Blink Marine PKP-1400 User manual

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Tel.$+39$(02)$3088583$–$Fax$+39$(02)$33406697$ $ $ $
www.blinkmarine.com$–$[e-mail]$ $ $ PK-1400_CANOpen_UM_REV1.3
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PKP-1400
CANOPEN USER MANUAL
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THE PRESENT MANUAL IS FOR REFERENCE ONLY AND MIGHT BE NOT UP TO DATE TO THE LATEST VERSION.
PLEASE CONTACT US FOR GETTING THE MOST UPDATED FILE

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Table of contents
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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$...........................................................................................................................$6$
6.$Reset$CANopen$node$............................................................................................................................$6$
7.$Stop$CANopen$node$.............................................................................................................................$6$
8.$Boot-up$service$.....................................................................................................................................$7$
$PDO$messages$......................................................................................................................................$7$
9.$Keys$state$message$...............................................................................................................................$7$
•$PK-1400$..............................................................................................................................................$7$
10.$Set$LED$ON$message$.............................................................................................................................$8$
•$PK-1400$RED$......................................................................................................................................$8$
•$PK-1400$GREEN$..................................................................................................................................$8$
11.$Indicator$LEDs$brightness$level$.............................................................................................................$9$
12.$Backlight$brightness$level$.....................................................................................................................$9$
$SDO$Messages:$...................................................................................................................................$10$
13.$Object$2000h:$Digital$input$module,$keys$states$................................................................................$10$
•$PK-1400$............................................................................................................................................$10$
14.$Object$2001h:$Digital$output$module.$................................................................................................$11$
a)$Set$LED$ON$..........................................................................................................................................$11$
•$PK-1400$............................................................................................................................................$11$
b)$Read$LED$ON$.......................................................................................................................................$12$
•$PK-1400$............................................................................................................................................$12$
15.$Object$2002h:$Digital$output$module.$................................................................................................$13$
a)$Set$LED$blink$.......................................................................................................................................$13$
•$PK-1400$............................................................................................................................................$13$
b)$Read$LED$blink$....................................................................................................................................$14$
•$PK-1400$............................................................................................................................................$14$
16.$Object$2003:$Brightness$Level$............................................................................................................$15$
a)$Set$Indicator$LEDs$brightness$level$..................................................................................................$15$

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b)$Backlight$brightness$level$................................................................................................................$15$
c)$Backlight$color$..................................................................................................................................$15$
d)$Set$default$backlight$color$...............................................................................................................$16$
e)$Set$startup$Indicator$LEDs$brightness$level$......................................................................................$16$
f)$Set$startup$backlight$brightness$level$..............................................................................................$16$
17.$Object$2010h:$Baud$rate$setting$.........................................................................................................$17$
18.$Object$2011h:$Set$Boot-up$service$.....................................................................................................$17$
19.$Object$2012h:$Set$device$active$on$startup$........................................................................................$18$
20.$Object$2013h:$Set$CANopen$node$ID$.................................................................................................$18$
21.$Object$2014h:$Set$startup$LED$show$..................................................................................................$19$
22.$Object$2015h:$LED$Power$supply$........................................................................................................$19$
23.$Object$2100h:$Set$DEMO$mode$..........................................................................................................$20$
24.$Object$2BFFh:$BUS$setting$..................................................................................................................$20$
25.$Object$1017h:$Producer$heartbeat$time$............................................................................................$21$
$Heartbeat$message$.............................................................................................................................$21$
26.$Object$1000h:$Device$Type$.................................................................................................................$22$
27.$Object$1001h:$Error$Register$..............................................................................................................$22$
28.$Object$1008h:$Manufacturer$Device$Name$........................................................................................$23$
29.$Object$1009h:$Manufacturer$Hardware$Revision$...............................................................................$23$
30.$Object$100Ah:$Manufacturer$Firmware$Revision$...............................................................................$24$
31.$Object$100Bh:$Model$ID$.....................................................................................................................$24$
32.$Object$1018h:$Identity$Data$...............................................................................................................$25$
33.$Object$1400h:$Receive$PDO$communication$Parm$0$.........................................................................$25$
34.$Object$1401h:$Receive$PDO$communication$Parm$1$.........................................................................$26$
35.$Object$1402h:$Receive$PDO$communication$Parm$2$.........................................................................$26$
36.$Object$1403h:$Receive$PDO$communication$Parm$3$.........................................................................$27$
37.$Object$1600h:$Receive$PDO$mapping$Parameter$0$............................................................................$27$
38.$Object$1601h:$Receive$PDO$mapping$Parameter$1$............................................................................$28$
39.$Object$1602h:$Receive$PDO$mapping$Parameter$2$............................................................................$28$
40.$Object$1603h:$Receive$PDO$mapping$Parameter$3$............................................................................$29$
41.$Object$1604h:$Receive$PDO$mapping$Parameter$4$............................................................................$29$
42.$Object$1605h:$Receive$PDO$mapping$Parameter$5$............................................................................$30$
43.$Object$1800h:$.....................................................................................................................................$30$
a)$Transmit$PDO$Communication$Parm$0$............................................................................................$30$
b)$Set$periodic$state$transmission$........................................................................................................$31$
44.$Object$1A00h$Transmit$PDO$Mapping$Parameter$..............................................................................$31$
45.$Object$2200h:$$Serial$number$string$...................................................................................................$32$
46.$Set$CAN$protocol$................................................................................................................................$32$
$APPENDIX:$DEMO$Mode$instructions$.................................................................................................$33$
47.$Revision$history$..................................................................................................................................$33$

