Blink Marine PKP-2400-LI User manual

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Via!Montefeltro,!6!–!20156!Milano!(MI)!–!Italy! ! !
Tel.!+39!(02)!3088583!–!Fax!+39!(02)!33406697! ! ! !
www.blinkmarine.com!–![e-mail]! ! ! PKP-2400-LI_CANopen_UM_REV1.18
PKP-2400-LI
CANOPEN USER MANUAL
!
THE PRESENT MANUAL IS FOR REFERENCE ONLY AND MIGHT BE NOT UP TO DATE TO THE LATEST VERSION.
PLEASE CONTACT US FOR GETTING THE MOST UPDATED FILE

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Table of contents
1.!How!to!connect!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!.............................................................................................................!8!
10.!Keys!status!message!....................................................................................................!8!
!PKP-2200-LI!...............................................................................................................!8!
!PKP-2400-LI!...............................................................................................................!8!
11.!Set!LED!ON!message!....................................................................................................!9!
!PKP-2200-LI!...............................................................................................................!9!
!PKP-2400-LI!...............................................................................................................!9!
12.!Set!LED!Blink!message!...............................................................................................!10!
!PKP-2200-LI!.............................................................................................................!10!
!PKP-2400-LI!.............................................................................................................!10!
!SDO!Messages:!..........................................................................................................!11!
13.!Object!6500h:!Command!Module!.............................................................................!11!
a)!Set!single!LED!state:!01h!.........................................................................................!11!
b)!Set!LED!brightness!level:!02h!..................................................................................!11!
c)!Set!backlight!brightness!level:!03h!..........................................................................!12!
d)!Set!backlight!color:!04h!...........................................................................................!12!
e)!Set!device!active!on!startup:!10h!............................................................................!13!
f)!Set!device!baud!rate:!11h!........................................................................................!13!
g)!Set!periodic!transmission:!12h!................................................................................!13!
h)!Set!Boot-up!service:!13h!.........................................................................................!14!
i)!Set!CANopen!node!ID:!70h!......................................................................................!14!
j)!Set!default!startup!LED!light!level:!7Ch!...................................................................!14!
k)!Set!default!startup!backlight!level:!7Bh!..................................................................!15!
l)!Set!default!startup!backlight!color:!7Dh!..................................................................!15!
m)!Set!DEMO!mode:!7Ah!..............................................................................................!16!
n)!Set!startup!LED!show:!50h!......................................................................................!16!
14.!Object!6000h:!Digital!input!module,!keys!states!.......................................................!17!

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!PKP-2200-LI!.............................................................................................................!17!
!PKP-2400-LI!.............................................................................................................!17!
15.!Object!6001h:!Digital!output!module.!.......................................................................!18!
a)!Set!LED!ON!.................................................................................................................!18!
!PKP-2200-LI!.............................................................................................................!18!
!PKP-2400-LI!.............................................................................................................!18!
b)!Read!LED!ON!..............................................................................................................!19!
!PKP-2200-LI!.............................................................................................................!19!
!PKP-2400-LI!.............................................................................................................!19!
16.!Object!6002h:!Digital!output!module.!.......................................................................!20!
a)!Set!LED!blink!..............................................................................................................!20!
!PKP-2200-LI!.............................................................................................................!20!
!PKP-2400-LI!.............................................................................................................!21!
b)!Read!LED!blink!...........................................................................................................!21!
!PKU!2200!.................................................................................................................!21!
!PKU!2400!.................................................................................................................!22!
17.!Object!1017h:!Producer!heartbeat!time!...................................................................!22!
18.!Object!1000h:!Device!Type!........................................................................................!23!
19.!Object!1008h:!Manufacturer!Device!Name!...............................................................!23!
20.!Object!1009h:!Manufacturer!Hardware!Revision!......................................................!24!
21.!Object!100Ah:!Manufacturer!Firmware!Revision!......................................................!25!
22.!Object!100Bh:!Model!ID!............................................................................................!25!
23.!Object!1018h:!Identity!Data!......................................................................................!26!
24.!Object!1400h:!Receive!PDO!Communication!Parm!0!................................................!28!
25.!Object!1401h:!Receive!PDO!communication!Parm!1!................................................!28!
26.!Object!1600h:!Output!Descriptions!...........................................................................!29!
27.!Object!1800h:!Transmit!PDO!Communication!Parm!0!..............................................!30!
28.!Object!1A00h:!Inputs!description!..............................................................................!31!
29.!Object!6100h:!Device!firmware!specifications!..........................................................!32!
30.!Object!6201:!Device!brightness!control!....................................................................!33!
a)!Read!brightness!level!..............................................................................................!33!
b)!Set!brightness!level!.................................................................................................!33!
31.!Object!6300h:!Serial!number!string!...........................................................................!34!
32.!Object!6301h:!Bootloader!presence!..........................................................................!34!
33.!Object!6302h:!Device!key!and!LED!count!..................................................................!35!
!APPENDIX:!DEMO!Mode!instructions!........................................................................!36!
34.!Revision!History!.........................................................................................................!36!
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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.!
8
PKP-2400-LI8
8
8
8
PIN8
COLOUR!
FUNCTION!
18
Green!
CAN!L!
28
Yellow!
CAN!H!
38
Black!
Negative!battery!
48
Red!
Vbatt.!(12-24V)!

