Blink Marine POWERTRACK User manual
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 1 -
Tel. +39 (02) 3088583 – Fax +39 (02) 33406697
www.blinkmarine.com – info@blinkgroup.com PowerTruck_CANOpen_UM_REV1.5
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POWERTRACK
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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Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 2 -
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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!
!PDO messages!....................................................................................................................................!7!
9.!Keys and Encoder state message!.......................................................................................................!7!
10.!Set LED on message!............................................................................................................................!8!
11.!Set LED blink message!........................................................................................................................!9!
12.!Set Backlight brightness level message!............................................................................................!10!
!SDO Messages:!..................................................................................................................................!10!
13.!Object 1000h: Device Type!...............................................................................................................!10!
14.!Object 1001h: Error Register!...........................................................................................................!11!
15.!Object 1008h: Manufacturer Device Name!.....................................................................................!11!
16.!Object 1009h: Manufacturer Hardware Revision!............................................................................!12!
17.!Object 100Ah: Manufacturer Firmware Revision!.............................................................................!12!
18.!Object 1017h: Producer heartbeat time!..........................................................................................!13!
!Heartbeat message!...........................................................................................................................!13!
19.!Object 1018h: Identity Data!..............................................................................................................!14!
20.!Object 1400h: Receive PDO Communication Parm 0!.....................................................................!14!
21.!Object 1401h: Receive PDO communication Parm 1!......................................................................!15!
22.!Object 1402h: Receive PDO communication Parm 2!......................................................................!15!
23.!Object 1600h: Receive PDO mapping Parameter 0!........................................................................!16!
24.!Object 1601h: Receive PDO mapping Parameter 1!........................................................................!17!
25.!Object 1602h: Receive PDO mapping Parameter 2!........................................................................!18!
26.!Object 1800h:!....................................................................................................................................!19!
a)!Transmit PDO Communication Parm 0!..........................................................................................!19!
b)!Set periodic state transmission!......................................................................................................!19!
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27.!Object 1A00h Transmit PDO Mapping Parameter!..........................................................................!20!
28.!Object 2000h: Key and Encoder state!..............................................................................................!20!
a)!Sub 1 – Key State!...........................................................................................................................!20!
b)!Sub 2 - Encoder direction counter!..................................................................................................!21!
c)!Sub 3 - Encoder tick counter!...........................................................................................................!21!
29.!Object 2001h: LED state!...................................................................................................................!22!
a)!Sub 1 – LED green state!.................................................................................................................!22!
b)!Sub 2 - LED red state!......................................................................................................................!22!
c)!Sub 3 - LED green blink state!..........................................................................................................!23!
d)!Sub 4 - LED red blink state!..............................................................................................................!23!
30.!Object 2002h: LED RING state!.........................................................................................................!24!
a)!Sub 1 –RING LED green state!........................................................................................................!24!
b)!Sub 2 –RING LED red state!............................................................................................................!24!
c)!Sub 3 RING LED blue state!.............................................................................................................!25!
d)!Sub 4 –RING LED green blink state!................................................................................................!25!
e)!Sub 5 –RING LED red blink state!....................................................................................................!26!
f)!Sub 6 –RING LED blue blink state!...................................................................................................!26!
31.!Object 2003: Brightness Level!..........................................................................................................!27!
a)!Set Indicator LEDs brightness level!................................................................................................!27!
b)!Set green LEDs backlight brightness level!......................................................................................!27!
c)!Set red LEDs backlight brightness level!..........................................................................................!27!
d)!Set blue LEDs backlight brightness level!.........................................................................................!28!
e)!Set startup Indicator LEDs brightness level!...................................................................................!28!
f)!Set startup green LEDs backlight brightness level!.........................................................................!28!
g)!Set startup red LEDs backlight brightness level!.............................................................................!29!
h)!Set startup blue LEDs backlight brightness level!...........................................................................!29!
32.!Object 2010h: Baud rate setting!......................................................................................................!30!
33.!Object 2011h: Set Boot-up service!...................................................................................................!30!
34.!Object 2012h: Set device active on startup!.....................................................................................!31!
35.!Object 2013h: Set CANopen node ID!...............................................................................................!31!
36.!Object 2014h: Set startup LED show!...............................................................................................!31!
37.!Object 2100h: Set DEMO mode!........................................................................................................!32!
38.!Set CAN protocol!...............................................................................................................................!32!
!APPENDIX: DEMO Mode instructions!...............................................................................................!33!