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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
PowerKey$front$view.$
PK-1400!
!
!
PIN!
COLOUR$
FUNCTION$
1!
Blue$
CAN$L$
2!
White$
CAN$H$
3!
Black$
Negative$battery$
4!
Red$
Vbatt.$(12-24V)$

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3. Default settings
$
Setting$
Default!state!or!level!
How!to!change!
Baud!Rate!
125$kbit/s$
Object$2010h$
CANopen!Node!ID!
15h$
Object$2013h$
CANopen!Node!
State!
Stop$
NMT$Message$Start$CANopen$
node$
Key!Brightness!
3Fh$(Maximum$Brightness)$
Object$2003h$
Backlight!Brightness!
00h$(OFF)$
Object$2003h$
Backlight!Color!
Amber$
Object$2003h$
Startup!LED!Light!
Show!
Complete$LED$Sequence$
Object$2014h$
Periodic!Message!
Transmission!
Disable$
Object$1800h$
DEMO!mode!
Disable$
Object$2100h$
Heartbeat!Message!
Disable$
Object$1017h$
Boot-up!service!
Active$
Object$2011h$
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NMT MESSAGES
The$Network$Management$messages$follow$a$master-slave$structure.$$Through$NMT$
services,$CANopen$devices$are$initialized,$started,$reset$or$stopped.$All$CANopen$devices$
are$regarded$as$NMT$slaves.$NMT$messages$have$CAN-ID$always$equal$to$00h.$
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4. Start CANopen node (keypad activation message)
$
Identifier!
00h$
$
Byte!0!
01h$
Start$CANopen$node$
!
Byte!1!
$
XXh$
$
Keypad$CAN$ID$
00h:$start$all$the$keypads$
15h:$start$the$keypad$with$CAN$ID$=$
15h.$
Byte!2,!7!
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
To!Keypad!
0$
Std$
01$15$
$
$
$
$
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5. Enter pre-operational
$
Identifier!
00h$
$
Byte!0!
80h$
Enter$pre-operational$
!
Byte!1!
$
XXh$
$
Keypad$CAN$ID$
00h:$enter$all$the$keypads$
15h:$enter$the$keypad$with$CAN$ID$=$
15h.$
Byte!2,!7!
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
To!Keypad!
0$
Std$
80$15$
$
6. Reset CANopen node
Identifier!
00h$
$
Byte!0!
81h$
Reset$CANopen$node$
!
Byte!1!
$
XXh$
$
Keypad$CAN$ID$
00h:$reset$all$the$keypads$
15h:$reset$the$keypad$with$CAN$ID$=$
15h.$
Byte!2,!7!
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
To!Keypad!
0$
Std$
81$15$
$
7. Stop CANopen node
$
Identifier!
00h$
$
Byte!0!
XXh$
02h:$Stop$CANopen$node$$$
00h:$Stop$CANopen$node$(old$sw$
compatibility)$
Byte!1!
YYh$
Keypad$CAN$ID$
00h:$stop$all$the$keypads$
15h:$stop$the$keypad$with$CAN$ID$=$15h.$
Byte!2,!7!
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
To!Keypad!
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$Pre-operational.$
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$Pre-operational.$
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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.$
9. Keys state message