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3. Default settings
Setting!
Default8status8or8level8
How8to8change8
Baud8Rate8
125!kbit/s!
Object!6500h!Command!11h!
CANopen8Node8ID8
15h!
Object!6500h!Command!70h!
Device8active8on8
startup8
Not!active!
Object!6500h!Command!10h!
Key8Brightness8
3Fh!(Maximum!Brightness)!
Object!6500h!Command!02h!
Backlight8Brightness8
00h!(OFF)!
Object!6500h!Command!03h!
Backlight8Color8
Amber!
Object!6500h!Command!7Dh!
Startup8LED8Light8
Show8
Complete!LED!Sequence!
Object!6500h!Command!50h!
Periodic8Message8
Transmission8
Disable!
Object!6500h!Command!12h!
DEMO8mode8
Disable!
Object!6500h!Command!7Ah!
Heartbeat8Message8
Disable!
Object!1017h!
Boot-up8service8
Active!
Object!6500h!Command!13h!
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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.!All!CANopen!devices!
are!regarded!as!NMT!slaves.!!
NMT!messages!have!CAN-ID!always!equal!to!00h.!
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4. Start CANopen node (keypad activation message)
Identifier8
00h!
!
Byte808
01h!
Start!CANopen!node!
8
Byte818
!
XXh!
!
Keypad!CAN!ID!
00h:!start!all!the!keypads!
15h:!start!the!keypad!with!CAN!ID!=!
15h.!
Byte82,878
00h!
Not!used!
Example:!
Direction!
Identifier!
Format!
Message!
To8Keypad8
0!
Std!
01!15!
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5. Enter pre-operational
Identifier8
00h!
!
Byte808
80h!
Enter!pre-operational!
8
Byte818
!
XXh!
!
Keypad!CAN!ID!
00h:!enter!all!the!keypads!
15h:!enter!the!keypad!with!CAN!ID!=!
15h.!
Byte82,878
00h!
Not!used!
Example:!
Direction!
Identifier!
Format!
Message!
To8Keypad8
0!
Std!
80!15!
!

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6. Reset CANopen node
!
Identifier8
00h!
!
Byte808
81h!
Reset!CANopen!node!
8
Byte818
!
XXh!
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Keypad!CAN!ID!
00h:!reset!all!the!keypads!
15h:!reset!the!keypad!with!CAN!ID!=!
15h.!
Byte82,878
00h!
Not!used!
!Example:!
Direction!
Identifier!
Format!
Message!
To8Keypad8
0!
Std!
81!15!
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7. Stop CANopen node
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Identifier8
00h!
!
Byte808
XXh!
02h:!Stop!CANopen!node!!!
00h:!Stop!CANopen!node!(old!sw!
compatibility)!
Byte818
YYh!
Keypad!CAN!ID!
00h:!stop!all!the!keypads!
15h:!stop!the!keypad!with!CAN!ID!=!15h.!
Byte82,878
00h!
Not!used!
!Example:!
Direction!
Identifier!
Format!
Message!
To8Keypad8
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.
Identifier8
700h!+!current!CAN!ID!
Default!715h!
Byte808
00h!
One data byte is transmitted with value 0.!
Example:!
Direction!
Identifier!
Format!
Message!
From8Keypad8
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.!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.!
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!Example:!
Direction!
Identifier!
Format!
Message!
Data!
From8Keypad8
715h!
Std!
00h!
Boot!up!
From8Keypad8
715h!
Std!
7Fh!
Pre-operational!
To8keypad8
00h!
Std!
01h!15h!
Start!keypad!with!CAN!id!
=15h!
From8Keypad8
715h!
Std!
05h!
Operational!
!
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Identifier8
700h!+!current!CAN!ID!
Default!715h!
8
Byte808
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XXh!
XXh:!State!of!heartbeat!producer!
00h:!Boot-up!
05h:!Operational!
7Fh:!Pre-operational!