39.!Revision History!..................................................................................................................................!34!
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Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 4 -
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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
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PowerTrack!
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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!
LED!Indicator!
Brightness!
3Fh!(Maximum!brightness!3Fh)!
Object!2003h!
Backlight!Brightness!
00h!(OFF)!
Object!2003h!
Periodic!Message!
Transmission!
Disable!
Object!1800h!
Heartbeat!Message!
Disable!
Object!1017h!
Boot-up!service!
Active!
Object!2011h!
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)
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Identifier!
00h!
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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 5!
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5. Enter pre-operational
!
Identifier!
00h!
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Byte!0!
80h!
Enter!pre-operational!
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Byte!1!
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XXh!
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Keypad!CAN!ID!
00h:!enter!all!the!keypads!
15h:!enter!the!keypad!with!CAN!ID!=!
15h.!
Byte!2,!7!
00h!
Not!used!
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Example:!
Direction!
Identifier!
Format!
Message!
To!Keypad!
0!
Std!
80!15!
!
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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!
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Example:!
Direction!
Identifier!
Format!
Message!
To!Keypad!
0!
Std!
81!15!
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7. Stop CANopen node
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Identifier!
00h!
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Byte!0!
XXh!
02h:!Stop!CANopen!node!!!
Byte!1!
YYh!
Keypad!CAN!ID!
00h:!stop!all!the!keypads!
15h:!stop!the!keypad!with!CAN!ID!=!15h.!
Byte!2,!7!
00h!
Not!used!
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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!(SDO)!message!
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9. Keys and Encoder state message
The!keypad!must!be!activated,!see!NMT!Start!CANopen!Node!message.!
This!message!is!sent!by!the!PowerTrack!to!indicate!the!state!of!the!buttons!and!of!the!
encoder.!
! The!state!of!the!buttons!is!transmitted!in!the!Byte!0.!
The!state!of!the!encoder!is!represented!by!2!counter!fields:!
- The!Direction!counter!(Byte1)!transmits!the!number!of!ticks!and!the!direction!of!
the!encoder!rotation!since!the!last!message!sent.!The!MSB!of!the!counter!defines!
the!direction.!
- The!Tick!counter!(Byte!2!and!3)!is!a!two!bytes!counter!incremented!each!
clockwise!tick!and!decremented!each!counterclockwise!tick.!!!!
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Identifier!
195h!(180!+!current!CAN!ID)!
Default!195h!
Byte!0!
Keys!from!#1!to!#7!
0!K7!K6!K5!–!K4!K3!K2!K1!
Keys:!1=ON;!0=OFF!
Byte!1!!
Encoder!Direction!counter!
X!Y!Y!Y!!Y!Y!Y!Y!b!!
X!=!0!clockwise,!!
X!=!1!counterclockwise.!
YYYYYYY!=!number!of!Ticks.!
1!Turn!(360°!rotation)!=!20!Ticks!
Byte!2,3!
Encoder!Tick!counter!ZZ!ZZh!
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Byte!4,7!
00h!
Not!used!
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!Examples:!
Direction!
Identifier!
Format!
Data!
Key!and!Encoder!state!
From!Keypad!
195!
Std!
00!00!00!00!00!00!00!00!
No!key!pressed,!no!knob!
turns!
From!Keypad!
195!
Std!
01!00!00!00!00!00!00!00!
Key!1!pressed,!no!knob!turns!
From!Keypad!
195!
Std!
08!00!00!00!00!00!00!00!
Key!4!pressed,!no!knob!turns!
From!Keypad!
195!
Std!
09!00!00!00!00!00!00!00!
Keys!1!and!4!pressed,!no!
knob!turn!
From!Keypad!
195!
Std!
00!81!FF!FF!00!00!00!00!
No!key!pressed,!1!tick!CCW!
From!Keypad!
195!
Std!
00!01!03!00!00!00!00!00!
No!key!pressed,!3!ticks!CW!
From!Keypad!
195!
Std!
00!01!01!00!00!00!00!00!
No!key!pressed,!1!tick!CW!
From!Keypad!
195!
Std!
01!00!03!0!00!00!00!00!
Key!1!pressed,!3!ticks!CW!
From!Keypad!
195!
Std!
09!00!02!00!00!00!00!00!
Keys!1!and!4!pressed,!2!ticks!
CW!
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Keys!and!Encoder!state!message!is!mapped!into:!
- Object!2000h!sub!1!
- Object!2000h!sub!2!
- Object!2000h!sub!3!
