$LED$#1$and$#5$
ON,$other$LED$OFF$
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12. Set LED Blink message
The$keypad$must$be$activated,$see$NMT$Start$CANopen$Node$message.$
Note:$if$the$blink$message$is$sent$when$the$LED$is$already$ON,$the$LED$blinks$in$alternative$mode.$$
• PKP-2300-SI-FR
Identifier9
300$+$current$CAN$ID$
Default$315h$
Byte909
0$0$R6$R5$-$R4$R3$R2$R1$
Red$LED$$
Byte9199
0$0$G6$G5$-$G4$G3$G2$G1$
Green$LED$$
Byte929
0$0$B6$B5$-$B4$B3$B2$B1$
Blue$LED$
Byte92,799
00h$$
Not$used$
$
$Examples:$
Direction$
Identifier$
Format$
Message$
LED$
To9Keypad9
315$
Std$
00$00$00$00$00$00$00$00$
Turn$OFF$all$the$LED$
To9Keypad9
315$
Std$
01$00$00$00$00$00$00$00$
Only$red$LED$#1$blinks$
To9Keypad9
315$
Std$
05$00$00$00$00$00$00$00$$
Red$LED$#1$and$#3$blink$
To9Keypad9
315$
Std$
00$20$00$00$00$00$00$00$$
Only$green$LED$#6$
blinks$
To9Keypad9
315$
Std$
00$00$01$00$00$00$00$00$$
Only$blue$LED$#1$blinks$
To9Keypad9
315$
Std$
00$11$00$00$00$00$00$00$$
Green$LED$#1$and$#5$
blink$
To9Keypad9
To9Keypad9
215$
315$
Std$
Std$
01$00$00$00$00$00$00$00$
01$00$01$00$00$00$00$00$$
Only$LED$#1$blinks$red$
and$blue$in$alternate$
mode$
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13. Indicator LEDs brightness level
The$keypad$must$be$activated,$see$NMT$Start$CANopen$Node$message.$
$
Identifier9
400$+$current$CAN$ID$
Default$415h$
Byte909
XXh$
Intensity$00h-3Fhà$min-100%$
Byte92,97999
00h$
Not$used$
$
$Examples:$
Direction$
Identifier$
Format$
Message$
LED$
To9Keypad9
415$
Std$
08$00$00$00$00$00$00$00$
Brightness$=$12,5%$
To9Keypad9
415$
Std$
10$00$00$00$00$00$00$00$$
Brightness$=25%$
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14. Backlight brightness level
The$keypad$must$be$activated,$see$NMT$Start$CANopen$Node$message.$
$
Identifier9
500$+$current$CAN$ID$
Default$515h$
Byte909
XXh$
Intensity$00h-3Fhà$0-100%$
Byte92,97999
00h$
Not$used$
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$Examples:$
Direction$
Identifier$
Format$
Message$
LED$
To9Keypad9
515$
Std$
00$00$00$00$00$00$00$00$
Turn$off$the$backlight$
To9Keypad9
515$
Std$
10$00$00$00$00$00$00$00$$
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.$
15. 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.$$
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• PKP-2300-SI-FR
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Identifier9
600h$+$current$CAN$ID$
Default$615h9
Byte909
40h$
Read$Device$Register$
Byte919
00h$
CAN$Object$2000h$
Byte929
20h$
Byte939
01h$
Sub$index$
Byte94,79
00h$
Not$used$
$
Examples:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
$40$00$20$01$00$00$00$00$
$
Keypad9
reply9
595$
std$
$4F$00$20$01$00$00$00$00$
No$key$pressed$
$4F$00$20$01$01$00$00$00$
Key$1$pressed$$$
$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$20$00$00$00$
Key$6$pressed$
$4F$00$20$01$03$00$00$00$
Key$1$and$2$pressed$
$4F$00$20$01$21$00$00$00$
Key$1$and$6$pressed$
$4F$00$20$01$3F$00$00$00$
All$keys$pressed$
$