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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.!
10. Keys status message
The!keypad!must!be!activated,!see!NMT!Start!CANopen!Node!message.!
• PKP-2200-LI
!
Identifier8
180!+!current!CAN!ID!
Default!195h!
Byte808
Keys!from!#1!to!#4!!
0!0!0!0!-!K4!K3!K2!K1!
Keys:!1=on;!0=off!
Byte81,8388
00h!
Not!used!
Byte848
XXh!
Tick!Timer!
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Examples:!
Direction!
Identifier!
Format!
Message!
Key!state!
From8Keypad8
195!
Std!
00!00!00!00!XX!!
No!key!pressed!
From8Keypad8
195!
Std!
04!00!00!00!XX!!!
Key!#3!pressed!
From8Keypad8
195!
Std!
02!00!00!00!XX!!
Key!#2!pressed!
From8Keypad8
195!
Std!
05!00!00!00!XX!
Keys!#1!and!#3!
pressed!
• PKUP-2400-LI
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Identifier8
180!+!current!CAN!ID!
Default!195h!
Byte808
Keys!from!#1!to!#8!
K8!K7!K6!K5!-!K4!K3!K2!K1!
Keys:!1=!on;!0=!off!
Byte81,838
00h!
Not!used!
Byte848
XXh!
Tick!Timer!
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Examples:!
Direction!
Identifier!
Format!
Message!
Key!state!
From8Keypad8
195!
Std!
00!00!00!00!XX!!
No!key!pressed!
From8Keypad8
195!
Std!
01!00!00!00!XX!!
Key!#1!pressed!
From8Keypad8
195!
Std!
02!00!00!00!XX!!!
Key!#2!pressed!
From8Keypad8
195!
Std!
42!00!00!00!XX!!!
Keys!#7!and!#2!
pressed!
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11. Set LED ON message
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• PKP-2200-LI
!
Identifier8
200!+!current!CAN!ID!
Default!215h!
Byte808
G4!G3!G2!G1!–!R4!R3!R2!R1!
Green!and!Red!LED!
Byte818
0!0!0!0!–!B4!B3!B2!B1!!
Blue!LED!
Byte82,788
00h!!
Not!used!
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!Examples:!
Direction!
Identifier!
Format!
Message!
LED!
To8Keypad8
215!
Std!
00!00!00!00!00!00!00!00!
Turn!off!all!the!LED!
To8Keypad8
215!
Std!
01!00!00!00!00!00!00!00!
Only!red!LED!#1!on!
To8Keypad8
215!
Std!
03!00!00!00!00!00!00!00!!
Red!LED!#1!and!#!2!on,!
other!LED!off!
To8Keypad8
215!
Std!
80!00!00!00!00!00!00!00!!
Only!green!LED!#4!on!
To8Keypad8
215!
Std!
00!01!00!00!00!00!00!00!
Only!blue!LED!#1!on!
To8Keypad8
215!
Std!
77!00!00!00!00!00!00!00!!
Amber!LED!#1,!2,!3!on!
To8Keypad8
215!
Std!
33!03!00!00!00!00!00!00!!
White!LED!#1,!2!on!
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• PKP-2400-LI
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Identifier8
200!+!current!CAN!ID!
Default!215h!
Byte808
R8!R7!R6!R5!-!R4!R3!R2!R1!
Red!LED!!
Byte8188
G8!G7!G6!G5!-!G4!G3!G2!G1!
Green!LED!!
Byte8288
B8!B7!B6!B5!-!B4!B3!B2!B1!
Blue!LED!!
Byte83,78
00h!!
Not!used!
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!Examples:!
Direction!
Identifier!
Format!
Message!
LED!
To8Keypad8
215!
Std!
00!00!00!00!00!00!00!00!
Turn!off!all!the!LED!
To8Keypad8
215!
Std!
01!00!00!00!00!00!00!00!
Only!red!LED!#1!on!
To8Keypad8
215!
Std!
42!00!00!00!00!00!00!00!!
Red!LED!#2!and!#7!on,!
other!LED!off!
To8Keypad8
215!
Std!
80!00!00!00!00!00!00!00!!
Only!red!LED!#8!on!
To8Keypad8
215!
Std!
00!10!00!00!00!00!00!00!!
Only!green!LED!#5!on!!
To8Keypad8
215!
Std!
00!11!00!00!00!00!00!00!!
Green!LED!#1!and!#5!on,!
other!LED!off!
To8Keypad8
215!
Std!
00!00!06!00!00!00!00!00!!
Blue!LED!#2!and!#3!on,!
other!LED!off!
To8Keypad8
215!
Std!
59!6A!74!00!00!00!00!00!!
One!color!for!each!
button!from!1!to!7!
To8Keypad8
215!
Std!
FF!FF!F0!00!00!00!00!00!!
Amber!LED!#1,!2,!3,!4!
on;!white!LED!#5,!6,!7,!8!
on!
!