Refer!to!the!applicable!object!for!more!details.!
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!
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10. Set LED on message
The!keypad!must!be!activated,!see!NMT!Start!CANopen!Node!message.!
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Identifier!
215h!(200!+!current!CAN!ID)!
Default!215h!
Byte!0!
LG8!LG7!LG6!LG5!-!LG4!LG3!LG2!LG1!
KEY!LED!green!
Byte!1!
LG16!LG15!LG14!LG13!–!LG12!LG11!LG10!LG9!
KEY!LED!green!
Byte!2!
LR4!LR3!LR2!LR1–!0!0!LG18!LG17!
KEY!LED!green!and!red!
Byte!3!
LR12!LR11!LR10!LR9!–!LR8!LR7!LR6!LR5!!
KEY!LED!red!
Byte!4!
0!0!LR18!LR17!–!LR16!LR15!LR14!LR13!
KEY!LED!red!
Byte!5!
LR26!LR25!LR24!LR23!–!LR22!LR21!LR20!LR19!
RING!LED!red!
Byte6!
LG26!LG25!LG24!LG23!–!LG22!LG21!LG20!LG19!
RING!LED!green!
Byte!7!
LB26!LB25!LB24!LB23!–!LB22!LB21!LB20!LB19!
RING!LED!blue!
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Examples:!
Direction!
Identifier!
Format!
Data!
LED!
To!Keypad!
215!
Std!
00!00!00!00!00!00!00!00!
Turn!off!all!the!LED!
To!Keypad!
215!
Std!
01!00!00!00!00!00!00!00!!
Only!green!LED!#1!ON!
To!Keypad!
215!
Std!
42!00!00!00!00!00!00!00!
Green!LED!#2!and!7!ON!
To!Keypad!
215!
Std!
00!00!00!30!03!00!00!00!!!
Red!LED!#9,!10,!13!and!14!
ON!
To!Keypad!
215!
Std!
07!00!70!00!00!00!00!00!!
Amber!LED!#1,!2,!3!ON!
To!Keypad!
215!
Std!
00!00!00!00!00!01!00!00!!!
Red!ring!LED!#19!ON!
To!Keypad!
215!
Std!
00!00!00!00!00!00!02!00!!
Green!ring!LED!#20!LED!ON!
To!Keypad!
215!
Std!
FF!FF!F3!FF!3F!00!00!00!!
All!key!LED!amber!ON!
To!Keypad!
215!
Std!
00!00!00!00!00!FF!FF!FF!
All!ring!LED!white!ON!
Set!LED!state!message!is!mapped!into:!
- Object!2001h!sub!1!and!sub!2!
- Object!2002h!sub!1,!sub!2!and!sub!3!
Refer!to!the!applicable!objects!for!more!details.!
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11. Set LED blink message
The!keypad!must!be!activated,!see!NMT!Start!CANopen!Node!message!
Note:!if!the!blink!message!is!sent!when!the!LED!is!already!on,!the!LED!blinks!in!alternate!mode.!
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Identifier!
315h!(300!+!current!CAN!ID)!
Default!315h!
Byte!0!
LG8!LG7!LG6!LG5!-!LG4!LG3!LG2!LG1!
KEY!LED!green!
Byte!1!
LG16!LG15!LG14!LG13!–!LG12!LG11!LG10!LG9!
KEY!LED!green!
Byte!2!
LR4!LR3!LR2!LR1–!0!0!LG18!LG17!
KEY!LED!green!and!red!
Byte!3!
LR12!LR11!LR10!LR9!–!LR8!LR7!LR6!LR5!!
KEY!LED!red!
Byte!4!
0!0!LR18!LR17!–!LR16!LR15!LR14!LR13!
KEY!LED!red!
Byte!5!
LR26!LR25!LR24!LR23!–!LR22!LR21!LR20!LR19!
RING!LED!red!
Byte6!
LG26!LG25!LG24!LG23!–!LG22!LG21!LG20!LG19!
RING!LED!green!
Byte!7!
LB26!LB25!LB24!LB23!–!LB22!LB21!LB20!LB19!
RING!LED!blue!
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Examples:!
Direction!
Identifier!
Format!
Data!
LED!
To!Keypad!
315!
Std!
00!00!00!00!00!00!00!00!
Turn!off!all!the!blinking!LED!
To!Keypad!
315!
Std!
78!00!00!00!00!00!00!00!
Green!LED!#4,!5,!6!and!7!
blink!
To!Keypad!