The$keypad$must$be$activated,$see$NMT$Start$CANopen$Node$message.$
• PK-1400
$
Identifier!
180$+$current$CAN$ID$
Default$195h$
Byte!0!
Keys$from$#1$to$#8$
K8$K7$K6$K5$–$K4$K3$K2$K1$
Keys:$1=pressed;$0=released$
Byte!1!!
Keys$from$#9$to$#14$
0$0$K14$K13$–$K12$K11$K10$K9$
Keys:$1=pressed;$0=released$
Byte!2,!3!!!
00h$
Not$Used$
Byte!4!
XXh$
Tick$Timer$
$
$Examples:$
Direction$
Identifier$
Format$
Message$
Key$state$
From!Keypad!
195$
Std$
00$00$00$00$XX$$
No$key$pressed$
From!Keypad!
195$
Std$
04$00$00$00$XX$$$
Only$key$#3$pressed$
From!Keypad!
195$
std$
82$00$00$00$XX$
Keys$#8$and$#2$pressed$
From!Keypad!
195$
Std$
00$20$00$00$XX$$
Only$key$#14$pressed$
From!Keypad!
195$
Std$
11$00$00$00$XX$
Keys$#1$and$#5$pressed$
$
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10. Set LED ON message
The$keypad$must$be$activated,$see$NMT$Start$CANopen$Node$message.$
• PK-1400 RED
$
Identifier!
200$+$current$CAN$ID$
Default$215h$
Byte!0!
R8$R7$R6$R5$–$R4$R3$R2$R1$
Red$LED$$
Byte!1!!
R16$R15$R14$R13$–$R12$R11$R10$R9$
Red$LED$$
Byte!2!
R24$R23$R22$R21$–$R20$R19$R18$R17$
Red$LED$$
Byte!3!!
R32$R31$R30$R29$–$R28$R27$R26$R25$
Red$LED$$
Byte!4!!
R40$R39$R38$R37$–$R36$R35$R34$R33$
Red$LED$
Byte!5,!7!!!
00h$
Not$used$
$
$Examples:$
Direction$
Identifier$
Format$
Message$
LED$
To!Keypad!
215$
Std$
00$00$00$00$00$00$00$00$
Turn$off$all$the$LED$
To!Keypad!
215$
Std$
01$00$00$00$00$00$00$00$
Only$red$LED$#1$ON$
To!Keypad!
215$
Std$
05$00$00$00$00$00$00$00$$
Red$LED$#1$and$#3$ON,$
other$LED$OFF$
To!Keypad!
215$
Std$
00$20$00$00$00$00$00$00$$
Only$red$LED$#14$ON$
To!Keypad!
215$
Std$
00$00$01$00$00$00$00$00$$
Only$red$LED$#17$ON$
To!Keypad!
215$
Std$
00$00$00$33$00$00$00$00$$
Red$LED$#25,$#26,$#29,$
#30$ON$
To!Keypad!
215$
Std$
00$00$00$00$44$00$00$00$
Red$LED$#35$and$#39$ON$
$
• PK-1400 GREEN
$
Identifier!
300$+$current$CAN$ID$
Default$315h$
Byte!0!
G8$G7$G6$G5$–$G4$G3$G2$G1$
Green$LED$$
Byte!1!!
G16$G15$G14$G13$–$G12$G11$G10$G9$
Green$LED$$
Byte!2!
G24$G23$G22$G21$–$G20$G19$G18$G17$
Green$LED$$
Byte!3!!
G32$G31$G30$G29$–$G28$G27$G26$G25$
Green$LED$$
Byte!4!!
G40$G39$G38$G37$–$G36$G35$G34$G33$
Green$LED$$
Byte!5,!7!!!
00h$
Not$used$
$
$Examples:$
Direction$
Identifier$
Format$
Message$
LED$
To!Keypad!
315$
Std$
00$00$00$00$00$00$00$00$
Turn$off$all$LED$
To!Keypad!
315$
Std$
04$00$00$00$00$00$00$00$
Only$green$LED$#3$ON$
To!Keypad!
315$
Std$
10$00$00$00$00$00$00$00$$
Only$green$LED$#5$ON$
To!Keypad!
315$
Std$
00$21$00$00$00$00$00$00$$
Green$LED$#9$and$#14$ON$
To!Keypad!
315$
Std$
00$00$35$00$00$00$00$00$$
Green$LED$#17,$#19,$#21$
and$#22$ON$$
To!Keypad!
315$
Std$
00$00$00$42$00$00$00$00$$
Green$LED$#26$and$#31$ON$
To!Keypad!
315$
Std$$
00$00$00$00$86$00$00$00$$
Green$LED$#34,$#35$and$
#40$ON$
$
$