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16. 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.$
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a) Set LED ON
• PKP-2300-SI-FR
Identifier9
600h$+$current$CAN$ID$
Default$615h9
Byte909
2Fh$
Set$Device$Register$
Byte919
01h$
CAN$Object$2001h$
Byte929
20h$
Byte939
XXh$
XX:$Sub$index$
01h:$Red$Led$
02h:$Green$Led$
03h:$Blue$Led$
Byte949
YYh$
0$0$L6$L5$L4$L3$L2$L1$$$$LED$position$
Byte95,79
00h$
Not$used$
ì$
Examples:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
2F$01$20$01$04$00$00$00$
Set$red$LED$#3$ON$
Keypad9Reply9
595$
Std$
60$01$20$00$00$00$00$00$
$
To9Keypad9
615$
Std$
2F$01$20$03$20$00$00$00$
Set$blue$LED$#6$ON$
Keypad9Reply9
595$
Std$
60$01$20$00$00$00$00$00$
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b) Read LED ON
The$LED$have$the$same$mapping$of$Set$LED$ON$message$
• PKP-2300-SI-FR
Identifier9
600h$+$current$CAN$ID$
Default$615h9
Byte909
40h$
Read$Device$Register$
Byte919
01h$
CAN$Object$2001h$
Byte929
20h$
Byte939
XXh$
XX:$Sub$index$
01h:$Red$Led$
02h:$Green$Led$
03h:$Blue$Led$
Byte94,79
00h$
Not$used$
$
Examples:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
40$01$20$01$00$00$00$00$
Read$red$LED$
Keypad9Reply9
595$
Std$
4F$01$20$01$08$00$00$00$
Only$red$LED$#4$ON$
To9Keypad9
615$
Std$
40$01$20$02$00$00$00$00$
Read$green$LED$
Keypad9Reply9
595$
Std$
4F$01$20$02$01$00$00$00$
Only$green$LED$#1$ON$
To9Keypad9
615$
Std$
40$01$20$03$00$00$00$00$
Read$blue$LED$
Keypad9Reply9
595$
Std$
4F$01$20$03$20$00$00$00$
Only$blue$LED$#6$ON$
$

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17. 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$alternative$mode.$
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a) Set LED blink
• PKP-2300-SI-FR
Identifier9
600h$+$current$CAN$ID$
Default$615h9
Byte909
2Fh$
Set$Device$Register$
Byte919
02h$
CAN$Object$2002h$
Byte929
20h$
Byte939
XXh$
XX:$Sub$index$
01h:$Red$Led$
02h:$Green$Led$
03h:$Blue$Led$
Byte949
YYh$
0$0$L6$L5$L4$L3$L2$L1$$$$LED$position$
Byte95,79
00h$
Not$used$
$
Examples:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
2F$02$20$01$01$00$00$00$
Set$red$LED$#1$blink$
Keypad9Reply9
595$
Std$
60$02$20$00$00$00$00$00$
$
To9Keypad9
615$
Std$
2F$02$20$02$08$00$00$00$
Set$green$LED$#4$
blink$
Keypad9Reply9
595$
Std$
60$02$20$00$00$00$00$00$
$
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b) Read LED blink
• PKP-2300-SI-FR
Identifier9
600h$+$current$CAN$ID$
Default$615h9
Byte909
2Fh$
Set$Device$Register$
Byte919
02h$
CAN$Object$2002h$
Byte929
20h$
Byte939
XXh$
XX:$Sub$index$
01h:$Red$Led$
02h:$Green$Led$
03h:$Blue$Led$
Byte94,79
00h$
Not$used$
$
$Examples:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
40$02$20$01$00$00$00$00$
Read$red$LED$blink$
Keypad9Reply9
595$
Std$
4F$02$20$01$3F$00$00$00$
All$red$LED$blink$
To9Keypad9
615$
Std$
40$02$20$02$00$00$00$00$
Read$green$LED$blink$
Keypad9Reply9
595$
Std$
4F$02$20$02$01$00$00$00$
Green$LED$#1$blinks$
To9Keypad9
615$
Std$
40$02$20$03$00$00$00$00$
Read$blue$LED$blink$
Keypad9Reply9
595$
Std$
4F$02$20$03$00$00$00$00$
No$blue$LED$blink$

$
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 13 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2300-SI-FR_CANopenUM_REV1.3
18. Object 2003: Brightness Level
a) Set Indicator LED brightness level
Identifier9
615h9(600h9+9current9CAN9ID)9
$
Byte909
2Fh$
Set$Device$Register$
Byte919
03h$
CAN$Object$2003h$
Byte929
20h$
Byte939
01h$
Sub$index$
Byte949
YYh$
Intensity$00h-3Fhà$min-100%$
Byte95,79
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
2F$03$20$01$10$00$00$00$
Brightness$=$25%$
Keypad9Reply9
595$
Std$
60$03$20$01$00$00$00$00$
$
$
b) Backlight brightness level
Identifier9
615h$(600h$+$current$CAN$ID)$
9
Byte909
2Fh$
Set$Device$Register$
Byte919
03h$
CAN$Object$2003h$
Byte929
20h$
Byte939
02h$
Sub$index$
Byte949
XXh$
Intensity$00h-3Fhà$0-100%$
Byte95,79
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
2F$03$20$02$10$00$00$00$
Brightness$=$25%$
Keypad9Reply9
595$
Std$
60$03$20$02$00$00$00$00$
$
$
$
$
$
$
$
$
$
$
$
$
$
$