315!
Std!
00!00!00!21!00!00!00!00!
Red!LED!#5!and!10!blink!
To!Keypad!
315!
Std!
03!00!30!00!00!00!00!00!!
Amber!LED!#1,!2!blink!
To!Keypad!
315!
Std!
00!00!00!00!00!80!00!00!!
Red!ring!LED!#26!blinks!
To!Keypad!
315!
Std!
00!00!00!00!00!00!00!20!
Blue!ring!LED!#24!blinks!
To!Keypad!
315!
Std!
00!00!00!00!00!00!01!01!
Cyan!ring!LED!#19!blinks!
To!Keypad!
To!Keypad!
215!
315!
Std!
Std!
00!00!F0!FF!3F!00!00!00!!
FF!FF!F3!FF!3F!00!00!00!!
All!key!LED!blink!red!and!
green!in!alternate!mode!
To!Keypad!
To!Keypad!
215!
315!
Std!
Std!
00!00!00!00!00!00!03!00!
00!00!00!00!00!00!03!03!
Ring!LED!#19!and!20!blink!
green!and!blue!in!alternate!
mode!
Set!LED!Blink!message!is!mapped!into:!
- Object!2001h!sub!3!and!sub!4!
- Object!2002h!sub!4,!sub!5!and!sub!6!
- Refer!to!the!applicable!objects!for!more!details.!
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12. Set Backlight brightness level message
!The!keypad!must!be!activated,!see!NMT!Start!CANopen!Node!message!
!
Identifier!
415h!(400!+!current!CAN!ID)!
Default!415h!
Byte!0!
XXh!
Green!Backlight!value!!
0!–!3Fh!(0…100%)!
Byte!1!
YYh!
Red!Backlight!value!!
0!–!3Fh!(0…100%)!
Byte!2!
ZZh!
Blue!Backlight!value!!
0!–!3Fh!(0…100%)!
Byte!3,!7!
00h!
Not!used!
!
Examples:!
Direction!
Identifier!
Format!
Data!
LED!
To!keypad!
415!
Std!
00!00!00!00!00!00!00!00!!
Turn!off!the!backlight!
To!keypad!
415!
Std!
10!00!00!00!00!00!00!00!
Turn!on!backlight!green!
color!at!brightness!25%!
To!keypad!
415!
Std!
20!20!00!00!00!00!00!00!
Turn!on!backlight!amber!
color!at!brightness!50%!
To!keypad!
415!
Std!
00!00!3F!00!00!00!00!00!
Turn!on!backlight!blue!
color!at!maximum!
brightness!
Set!Backlight!message!is!mapped!into:!
- Object!2001h!sub!3!
- Object!2001h!sub!4!
Refer!to!the!applicable!object!for!more!details.!
!
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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 1000h: Device Type
!
Identifier!
615h!(600h!+!current!CAN!ID)!
!
Byte!0!
40h!
!
Byte!1!
00h!
Read!Device!Register!
Byte!2!
10h!
CAN!Object!1000h!
Byte!3!
00h!
Byte!4,!7!!
00h!
Not!used!
!
Example:!
Direction!
Identifier!
Format!
Message!
To!Keypad!
615!
Std!
40!00!10!00!00!00!00!00!
Keypad!reply!
595!
Std!
43!00!10!00!91!01!03!00!
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Device!profile!number!30191h.!
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!
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14. Object 1001h: Error Register
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This!object!is!not!yet!implemented!in!the!device.!
!
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15. Object 1008h: Manufacturer Device Name
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Identifier!
615h!(600h!+!current!CAN!ID)!
!
Byte!0!
40h!
Read!Device!Register!
Byte!1!
08h!
CAN!Object!1008h!
Byte!2!
10h!
Byte!3,!7!!
00h!
Not!used!
!
!!!Odd!additional!byte!
Identifier!
615h!(600h!+!current!CAN!ID)!
!
Byte!0!
60h!
Read!Device!Register!Next!Byte!
Byte!1,!7!!
00h!
Not!used!
! !
!!Even!additional!byte!
Identifier!
615h!(600h!+!current!CAN!ID)!
!
Byte!0!
70h!
Read!Device!Register!Next!Byte!
Byte!1,!7!!
00h!
Not!used!
!
!!!!!!!!!!!!!!!!!Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To!Keypad!
615!
Std!
40!08!10!00!00!00!00!00!
!
Keypad!reply!
595!
Std!
41!08!10!00!19!00!00!00!
!