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11.
!
Indicator LEDs brightness level
The$keypad$must$be$activated,$see$NMT$Start$CANopen$Node$message.$
Identifier!
400$+$current$CAN$ID$
Default$415h$
Byte!0!
XXh$
Intensity$00h-3Fhà$min-100%$
Byte!1,!7!!!
00h$
Not$used$
$
$Examples:$
Direction$
Identifier$
Format$
Message$
LED$
To!Keypad!
415$
Std$
08$00$00$00$00$00$00$00$
Brightness$=$12,5%$
To!Keypad!
415$
Std$
10$00$00$00$00$00$00$00$$
Brightness$=25%$
$
$
12. Backlight brightness level
The$keypad$must$be$activated,$see$NMT$Start$CANopen$Node$message.$
Identifier!
500$+$current$CAN$ID$
Default$515h$
Byte!0!
XXh$
Intensity$00h-3Fhà$0-100%$
Byte!1,!7!!!
00h$
Not$used$
$
$Examples:$
Direction$
Identifier$
Format$
Message$
LED$
To!Keypad!
515$
Std$
00$00$00$00$00$00$00$00$
Turn$off$the$backlight$
To!Keypad!
515$
Std$
10$00$00$00$00$00$00$00$$
Backlight$brightness=25%$

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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 2000h: 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.$$
The$keypad$must$be$enabled,$see$NMT$messages.$
The$switch$state$is$reported$in$the$Keypad$reply$message$from$byte$4$to$byte$5.$The$
mapping$is$the$same$of$the$PDO$Key$state$message.$
$
• PK-1400
$
Identifier!
600h$+$current$CAN$ID$
Default$615h!
Byte!0!
40h$
Read$Device$Register$
Byte!1!
00h$
CAN$Object$2000h$
Byte!2!
20h$
Byte!3!
01h$
Sub$index$
Byte!4,7!
00h$
Not$used$
$
$Examples:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
$40$00$20$01$00$00$00$00$
$
Keypad!
reply!
595$
Std$
$4B$00$20$01$00$00$00$00$
No$key$pressed$
$4B$00$20$01$01$00$00$00$
Key$1$pressed$$$
$4B$00$20$01$02$00$00$00$
Key$2$pressed$
$4B$00$20$01$00$20$00$00$
Key$14$pressed$
$4B$00$20$01$03$00$00$00$
Key$1$and$2$pressed$
$4B$00$20$01$20$01$00$00$
Key$6$and$9$pressed$
!
$
$
$4B$00$20$01$FF$3F$00$00$$
All$keys$pressed$
$
$ $

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14. Object 2001h: 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
• PK-1400
LED From L1 to L32
Identifier!
600h$+$current$CAN$ID$
Default$615h!
Byte!0!
23h$
Set$Device$Register$
Byte!1!
01h$
CAN$Object$2001h$
Byte!2!
20h$
Byte!3!
XXh$
XX:$Sub$index$
01h:$Red$LED$from$L1$to$L32$
02h:$Green$LED$from$L1$to$L32$
Byte!4!
XXh$
L8$L7$L6$L5$–$L4$L3$L2$L1$$
Byte!5!
XXh$
L16$L15$L14$L13$–$L12$L11$L10$L9$$$
Byte!6!
XXh$
L24$L23$L22$L21$–$L20$L19$L18$L17$$$
Byte!7!
XXh$
L32$L31$L30$L29$–$L28$L27$L26$L25$$
$
$Examples:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
23$01$20$01$04$10$20$80$
Set$red$LED$#3,$#13,$#22$
and$31$ON$
Keypad!reply!
595$
Std$
60$01$20$01$00$00$00$00$
$
To!Keypad!
615$
Std$
23$01$20$02$80$20$10$01$
Set$green$LED$#8,$#14,$
#21$and$#25$ON$
Keypad!reply!
595$
Std$
60$01$20$02$00$00$00$00$
$
$
LED From L33 to L40
Identifier!
600h$+$current$CAN$ID$
Default$615h!
Byte!0!
2Fh$
Set$Device$Register$
Byte!1!
01h$
CAN$Object$2001h$
Byte!2!
20h$
Byte!3!
XXh$
04h:$Red$LED$from$L33$to$L40$
05h:$Green$LED$from$L33$to$L40$
Byte!4!
XXh$
L40$L39$L38$L37$–$L36$L35$L34$L33$
Byte!5,7!!
00h$
Not$used$
$
$Examples:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
2F$01$20$04$01$00$00$00$
Set$red$LED$#33$ON$
Keypad!reply!
595$
Std$
60$01$20$04$00$00$00$00$
$
To!Keypad!
615$
Std$
2F$01$20$05$3E$00$00$00$
Set$green$LED$#34,$
#35,$#36,$#37$and$
#38$ON$
Keypad!reply!
595$
Std$
60$01$20$05$00$00$00$00$
$
$
$ $