$
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 14 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2300-SI-FR_CANopenUM_REV1.3
c) Backlight color
Identifier9
615h$(600h$+$current$CAN$ID)$
9
Byte909
2Fh$
Set$Device$Register$
Byte919
03h$
CAN$Object$2003h$
Byte929
20h$
Byte939
03h$
Sub$index$
Byte949
XXh$
Color$
01h:$red$$
02h:$green$$
03h:$blue$$
04h:$yellow$$
05h:$cyan$$
06h:$violet$$
07h:$white/light$blue$$
08h:$amber/orange$$
09h:$yellow/green$$
Byte95,79
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
2F$03$20$03$01$00$00$00$
Red$Backlight$color$$
Keypad9Reply9
595$
Std$
60$03$20$03$00$00$00$00$
$
d) Set default backlight color
Identifier9
615h$(600h$+$current$CAN$ID)$
9
Byte909
2Fh$
Set$Device$Register$
Byte919
03h$
CAN$Object$2003h$
Byte929
20h$
Byte939
04h$
Sub$index$
Byte949
XXh$
Color$
01h:$red$$
02h:$green$$
03h:$blue$$
04h:$yellow$$
05h:$cyan$$
06h:$violet$$
07h:$white/light$blue$$
08h:$amber/orange$$
09h:$yellow/green$
Byte95,79
00h$
Not$used$
$
$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
2F$03$20$04$03$00$00$00$
Blue$Backlight$color$$
Keypad9Reply9
595$
Std$
60$03$20$04$00$00$00$00$
$
$
$
$

$
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 15 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2300-SI-FR_CANopenUM_REV1.3
e) Set startup Indicator LED brightness level
Identifier9
615h9(600h9+9current9CAN9ID)9
$
Byte909
2Fh$
Set$Device$Register$
Byte919
03h$
CAN$Object$2003h$
Byte929
20h$
Byte939
05h$
Sub$index$
Byte949
XXh$
Intensity$00h-3Fhà$min-100%$
Byte95,79
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
2F$03$20$05$10$00$00$00$
Brightness$=$25%$
Keypad9Reply9
595$
Std$
60$03$20$05$00$00$00$00$
$
$
f) Set startup backlight brightness level
Identifier9
615h9(600h9+9current9CAN9ID)9
$
Byte909
2Fh$
Set$Device$Register$
Byte919
03h$
CAN$Object$2003h$
Byte929
20h$
Byte939
06h$
Sub$index$
Byte949
XXh$
Intensity$00h-3Fhà$0-100%$
Byte95,79
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
2F$03$20$06$10$00$00$00$
Brightness$=$25%$
Keypad9Reply9
595$
Std$
60$03$20$06$00$00$00$00$
$
19. Object 2010h: Baud rate setting
$
Identifier9
615h$(600h$+$current$CAN$ID)$
9
Byte909
2Fh$
Set$Device$Register$
Byte919
10h$
CAN$Object$2010h$
Byte929
20h$
Byte939
00h$
Sub$index$
9
Byte949
00h$
1000k$
01h$
Reserved$(force$to$125k)$
02h$
500k$
03h$
250K$
04h$
125k$(Default)$
05h$
Reserved$(force$to$125k)$
06h$
50k$
07h$
20k$
Byte95,79
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
2F$10$20$00$03$00$00$00$
Baud$rate$=$250k$$
Keypad9Reply9
595$
Std$
60$10$20$00$00$00$00$00$
$
$
$