!
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12. Set LED Blink message
Note:!if!the!blink!message!is!sent!when!the!LED!is!already!ON,!the!LED!blinks!in!alternate!mode.!!
1. PKP-2200-LI
!
Identifier8
300!+!current!CAN!ID!
Default!315h!
Byte808
G4!G3!G2!G1!–!R4!R3!R2!R1!
Green!and!Red!LED!!
Byte818
0!0!0!0!–!B4!B3!B2!B1!!
Blue!LED!
Byte82,788
00h!!
Not!used!
!
Examples:!
Direction!
Identifier!
Format!
Message!
LED!
To8Keypad8
315!
Std!
00!00!00!00!00!00!00!00!
No!LED!blinks!
To8Keypad8
315!
Std!
01!00!00!00!00!00!00!00!
Only!red!LED!#1!blinks!
To8Keypad8
315!
Std!
11!00!00!00!00!00!00!00!!
Only!amber!LED!#1!
blinks!
To8Keypad8
315!
Std!
80!00!00!00!00!00!00!00!!
Only!green!LED!#4!blinks!
To8Keypad8
315!
Std!
00!01!00!00!00!00!00!00!
Only!blue!LED!#1!blinks!
To8Keypad8
315!
Std!
0F!0F!00!00!00!00!00!00!!
All!magenta!LED!blink!
To8keypad8
315!
Std!
11!01!00!00!00!00!00!00!!
Only!white!LED!#1!blinks!
To8Keypad8
215!
315!
Std!
Std!
80!00!00!00!00!00!00!00!
88!00!00!00!00!00!00!00!!
Only!LED!#4!blinks!red!
and!green!in!alternate!
mode!
!
2. PKP-2400-LI
!
Identifier8
300!+!current!CAN!ID!
Default!315h!
Byte808
R8!R7!R6!R5!-!R4!R3!R2!R1!
Red!LED!!
Byte8188
G8!G7!G6!G5!-!G4!G3!G2!G1!
Green!LED!!
Byte8288
B8!B7!B6!B5!-!B4!B3!B2!B1!
Blue!LED!!
Byte83,788
00h!!
Not!used!
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!Examples:!
Direction!
Identifier!
Format!
Message!
LED!
To8Keypad8
315!
Std!
00!00!00!00!00!00!00!00!
No!LED!blinks!
To8Keypad8
315!
Std!
01!00!00!00!00!00!00!00!
Only!red!LED!#1blinks!
To8Keypad8
315!
Std!
42!00!00!00!00!00!00!00!!
Red!LED!#2!and!#7!blink!!
To8keypad8
315!
Std!
F0!00!00!00!00!00!00!00!!
Red!LED!#5,!6,!7,!8!blink!
To8Keypad8
315!
Std!
80!00!00!00!00!00!00!00!!
Only!red!LED!#8!blinks!
To8Keypad8
315!
Std!
00!10!00!00!00!00!00!00!!
Only!green!LED!#5!blinks!!
To8Keypad8
315!
Std!
00!11!00!00!00!00!00!00!!
Green!LED!#1!and!#5!
blink.!
To8Keypad8
315!
Std!
00!00!06!00!00!00!00!00!!
Blue!LED!#2!and!#3!blink.!
To8Keypad8
315!
Std!
00!07!07!00!00!00!00!00!
Cyan!LED!#1,!2,!3!blink!
To8Keypad8
215!
315!
Std!!
Std!
3F!00!00!00!00!00!00!00!
3F!3F!00!00!00!00!00!00!!
LED!#1,!2,!3,!4,!5,!6!blink!
red!and!green!in!
alternate!mode!
!