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b) Read LED ON
The$LEDs$have$the$same$mapping$of$Set$LED$ON$message$
• PK-1400
$
Identifier!
600h$+$current$CAN$ID$
Default$615h!
Byte!0!
40h$
Read$Device$Register$
Byte!1!
01h$
CAN$Object$2001h$
Byte!2!
20h$
Byte!3!
XXh$
XX:$Sub$index$
01h:$Red$LED$from$L1$to$L32$
02h:$Green$LED$from$L1$to$L32$
04h:$Red$LED$from$L33$to$L40$
05h:$Green$LED$from$L33$to$L40$
Byte!4,7!
00h$
Not$used$
$
$
$Examples:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
40$01$20$01$00$00$00$00$
Read$red$LED$from$
#1$to$#32$
Keypad!reply!
595$
Std$
43$01$20$01$FF$FF$FF$FF$
All$red$LED$from$#1$
to$#32$are$ON$
To!Keypad!
615$
Std$
40$01$20$02$00$00$00$00$
Read$green$LED$from$
#1$to$#32$
Keypad!reply!
595$
Std$
43$01$20$02$0A$0B$0C$00$
Green$LED$#2,$#4,$#9,$
#10,$#12,$#19,$#20$
are$ON$
To!Keypad!
615$
Std$
40$01$20$04$00$00$00$00$
Read$red$LED$from$
#33$to$#40$
Keypad!reply!
595$
Std$$
4F$01$20$04$03$00$00$00$
Red$LED$#33,$#34$are$
ON$
To!Keypad!
615$
Std$
40$01$20$05$00$00$00$00$
Read$green$LED$from$
#33$to$#40$
Keypad!reply!
595$
Std$$
4F$01$20$05$06$00$00$00$$
Green$LED$#34,$#35$
are$ON$
$
$ $

$
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 13 -
Tel. [phone] – Fax [phone]
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15. 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$is$normal.$If$the$blink$message$is$sent$when$the$LED$is$already$
ON,$the$LED$blinks$in$alternate$mode.$
a) Set LED blink
• PK-1400
LED From L1 to L32
Identifier!
600h$+$current$CAN$ID$
Default$615h!
Byte!0!
23h$
Set$Device$Register$
Byte!1!
02h$
CAN$Object$2002h$
Byte!2!
20h$
Byte!3!
XXh$
XX:$Sub$index$
01h:$Red$LED$blink$from$L1$to$L32$
02h:$Green$LED$blink$from$L1$to$L32$
Byte!4!
XXh$
L8$L7$L6$L5$–$L4$L3$L2$L1$$
Byte!5!
XXh$
L16$L15$L14$L13$–$L12$L11$L10$L9$$$
Byte!6!
XXh$
L24$L23$L22$L21$–$L20$L19$L18$L17$$$
Byte!7!
XXh$
L32$L31$L30$L29$–$L28$L27$L26$L25$$
$
Examples:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
23$02$20$01$04$00$00$00$
Set$red$LED$#3$blink$
Keypad!reply!
595$
Std$
60$02$20$01$00$00$00$00$
$
To!Keypad!
615$
Std$
23$02$20$02$00$20$00$00$
Set$green$LED$#14$blink$
Keypad!reply!
595$
Std$
60$02$20$02$00$00$00$00$
$
To!Keypad!
615$
Std$
23$02$20$01$00$00$88$00$
Set$red$LED$#20$and$
#24$blink$
$
LED From L33 to L40
Identifier!
600h$+$current$CAN$ID$
Default$615h!
Byte!0!
2Fh$
Set$Device$Register$
Byte!1!
02h$
CAN$Object$2002h$
Byte!2!
20h$
Byte!3!
XXh$
04h:$Red$LED$blink$from$L33$to$L40$
05h:$Green$LED$blink$from$L33$to$L40$
Byte!4!
XXh$
L40$L39$L38$L37$–$L36$L35$L34$L33$
Byte!5,7!!
00h$
Not$used$
$
Examples:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
2F$02$20$04$01$00$00$00$
Set$red$LED$#33$blink$
Keypad!reply!
595$
Std$
60$02$20$04$00$00$00$00$
$
To!Keypad!
615$
Std$
2F$02$20$05$1C$00$00$00$
Set$green$LED$#35,$
#36$and$#37$blink$
Keypad!reply!
595$
Std$
60$02$20$05$00$00$00$00$
$
$