$
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 16 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2300-SI-FR_CANopenUM_REV1.3
20. Object 2011h: Set Boot-up service
Object$2011h$message$enable$or$disable$the$boot$up$message$sent$by$the$keypad$at$
power$up$to$the$CAN$network.$
$
Identifier9
600h$+$current$CAN$ID$
Default$615h9
Byte909
2Fh$
Set$Device$Register$
Byte919
11h$
CAN$Object$2011h$
Byte929
20h$
Byte939
00h$
Sub$index$
Byte949
XXh$
00h:$Not$active$
01h:$Active$
Byte95,79
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
2F$11$20$00$00$00$00$00$
Boot-up$service$not$active$
Keypad9Reply9
595$
Std$
60$11$20$00$00$00$00$00$
$
$
21. Object 2012h: Set device active on startup
If$keypad$is$active$on$startup$don’t$need$the$Start$CANopen$command$from$host.$
$
Identifier9
600h$+$current$CAN$ID$
Default$615h9
Byte909
2Fh$
Set$Device$Register$
Byte919
12h$
CAN$Object$2012h$
Byte929
20h$
Byte939
00h$
Sub$index$
Byte949
XXh$
00h:$Not$active$
01h:$Active$
Byte95,79
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
2F$12$20$00$01$00$00$00$
Device$active$on$startup$
Keypad9Reply9
595$
Std$
60$12$20$00$00$00$00$00$
$
$
22. Object 2013h: Set CANopen node ID
$
Identifier9
600h$+$current$CAN$ID$
Default$615h9
Byte909
2Fh$
Set$Device$Register$
Byte919
13h$
CAN$Object$2013h$
Byte929
20h$
Byte939
00h$
Sub$index$
Byte949
XXh$
XX:$New$node$id$(00h-7Fh),$
default$15h$
Byte95,79
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
2F$13$20$00$18$00$00$00$
New$CANopen$node$ID$18h$
Keypad9Reply9
598$
Std$
60$13$20$00$00$00$00$00$
$
$
$ $

$
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 17 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2300-SI-FR_CANopenUM_REV1.3
23. Object 2014h: Set startup LED show
$
Identifier9
600h$+$current$CAN$ID$
Default$615h9
Byte909
2Fh$
Set$Device$Register$
Byte919
14h$
CAN$Object$2014h$
Byte929
20h$
Byte939
00h$
Sub$index$
Byte949
XXh$
00h:$Disable$
01h:$Complete$LED$Show$(default)$
02h:$Fast$Flash$
Byte95,79
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
2F$14$20$00$00$00$00$00$
Disable$startup$LED$show$$
Keypad9Reply9
595$
Std$
60$14$20$00$00$00$00$00$
$
$
$
24. Object 2100h: Set DEMO mode
This$ message$ enables$ the$ Demo$ mode$ function.$ Demo$ mode$ is$ a$ special$ feature$ that$
consists$ in$ different$ LED$ states$ for$ each$ button$ pressing.$ Refer$ to$ the$ appendix$ “Demo$
mode$ instructions”$ to$ try$ these$ special$ features.$ Disconnect$ and$ reconnect$ the$ keypad$
after$the$enable$message$to$enter$this$mode.$To$exit$the$Demo$mode,$send$the$Disable$
Demo$mode$command$or$another$command$message.$
$
Identifier9
600h$+$current$CAN$ID$
Default$615h9
Byte909
2Fh$
Set$Device$Register$
Byte919
00h$
CAN$Object$2100$
Byte929
21h$
Byte939
00h$
Sub$index$
Byte949
XXh$
00h:$Not$active$
01h:$Active$
Byte95,79
00h$
Not$used$
$
$$$$$$$$$$$$$$Example:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
2F$00$21$00$01$00$00$00$
Set$DEMO$mode$Active$
Keypad9Reply9
595$
Std$
60$00$21$00$00$00$00$00$
$
$
$ $

$
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 18 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2300-SI-FR_CANopenUM_REV1.3
25. Object 1017h: Producer heartbeat time
The$producer$heartbeat$time$shall$indicate$the$configured$cycle$time$of$the$heartbeat.$
$
Identifier9
600h9+9current9CAN9ID9
Default9615h$
Byte909
40h$
Read$Device$Register$
2B$
Set$device$register$
Byte919
17h$
CAN$Object$1017h$
Byte929
10h$
Byte939
00h$$
Sub$index$
Byte9499
YYh$
YYh:$Heartbeat$time$in$milliseconds$
MSByte$
Byte9599
XXh$
XXh:$Heartbeat$time$in$milliseconds$LSByte$
Byte95,9799
00h$
Not$used$
Heartbeat$time:$XXYYh$(from$000Ah$to$FFFEh:$10ms$to$65534$ms)$
$
Examples:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
40$17$10$00$00$00$00$00$
Read$heartbeat$time$
Keypad9Reply9
595$
Std$
4B$17$10$00$64$00$00$00$
Heartbeat$time$=$100ms$
To9Keypad9
615$
Std$
2B$17$10$00$00$00$00$00$
Switch$off$the$heartbeat$
Keypad9Reply9
595$
Std$
60$17$10$00$00$00$00$00$
$
To9Keypad9
615$
Std$
2B$17$10$00$32$00$00$00$
Set$heartbeat$time$=$
50ms$
Keypad9Reply9
595$
Std$
60$17$10$00$00$00$00$00$
$
To9Keypad9
615$
Std$
2B$17$10$00$F4$01$00$00$
Set$heartbeat$time$=$
500ms$
Keypad9Reply9
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$message.$
$
Identifier9
700h$+$current$CAN$ID$
Default$715h$
9
Byte909
$
XXh$
XXh:$State$of$heartbeat$producer$
00h:$Boot-up$
04h:$Stop$
05h:$Operational$
7Fh:$Pre-operational$
Example:$