!
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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.!
13. Object 6500h: Command Module
a) Set single LED state: 01h
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
23h!
Set!Device!Register!
Byte818
00h!
CAN!Object!6500h!
Byte828
65h!
Byte838
01h!
Sub!index!
Byte848
01h!
Command:!Set!single!LED!state!
8
Byte858
!
XXh!
Key!Number!(01-04h)!for!PKU!2200!
Key!Number!(01-08h)!for!PKU!2400!
Key!Number!(01-0Ch)!for!PKU!2600!
8
8
8
Byte868
00h!
OFF!
01h!–!03h!
Red:!01h!on;!02h!blink;!03h!alt!blink!!
04h!–!06h!
Green:!04h!on;!05h!blink;!06h!alt!blink!
07h!–!09h!
Blue:!07h!on;!08h!blink;!09h!alt!blink!
0Ah!!
RED/GREEN!blink!0Ah!
0Ch!!
AMBER/RED!blink!0Ch!
0Eh!!
GREEN/AMBER!blink!0Eh!
Byte878
00h!
Not!used!
Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
23!00!65!01!01!08!01!00!
Switch!on!LED!#8!red!
Keypad8
reply8
595!
Std!
60!00!65!01!00!00!00!00!
Switch!off!LED!
To8Keypad8
615!
Std!
23!00!65!01!01!09!04!00!
Switch!on!LED!#9!
green!
Keypad8
reply8
595!
Std!
60!00!65!01!00!09!07!00!
Switch!on!LED!#9!blue!
To8Keypad8
615!
Std!
23!00!65!01!01!0C!05!00!
23!00!65!01!01!0C!09!00!
LED!#12!blue!and!
green!blinks!in!
alternate!mode!
!
b) Set LED brightness level: 02h
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
23h!
Set!Device!Register!
Byte818
00h!
CAN!Object!6500h!
Byte828
65h!
Byte838
01h!
Sub!index!
Byte848
02h!
Command:!Set!LED!brightness!
Byte858
XXh!
Intensity!00h-3Fhà!min!–!100%!
brightness!
Byte86,78
00h!
Not!used!
Example:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
23!00!65!01!02!10!00!00!
Brightness!=!25%!
Keypad8reply8
595!
Std!
60!00!65!01!00!00!00!00!
!

!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 12 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2400-LI_CANOpen_UM_REV1.1
Set backlight brightness level: 03h
!
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
23h!
Set!Device!Register!
Byte818
00h!
CAN!Object!6500h!
Byte828
65h!
Byte838
01h!
Sub!index!
Byte848
03h!
Command:!Set!backlight!brightness!
Byte858
XXh!
Intensity!00h-3Fhà!0!–!100%!
brightness!
Byte86,78
00h!
Not!used!
!
!!!Example:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
23!00!65!01!03!2F!00!00!
Backlight!brightness!=!
75%!
Keypad8
reply8
595!
Std!
60!00!65!01!00!00!00!00!
!
!
c) Set backlight color: 04h
!
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
23h!
Set!Device!Register!
Byte818
00h!
CAN!Object!6500h!
Byte828
65h!
Byte838
01h!
Sub!index!
Byte848
04h!
Command:!Set!backlight!color!
Byte858
XXh!
Color!!
01h:!red!!
02h:!green!!
03h:!blue!!
04h:!yellow!!
05h:!cyan!!
06h:!violet!!
07h:!white!!
08h:!amber/orange!!
09h:!yellow/green!!
Byte86,78
00h!
Not!used!
!
!!!Example:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
23!00!65!01!04!01!00!
00!
Red!Backlight!color!
Keypad8
reply8
595!
Std!
60!00!65!01!00!00!00!
00!
!
!
! !

!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 13 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2400-LI_CANOpen_UM_REV1.1
d) Set device active on startup: 10h
If!keypad!is!active!on!startup!don’t!need!Start!command!from!host!!
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
23h!
Set!Device!Register!
Byte818
00h!
CAN!Object!6500h!
Byte828
65h!
Byte838
01h!
Sub!index!
Byte848
10h!
Command:!Set!device!active!on!startup!
Byte858
XXh!
00h:!Not!active!
01h:!Active!
Byte86,78
00h!
Not!used!
Example:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
23!00!65!01!10!01!00!00!
Set!device!active!on!
startup!
Keypad8reply8
595!
Std!
60!00!65!01!00!00!00!00!
!
!
e) Set device baud rate: 11h
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
23h!
Set!Device!Register!
Byte818
00h!
CAN!Object!6500h!
Byte828
65h!
Byte838
01h!
Sub!index!
Byte848
11h!
Command:!Set!baud!rate!
8
Byte858
!
XXh!
00h:!125k!(default)!
01h:!250k!
02h:!500k!
Byte86,78
00h!
Not!used!
Example:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
23!00!65!01!11!01!00!00!
Baud!rate!=!250k!!
Keypad8reply8
595!
Std!
60!00!65!01!00!00!00!00!
!
!
f) Set periodic transmission: 12h
Note:!the!keypad!must!be!activated,!see!NMT!messages.!
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
23h!
Set!Device!Register!
Byte818
00h!
CAN!Object!6500h!
Byte828
65h!
Byte838
01h!
Sub!index!
Byte848
12h!
Command:!Set!periodic!messages!
Byte858
XXh!
00h:!off;!01h:!on!
Byte868
YYh!
Period!in!milliseconds!*!10!!
Byte878
00h!
Not!used!
Example:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
23!00!65!01!12!01!32!00!
Period!=!500!ms!!
Keypad8reply8
195!
Std!
60!00!65!01!00!00!00!00!
!