$
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 14 -
Tel. [phone] – Fax [phone]
www.blinkmarine.com – [e-mail] PK-1400_CANOpen_UM_REV1.3
b) Read LED blink
The$LEDs$have$the$same$mapping$of$Set$LED$ON$message$
• PK-1400
Identifier!
600h$+$current$CAN$ID$
Default$615h!
Byte!0!
40h$
Set$Device$Register$
Byte!1!
02h$
CAN$Object$2002h$
Byte!2!
20h$
Byte!3!
XXh$
XX:$Sub$index$
01h:$Red$LED$from$L1$to$L32$
02h:$Green$LED$from$L1$to$L32$
04h:$Red$LED$from$L33$to$L40$
05h:$Green$LED$from$L33$to$L40$
Byte!4,7!
00h$
Not$used$
$
Examples:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
40$02$20$01$00$00$00$00$
Read$red$LED$blinking$
from$#1$to$#32$
Keypad!
reply!
595$
Std$
43$02$20$01$3F$00$00$00$
Red$LED$from$#1$to$#6$
are$blinking$
To!Keypad!
615$
Std$
40$02$20$02$00$00$00$00$
Read$green$LED$blinking$
from$#1$to$#32$
Keypad!
reply!
595$
Std$
43$02$20$02$03$00$00$00$
Green$LED$#1,$#2$are$
blinking$
To!Keypad!
615$
Std$
40$02$20$04$00$00$00$00$
Read$red$LED$blinking$
from$#33$to$#40$
Keypad!
reply!
595$
Std$
4F$02$20$04$78$00$00$00$
Red$LED$from$#36$to$#39$
are$blinking$
To!Keypad!
615$
Std$$
40$02$20$05$00$00$00$00$
Read$green$LED$blinking$
from$#33$to$#40$
Keypad!
reply!
595$
Std$
4F$02$20$05$08$00$00$00$
Green$LED$#36$is$blinking$
$ $

$
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 15 -
Tel. [phone] – Fax [phone]
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16. Object 2003: Brightness Level
a) Set Indicator LEDs brightness level
Identifier!
615h$(600h$+$current$CAN$ID)$
!
Byte!0!
2Fh$
Set$Device$Register$
Byte!1!
03h$
CAN$Object$2003h$
Byte!2!
20h$
Byte!3!
01h$
Sub$index$
Byte!4!
XXh$
Intensity$00h-3Fhà$min-100%$
Byte!5,7!
00h$
Not$used$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
2F$03$20$01$10$00$00$00$
LED$brightness$=$25%$
Keypad!reply!
595$
Std$
60$03$20$01$00$00$00$00$
$
$
b) Backlight brightness level
Identifier!
615h$(600h$+$current$CAN$ID)$
!
Byte!0!
2Fh$
Set$Device$Register$
Byte!1!
03h$
CAN$Object$2003h$
Byte!2!
20h$
Byte!3!
02h$
Sub$index$
Byte!4!
XXh$
Intensity$00h-3Fhà$0-100%$
Byte!5,7!
00h$
Not$used$
$Example:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
2F$03$20$02$10$00$00$00$
Backlight$brightness$=$25%$
Keypad!reply!
595$
Std$
60$03$20$02$00$00$00$00$
$
$
c) Backlight color
Identifier!
615h$(600h$+$current$CAN$ID)$
!
Byte!0!
2Fh$
Set$Device$Register$
Byte!1!
03h$
CAN$Object$2003h$
Byte!2!
20h$
Byte!3!
03h$
Sub$index$
Byte!4!
XXh$
Backlight$Color$
$
01h:$red$$$$$$$$$$$$$$$$$
02h:$green$$
03h:$blue$$$$$$$$$$$$$$$
04h:$yellow$$
05h:$cyan$$
$
06h:$violet$$
07h:$white/light$
blue$$
08h:$
amber/orange$$
09h:$
yellow/green$$
$
Byte!5,7!
00h$
Not$used$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
2F$03$20$03$01$00$00$00$
Red$backlight$color$
Keypad!
reply!
595$
Std$
60$03$20$03$00$00$00$00$
$