$
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 19 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2300-SI-FR_CANopenUM_REV1.3
Direction$
Identifier$
Format$
Message$
Data$
From9Keypad9
715h$
Std$
00h$
Boot$up$
From9Keypad9
715h$
Std$
7Fh$
Pre-operational$
To9keypad9
00h$
Std$
01h$15h$
Start$keypad$with$CAN$ID$15h$
From9Keypad9
715h$
Std$
05h$
Operational$
$
26. Object 1000h: Device Type
$
Identifier9
600h$+$current$CAN$ID$
Default$615h9
Byte909
40h$
Read$Device$Register$
Byte919
00h$
CAN$Object$1000h$
Byte929
10h$
Byte93,9799
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Data$
To9Keypad9
615$
Std$
40$00$10$00$00$00$00$00$
Keypad9Reply9
595$
Std$
43$00$10$00$91$01$0B$00$
$
Device$profile$number$B0191h.$
$
27. Object 1001h: Error Register
This$object$is$not$yet$implemented$in$the$device.$
$
$
28. Object 1008h: Manufacturer Device Name
$
Identifier9
600h9+9current9CAN9ID9
Default9615h9
Byte909
40h$
Read$Device$Register$
Byte919
08h$
CAN$Object$1008h$
Byte929
10h$
Byte93,9799
00h$
Not$used$
$
$1°$additional$byte$
Identifier9
600h9+9current9CAN9ID9
Default9615h$
Byte909
60h$
Read$Device$Register$Next$Byte$
Byte91,9799
00h$
Not$used$
$ $
$2°$additional$byte$
Identifier9
600h9+9current9CAN9ID9
Default9615h$
Byte909
70h$
Read$Device$Register$Next$Byte$
Byte91,9799
00h$
Not$used$

$
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 20 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2300-SI-FR_CANopenUM_REV1.3
$
$Example:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
40$08$10$00$00$00$00$00$
$
Keypad9Reply9
595$
Std$
41$08$10$00$0B$00$00$00$
$
To9Keypad9
615$
Std$
60$00$00$00$00$00$00$00$
$
Keypad9Reply9
595$
Std$
00$42$6C$69$6E$6B$4D$61$
BlinkMa$
To9Keypad9
615$
Std$
70$00$00$00$00$00$00$00$
$
Keypad9Reply9
595$
Std$
17$72$69$6E$65$00$00$00$
rine$
$$$Manufacturer$Device$Name:$BlinkMarine$
The$first$byte$of$the$last$data$message$replied$is$17h.$
$
29. Object 1009h: Manufacturer Hardware Revision
$
Identifier9
600h$+$current$CAN$ID$
Default$615h9
Byte909
40h$
Read$Device$Register$
Byte919
09h$
CAN$Object$1009h$
Byte929
10h$
Byte93,9799
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
40$09$10$00$00$00$00$00$
$
Keypad9Reply9
595$
Std$
43$09$10$00$33$30$5F$56$
V_03$
$$$Manufacturer$Hardware$Revision:$V_03$
30. Object 100Ah: Manufacturer Firmware Revision
$
$
Identifier9
600h$+$current$CAN$ID$
Default$615h9
Byte909
40h$
Read$Device$Register$
Byte919
0Ah$
CAN$Object$100Ah$
Byte929
10h$
Byte93,9799
00h$
Not$used$
$
$Example:$
Direction$
Identifier$
Format$
Message$
Data$
To9Keypad9
615$
Std$
40$0A$10$00$00$00$00$00$
$
Keypad9Reply9
595$
Std$
43$0A$10$00$32$2E$32$56$
V2.2$
$$$Manufacturer$Firmware$Revision:$V2.2$
$
$
$
$