To!Keypad!
615!
Std!
60!00!00!00!00!00!00!00!
!
Keypad!reply!
595!
Std!
00!50!6F!77!65!72!54!72!
PowerTr!
To!Keypad!
615!
Std!
70!00!00!00!00!00!00!00!
!
Keypad!reply!
595!
Std!
10!61!63!6B!20!2D!20!42!
ack!-!!B!
To!Keypad!
615!
Std!
60!00!00!00!00!00!00!00!
!
Keypad!reply!
595!
Std!
00!6C!69!6E!6B!20!4D!61!
link!Ma!
To!Keypad!
615!
Std!
70!00!00!00!00!00!00!00!
!
Keypad!reply!
595!
Std!
17!72!69!6E!65!00!00!00!
rine!
!
!!!Manufacturer!Device!Name:!!PowerTrack!–!Blink!Marine!
! !
!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 12 -
Tel. +39 (02) 3088583 – Fax +39 (02) 33406697
www.blinkmarine.com – info@blinkgroup.com PowerTruck_CANOpen_UM_REV1.5
16. Object 1009h: Manufacturer Hardware Revision
!
Identifier!
615h!(600h!+!current!CAN!ID)!
!
Byte!0!
40h!
Read!Device!Register!
Byte!1!
09h!
CAN!Object!1009h!
Byte!2!
10h!
Byte!3,!7!!
00h!
Not!used!
!
!Example:!
Direction!
Identifier!
Format!
Message!
Data!
To!Keypad!
615!
Std!
40!09!10!00!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!09!10!00!33!30!20!56!
V!03!
!Manufacturer!Hardware!Revision:!V!03!
!
!
17. Object 100Ah: Manufacturer Firmware Revision
!
Identifier!
615h!(600h!+!current!CAN!ID)!
!
Byte!0!
40h!
Read!Device!Register!
Byte!1!
0Ah!
CAN!Object!100Ah!
Byte!2!
10h!
Byte!3,!7!!
00h!
Not!used!
!
!Example:!
Direction!
Identifier!
Format!
Message!
Data!
To!Keypad!
615!
Std!
40!0A!10!00!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!0A!10!00!36!2E!31!56!
V1.6!
!Manufacturer!Firmware!Revision:!V1.6!
!
! !
!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 13 -
Tel. +39 (02) 3088583 – Fax +39 (02) 33406697
www.blinkmarine.com – info@blinkgroup.com PowerTruck_CANOpen_UM_REV1.5
18.
!
Object 1017h: Producer heartbeat time
The producer heartbeat time shall indicate the configured cycle time of the heartbeat.!
!
Identifier!
600h!+!current!CAN!ID!
Default!615h!
Byte!0!
40h!
Read!Device!Register!
2Bh!
Set!device!register!
Byte!1!
17h!
CAN!Object!1017h!
Byte!2!
10h!
Byte!3!
00h!!
Sub!index!
Byte!4!!
YYh!
YYh:!Heartbeat!time!in!milliseconds!LSByte!
Byte!5!!
XXh!
XXh:!Heartbeat!time!in!milliseconds!MSByte!
Byte!5,!7!!
00h!
Not!used!
Heartbeat!time:!XXYYh!(from!000Ah!to!FFFEh:!10ms!to!65534!milliseconds).!
!
Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To!Keypad!
615!
Std!
40!17!10!00!00!00!00!00!
Read!heartbeat!time!
Keypad!reply!
595!
Std!
4B!17!10!00!64!00!00!00!
Heartbeat!time!=!100ms!
To!Keypad!
615!
Std!
2B!17!10!00!00!00!00!00!
Switch!off!the!heartbeat!
Keypad!reply!
595!
Std!
60!17!10!00!00!00!00!00!
!
To!Keypad!
615!
Std!
2B!17!10!00!32!00!00!00!
Set!heartbeat!time!=!50ms!
Keypad!reply!
595!
Std!
60!17!10!00!00!00!00!00!
!
To!Keypad!
615!
Std!
2B!17!10!00!F4!01!00!00!
Set!heartbeat!time!=!500ms!
Keypad!reply!
595!
Std!
60!17!10!00!00!00!00!00!
!
!
Heartbeat message
The!heartbeat!mechanism!for!a!CANopen!device!is!established!by!cyclically!transmitting!the!
heartbeat!message!by!the!heartbeat!producer.!One!or!more!CANopen!devices!in!the!
network!are!aware!of!this!heartbeat!message.!If!the!heartbeat!cycle!fails!for!the!heartbeat!
producer,!the!local!application!on!the!heartbeat!consumer!will!be!informed!about!that!
event.!