$
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 16 -
Tel. [phone] – Fax [phone]
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d) Set default backlight color
Identifier!
615h$(600h$+$current$CAN$ID)$
!
Byte!0!
2Fh$
Set$Device$Register$
Byte!1!
03h$
CAN$Object$2003h$
Byte!2!
20h$
Byte!3!
04h$
Sub$index$
Byte!4!
XXh$
Backlight$Color$
$
01h:$red$$$$$$$$$$$$$$$$$
02h:$green$$
03h:$blue$$$$$$$$$$$$$$$
04h:$yellow$$
05h:$cyan$$
$
06h:$violet$$
07h:$white/light$
blue$$
08h:$
amber/orange$$
09h:$
yellow/green$$
$
Byte!5,7!
00h$
Not$used$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
2F$03$20$04$03$00$00$00$
Blue$default$backlight$color$
Keypad!reply!
595$
Std$
60$03$20$04$00$00$00$00$
$
$
e) Set startup Indicator LEDs brightness level
Identifier!
615h$(600h$+$current$CAN$ID)$
!
Byte!0!
2Fh$
Set$Device$Register$
Byte!1!
03h$
CAN$Object$2003h$
Byte!2!
20h$
Byte!3!
05h$
Sub$index$
Byte!4!
XXh$
Intensity$00h-3Fhà$min-100%$
Byte!5,7!
00h$
Not$used$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
2F$03$20$05$10$00$00$00$
Brightness$=$25%$
Keypad!reply!
595$
Std$
60$03$20$05$00$00$00$00$
$
$
f) Set startup backlight brightness level
Identifier!
615h$(600h$+$current$CAN$ID)$
!
Byte!0!
2Fh$
Set$Device$Register$
Byte!1!
03h$
CAN$Object$2003h$
Byte!2!
20h$
Byte!3!
06h$
Sub$index$
Byte!4!
XXh$
Intensity$00h-3Fhà$0-100%$
Byte!5,7!
00h$
Not$used$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
2F$03$20$06$3F$00$00$00$
Backlight$brightness$=$100%$
Keypad!reply!
595$
Std$
60$03$20$06$00$00$00$00$
$
$
$

$
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 17 -
Tel. [phone] – Fax [phone]
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17. Object 2010h: Baud rate setting
$
Identifier!
615h$(600h$+$current$CAN$ID)$
!
Byte!0!
2Fh$
Set$Device$Register$
Byte!1!
10h$
CAN$Object$2010h$
Byte!2!
20h$
Byte!3!
00h$
Sub$index$
Byte!4!
XXh$
Baud$rate$
00h:$1000k$
01h:$Reserved$(force$to$125k)$
02h:$500k$
03h:$250K$
04h:$125k$(Default)$
05h:$Reserved$(force$to$125k)$
06h:$50k$
07h:$20k$
Byte!5,7!
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
2F$10$20$00$03$00$00$00$
Baud$rate$=$250k$$
Keypad!reply!
595$
Std$
60$10$20$00$00$00$00$00$
$
$
$
18. Object 2011h: Set Boot-up service
Object$2011h$message$enables$or$disables$the$boot$up$message$sent$by$the$keypad$at$
power$up$to$the$CAN$network.$
$
Identifier!
600h$+$current$CAN$ID$
Default$615h!
Byte!0!
2Fh$
Set$Device$Register$
Byte!1!
11h$
CAN$Object$2011h$
Byte!2!
20h$
Byte!3!
00h$
Sub$index$
Byte!4!
XXh$
00h:$Not$active$
01h:$Active$
Byte!5,7!
00h$
Not$used$
$
$$$$$$$$$$$$$Example:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
2F$11$20$00$00$00$00$00$
Boot-up$service$not$active$
Keypad!reply!
595$
Std$
60$11$20$00$00$00$00$00$
$
$
$ $