!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 14 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2400-LI_CANOpen_UM_REV1.1
g) Set Boot-up service: 13h
!
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
23h!
Set!Device!Register!
Byte818
00h!
CAN!Object!6500h!
Byte828
65h!
Byte838
01h!
Sub!index!
Byte848
13h!
Command:!Set!Boot-up!service!
Byte858
XXh!
00h:!Not!active!
01h:!Active!
Byte86,78
00h!
Not!used!
!Example:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
23!00!65!01!13!00!00!00!
Set!Boot-up!service!
not!active!
Keypad8reply8
595!
Std!
60!00!65!01!00!00!00!00!
!
!
h) Set CANopen node ID: 70h
!
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
23h!
Set!Device!Register!
Byte818
00h!
CAN!Object!6500h!
Byte828
65h!
Byte838
01h!
Sub!index!
Byte848
70h!
Command:!Set!CAN!ID!
Byte858
XXh!
New!ID!(00h-7Fh),!default!15h!
Byte86,78
00h!
Not!used!
Example:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
23!00!65!01!70!18!00!00!
New!Id!=!18!
Keypad8reply8
595!
Std!
60!00!65!01!00!00!00!00!
!
Keypad8reply8
718!
Std!
00!
Boot-up!message!
with!the!new!ID!set!
!!The!first!reply!is!with!the!old!node!ID.!
i) Set default startup LED light level: 7Ch
!
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
23h!
Set!Device!Register!
Byte818
00h!
CAN!Object!6500h!
Byte828
65h!
Byte838
01h!
Sub!index!
Byte848
7Ch!
Command:!Set!startup!LED!level!
Byte858
XXh!
0-3Fh!à!min-100%!
Byte86,78
00h!
Not!used!
Example:!
Direction!
Identifier!
Format!
Data!
!
To8Keypad8
615!
Std!
23!00!65!01!7C!3F!00!00!
Set!startup!LED!level!
at!100%!!!
Keypad8reply8
595!
Std!
60!00!65!01!00!00!00!00!
!

!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 15 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2400-LI_CANOpen_UM_REV1.1
j) Set default startup backlight level: 7Bh
!
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
23h!
Set!Device!Register!
Byte818
00h!
CAN!Object!6500h!
Byte828
65h!
Byte838
01h!
Sub!index!
Byte848
7Bh!
Command:!Set!backlight!level!
Byte858
XXh!
0-3Fh!à!0!–!100%!brightness!
Byte86,78
00h!
Not!used!
!
!
Example:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
23!00!65!01!7B!00!00!00!
Backlight!off!at!
startup!!!
Keypad8reply8
595!
Std!
60!00!65!01!00!00!00!00!
!
!
k) Set default startup backlight color: 7Dh
!
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
23h!
Set!Device!Register!
Byte818
00h!
CAN!Object!6500h!
Byte828
65h!
Byte838
01h!
Sub!index!
Byte848
7Dh!
Command:!Set!backlight!color!
Byte858
XXh!
Color!!
01h:!red!
02h:!green!
03h:!blue!
04h:!yellow!
05h:!cyan!
06h:!violet!
07h:!white!
08h:!amber/orange!!
09h:!yellow/green!!
Byte86,78
00h!
Not!used!
!
Example:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
23!00!65!01!7D!01!00!
00!
Red!backlight!color!at!
startup!
Keypad8reply8
595!
Std!
60!00!65!01!00!00!00!
00!
!
!
! !

!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 16 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2400-LI_CANOpen_UM_REV1.1
l) Set DEMO mode: 7Ah
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.!
!
Identifier8
615h!(600h!+!current!CAN!ID)!
8
Byte808
23h!
Set!Device!Register!
Byte818
00h!
CAN!Object!6500h!
Byte828
65h!
Byte838
01h!
Sub!index!
Byte848
7Ah!
Command:!Set!DEMO!mode!
Byte858
XXh!
01h:!on!!
00h:!off!
Byte86,78
00h!
Not!used!
!
Example:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
23!00!65!01!7A!01!00!00!
Set!demo!mode!on!!!
Keypad8reply8
595!
Std!
60!00!65!01!00!00!00!00!
!
!
!
!
m) Set startup LED show: 50h
!
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
23h!
Set!Device!Register!
Byte818
00h!
CAN!Object!6500h!
Byte828
65h!
Byte838
01h!
Sub!index!
Byte848
50h!
Command:!Set!startup!LED!show!
8
Byte858
!
XXh!
01h:!Complete!LED!Show!(default)!
02h:!Amber!fast!flash!
03h:!Disable!
Byte86,78
00h!
Not!used!
!
Example:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
23!00!65!01!50!03!00!00!
Startup!LED!show!
disable!
Keypad8reply8
595!
Std!
60!00!65!01!00!00!00!00!
!
!
! !

!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 17 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2400-LI_CANOpen_UM_REV1.1
14. Object 6000h: Digital input module, keys states
This!module!contains!all!the!Switch!State!information.!
A!one!indicates!the!switch!is!on,!a!zero!indicates!the!switch!is!off.!!
!
• PKP-2200-LI
!
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
40h!
Read!Device!Register!
Byte818
00h!
CAN!Object!6000h!
Byte828
60h!
Byte838
00h!
Sub!index!
Byte84,78
00h!
Not!used!
Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
40!00!60!00!00!00!00!00!
!
8
8
8
Keypad8
reply8
!
!
!
595!
!
!
!
std!
43!00!60!00!00!00!00!00!
No!key!pressed!
43!00!60!00!01!00!00!00!
Key!1!pressed!
43!00!60!00!02!00!00!00!
Key!2!pressed!
43!00!60!00!04!00!00!00!
Key!3!pressed!
43!00!60!00!08!00!00!00!
Key!4!pressed!
43!00!60!00!03!00!00!00!
Key!1!and!2!pressed!
43!00!60!00!0A!00!00!00!
Key!2!and!4!pressed!
43!00!60!00!07!00!00!00!
Key!1,!2!and!3!pressed!
43!00!60!00!0F!00!00!00!
All!keys!pressed!
!
• PKP-2400-LI
!
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
40h!
Read!Device!Register!
Byte818
00h!
CAN!Object!6000h!
Byte828
60h!
Byte838
00h!
Sub!index!
Byte84,78
00h!
Not!used!
Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
!40!00!60!00!00!00!00!00!
!
8
8
8
8
8
8
Keypad8
reply8
!
!
!
!
!
!
595!
!
!
!
!
!
!
std!
!43!00!60!00!00!00!00!00!
No!key!pressed!
!43!00!60!00!01!00!00!00!
Key!1!pressed!!!
!43!00!60!00!02!00!00!00!
Key!2!pressed!
!43!00!60!00!04!00!00!00!
Key!3!pressed!
!43!00!60!00!08!00!00!00!
Key!4!pressed!
!43!00!60!00!10!00!00!00!
Key!5!pressed!
!43!00!60!00!20!00!00!00!
Key!6!pressed!
!43!00!60!00!40!00!00!00!
Key!7!pressed!
!43!00!60!00!80!00!00!00!
Key!8!pressed!
!43!00!60!00!03!00!00!00!
Key!1!and!2!pressed!
!43!00!60!00!81!00!00!00!
Key!1!and!8!pressed!
!43!00!60!00!22!00!00!00!
Key!2!and!6!pressed!
8
!
!
!43!00!60!00!FF!00!00!00!
All!keys!pressed!

!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 18 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2400-LI_CANOpen_UM_REV1.1
15. Object 6001h: Digital output module.
This!module!sets!and!reads!the!LED!Outputs!States.!A!one!indicates!the!LED!is!on,!a!zero!
indicates!the!LED!is!off.!
!
a) Set LED ON
!
• PKP-2200-LI
!
Identifier8
600h!+!current!CAN!ID!
Default!615h!
Byte808
23h!
Set!Device!Register!
Byte818
01h!
CAN!Object!6001h!
Byte828
60h!
Byte838
00h!
Sub!index!
Byte848
XYh!!!!!!!!!!!!
X:!G4!G3!G2!G1!!!!Green!LED!!!
Y:!R4!R3!R2!R1!!!!!Red!LED!
Byte858
0Zh!
Z:!B4!B3!B2!B1!!!!!Blue!LED!
Byte86,78
00h!
Not!used!
!
!Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
23!01!60!00!00!00!00!00!
Set!all!LED!off!
Keypad8reply8
595!
Std!
60!01!60!00!00!00!00!00!
!
To8Keypad8
615!
Std!
23!01!60!00!80!00!00!00!
Set!green!LED!#4!ON!
Keypad8reply8
595!
Std!
60!01!60!00!00!00!00!00!!
!
To8Keypad8
615!
Std!
23!01!60!00!04!00!00!00!
Set!red!LED!#3!ON!
Keypad8reply8
595!
Std!
60!01!60!00!00!00!00!00!!
!
!
• PKP-2400-LI
!
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
23h!
Set!Device!Register!
Byte818
01h!
CAN!Object!6001h!
Byte828
60h!
Byte838
00h!
Sub!index!
Byte848
XXh!
R8!R7!R6!R5!R4!R3!R2!R1!Red!LED!
Byte858
YYh!
G8!G7!G6!G5!G4!G3!G2!G1!Green!LED!
Byte868
ZZh!
B8!B7!B6!B5!B4!B3!B2!B1!Blue!LED!
Byte878
00h!
Not!used!
!
!Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
23!01!60!00!00!00!00!00!
Set!all!LED!off!
Keypad8reply8
595!
Std!
60!01!60!00!00!00!00!00!
!
To8Keypad8
615!
Std!
23!01!60!00!00!01!00!00!
Set!green!LED!#1!
ON!
Keypad8reply8
595!
Std!
60!01!60!00!00!00!00!00!!
!