$
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 18 -
Tel. [phone] – Fax [phone]
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19. Object 2012h: Set device active on startup
If$keypad$is$active$on$startup$don’t$need$the$Start$CANopen$command$from$host.$
$
Identifier!
600h!+!current!CAN!ID!
Default!615h$
Byte!0!
2Fh$
Set$Device$Register$
Byte!1!
12h$
CAN$Object$2012h$
Byte!2!
20h$
Byte!3!
00h$
Sub$index$
Byte!4!
XXh$
00h:$Not$active$
01h:$Active$
Byte!5,7!
00h$
Not$used$
$
$$$$$$$$$$$$$$Example:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
2F$12$20$00$01$00$00$00$
Set$device$active$on$startup$
Keypad!reply!
595$
Std$
60$12$20$00$00$00$00$00$
$
$
20. Object 2013h: Set CANopen node ID
$
Identifier!
600h!+!current!CAN!ID!
Default!615h$
Byte!0!
2Fh$
Set$Device$Register$
Byte!1!
13h$
CAN$Object$2013h$
Byte!2!
20h$
Byte!3!
00h$
Sub$index$
Byte!4!
XXh$
XX:$New$node$id$(00h-7Fh),$
default$15h$
Byte!5,7!
00h$
Not$used$
$
$$$$$$$$$$$$$Example:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
2F$13$20$00$18$00$00$00$
New$CANopen$node$ID$=$18h$
Keypad!reply!
598$
Std$
60$13$20$00$00$00$00$00$
$
$ $

$
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 19 -
Tel. [phone] – Fax [phone]
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21. Object 2014h: Set startup LED show
$
Identifier!
600h$+$current$CAN$ID$
Default$615h!
Byte!0!
2Fh$
Set$Device$Register$
Byte!1!
14h$
CAN$Object$2014h$
Byte!2!
20h$
Byte!3!
00h$
Sub$index$
Byte!4!
XXh$
00h:$Not$active$
01h:$Complete$LED$sequence$(default)$
02h:$Amber$fast$flash$
Byte!5,7!
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
2F$14$20$00$00$00$00$00$
Startup$LED$show$not$active$
Keypad!reply!
595$
Std$
60$14$20$00$00$00$00$00$
$
$
$
22. Object 2015h: LED Power supply
This$feature$enables$or$disables$the$power$supply$of$the$LEDs.$When$the$power$supply$is$
disabled$the$LED$are$not$accessible$and$the$keypad$enters$low$power$mode.$
$
Identifier!
600h$+$current$CAN$ID$
Default$615h!
Byte!0!
2Fh$
Set$Device$Register$
Byte!1!
15h$
CAN$Object$2015h$
Byte!2!
20h$
Byte!3!
00h$
Sub$index$
Byte!4!
XXh$
00h:$Disable$
01h:$Enable$(default)$
Byte!5,7!
00h$
Not$used$
$
Example:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
2F$15$20$00$00$00$00$00$
LED$power$supply$disabled$
Keypad!reply!
595$
Std$
60$15$20$00$00$00$00$00$
$
$
$ $

$
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 20 -
Tel. [phone] – Fax [phone]
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23. 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.$
$
Identifier!
600h$+$current$CAN$ID$
Default$615h!
Byte!0!
2Fh$
Set$Device$Register$
Byte!1!
00h$
CAN$Object$2100$
Byte!2!
21h$
Byte!3!
00h$
Sub$index$
Byte!4!
XXh$
00h:$Not$active$
01h:$Active$
Byte!5,7!
00h$
Not$used$
$
$$$$$$$$$$$$$$$Example:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
2F$00$21$00$01$00$00$00$
Set$DEMO$mode$active$
Keypad!reply!
595$
Std$
60$00$21$00$00$00$00$00$
$
$
24. Object 2BFFh: BUS setting
$
Identifier!
600h!+!current!CAN!ID!
Default!615h$
Byte!0!
2Bh$
Set$Device$Register$
Byte!1!
FFh$
CAN$Object$20FFh$
Byte!2!
20h$
Byte!3!
XXh$
Sub$index$
01h:$Reserved$
02h$RS485$bus$
Byte!4!
XXh$
00h:$Not$active$
01h:$Active$
Byte!5,7!
00h$
Not$used$
$
$$$$$$$$$$$$$$$Example:$
Direction$
Identifier$
Format$
Message$
Data$
To!Keypad!
615$
Std$
2B$FF$20$02$00$00$00$00$
Set$RS485$bus$not$active$
Keypad!Reply!
595$
Std$
60$FF$20$02$00$00$00$00$$
$
$
$
$
$ $