!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 19 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2400-LI_CANOpen_UM_REV1.1
b) Read LED ON
The!LEDs!have!the!same!mapping!of!Set!LED!ON!message!
• PKP-2200-LI
!
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
40h!
Read!Device!Register!
Byte818
01h!
CAN!Object!6001h!
Byte828
60h!
Byte838
00h!
Sub!index!
Byte84,78
00h!
Not!Used!
!
!Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
40!01!60!00!00!00!00!00!
!
Keypad8reply8
595!
Std!
43!01!60!00!0F!00!00!00!
All!red!LED!ON!
To8Keypad8
615!
Std!
40!01!60!00!00!00!00!00!
!
Keypad8reply8
595!
Std!
43!01!60!00!08!00!00!00!
Red!LED!#4!ON!
To8Keypad8
615!
Std!
40!01!60!00!00!00!00!00!
!
Keypad8reply8
595!
Std!
43!01!60!00!20!00!00!00!
Green!LED!#2!
ON!
To8Keypad8
615!
Std!
40!01!60!00!00!00!00!00!
!
Keypad8reply8
595!
Std!
43!01!60!00!F0!00!00!00!
All!green!LED!
ON!
To8Keypad8
615!
Std!
40!01!60!00!00!00!00!00!
!
Keypad8reply8
595!
Std!
43!01!60!00!00!0F!00!00!
All!blue!LED!ON!
!
• PKP-2400-LI
!
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
40h!
Read!Device!Register!
Byte818
01h!
CAN!Object!6001h!
Byte828
60h!
Byte838
00h!
Sub!index!
Byte84,78
00h!
Not!Used!
!
!Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
40!01!60!00!00!00!00!00!
!
Keypad8reply8
595!
Std!
43!01!60!00!FF!00!00!00!
All!red!LED!ON!
To8Keypad8
615!
Std!
40!01!60!00!00!00!00!00!
!
Keypad8reply8
595!
Std!
43!01!60!00!01!00!00!00!
Red!LED!#1!ON!
To8Keypad8
615!
Std!
40!01!60!00!00!00!00!00!
!
Keypad8reply8
595!
Std!
43!01!60!00!02!00!00!00!
Red!LED!#2!ON!
To8Keypad8
615!
Std!
40!01!60!00!00!00!00!00!
!
Keypad8reply8
595!
Std!
43!01!60!00!00!FF!00!00!
All!green!LED!
ON!
To8Keypad8
615!
Std!
40!01!60!00!00!00!00!00!
!
Keypad8reply8
595!
Std!
43!01!60!00!00!00!FF!00!
All!blue!LED!ON!
!

!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 20 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PKP-2400-LI_CANOpen_UM_REV1.1
16. Object 6002h: Digital output module.
This!module!sets!and!reads!the!LED!Blink!States.!
Each!bit!position!represents!the!corresponding!LED.!A!one!indicates!the!LED!is!blinking,!a!
zero!indicates!the!LED!is!normal.!If!the!blink!bit!is!active!with!the!ON!bit!active,!the!LED!
will!blink!inverse!to!normal!operation!(ALT!blink).!
!
a) Set LED blink
• PKP-2200-LI
!
Identifier8
600h!+!current!CAN!ID!
Default!615h8
Byte808
23h!
Set!Device!Register!
Byte818
02h!
CAN!Object!6002h!
Byte828
60h!
Byte838
00h!
Sub!index!
Byte848
XYh!
X:!G4!G3!G2!G1!!!!Green!LED!!!
Y:!R4!R3!R2!R1!!!!Red!LED!
Byte858
0Zh!
Z:!B4!B3!B2!B1!!!!!Blue!LED!
Byte86,78
00h!
Not!used!
!
Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To8Keypad8
615!
Std!
23!02!60!00!00!00!00!00!
No!LED!blinks!
Keypad8reply8
595!
Std!
60!02!60!00!00!00!00!00!
!
To8Keypad8
615!
Std!
23!02!60!00!08!00!00!00!
Only!red!LED!#4!
blinks!
Keypad8reply8
595!
Std!
60!02!60!00!00!00!00!00!!
!
To8Keypad8
615!
Std!
23!02!60!00!10!00!00!00!
Only!green!LED!#1!
blinks!
Keypad8reply8
595!
Std!
60!02!60!00!00!00!00!00!!
!
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