If!a!CANopen!device!starts!with!a!value!for!the!heartbeat!producer!time!unequal!to!0,!the!
boot-up!message!is!regarded!as!first!heartbeat!message.!
!
Identifier!
700h!+!current!CAN!ID!
Default!715h!
Byte!0!
XXh!
XXh:!State!of!heartbeat!producer!
00h:!Boot-up!
04h:!Stopped!
05h:!Operational!
7Fh:!Pre-operational!
!
Examples:!
Direction!
Identifier!
Format!
Message!
Data!
From!Keypad!
715h!
Std!
00h!
Boot!up!
From!Keypad!
715h!
Std!
7Fh!
Pre-operational!
To!keypad!
00h!
Std!
01h!15h!
Start!keypad!with!CAN!id!=15h!
From!Keypad!
715h!
Std!
05h!
Operational!
!
!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 14 -
Tel. +39 (02) 3088583 – Fax +39 (02) 33406697
www.blinkmarine.com – info@blinkgroup.com PowerTruck_CANOpen_UM_REV1.5
19. Object 1018h: Identity Data
!
Identifier!
615h!(600h!+!current!CAN!ID)!
!
Byte!0!
40h!
Read!Device!Register!
Byte!1!
18h!
CAN!Object!1018h!
Byte!2!
10h!
Byte!3!
00h!
Number!of!mapped!objects!
01h!
Vendor!Id!
04h!
Serial!number!
Byte!4,7!
00h!
Not!used!
!
!Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To!Keypad!
615!
Std!
40!18!10!00!00!00!00!00!
!
Keypad!reply!
595!
Std!
4F!18!10!00!04!00!00!00!
4!
To!Keypad!
615!
Std!
40!18!10!01!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!18!10!01!E2!03!00!00!
000003E2h!
!!!!!!!!!!!!!!!Blink!Marine!Vendor!Id:!000003E2h!
!
20. Object 1400h: Receive PDO Communication Parm 0
Describes!the!Receive!Parameters!for!the!LED!state!PDO!Message.!
!
Identifier!
615h!(600h!+!current!CAN!ID)!
!
Byte!0!
40h!
Read!Device!Register!
Byte!1!
00h!
CAN!Object!1400h!
Byte!2!
14h!
!
Byte!3!
00h!
Number!of!mapped!objects!
01h!
COB!Id!
02h!
Transmission!Type!
Byte!4,7!
00h!
Not!used!
!
!Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To!Keypad!
615!
Std!
40!00!14!00!00!00!00!00!
!
Keypad!reply!
595!
Std!
4F!00!14!00!02!00!00!00!
2!
To!Keypad!
615!
Std!
40!00!14!01!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!00!14!01!15!02!00!00!
0000!0215h!
To!Keypad!
615!
Std!
40!00!14!02!00!00!00!00!
!
Keypad!reply!
595!
Std!
4F!00!14!02!FE!00!00!00!
FEh!
!!!!!!!!!!!!!!!!Receive!PDO!communication!Parm!0:!!
• Number!of!mapped!objects:!2;!
• COB!id:!0000!0200h!+!NODE!ID;!!
• Transmission!Type:!FEh.!
! !
!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 15 -
Tel. +39 (02) 3088583 – Fax +39 (02) 33406697
www.blinkmarine.com – info@blinkgroup.com PowerTruck_CANOpen_UM_REV1.5
21. Object 1401h: Receive PDO communication Parm 1
Describes!the!Receive!Parameters!for!the!LED!blink!PDO!Message.!
!
Identifier!
615h!(600h!+!current!CAN!ID)!
!
Byte!0!
40h!
Read!Device!Register!
Byte!1!
01h!
CAN!Object!1401h!
Byte!2!
14h!
!
Byte!3!
00h!
Number!of!mapped!objects!
01h!
COB!Id!
02h!
Transmission!Type!
Byte!4,7!
00h!
Not!used!
!
Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To!Keypad!
615!
Std!
40!01!14!00!00!00!00!00!
!
Keypad!reply!
595!
Std!
4F!01!14!00!02!00!00!00!
2!
To!Keypad!
615!
Std!
40!01!14!01!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!01!14!01!15!03!00!00!
0000!0315h!
To!Keypad!
615!
Std!
40!01!14!02!00!00!00!00!
!
Keypad!reply!
595!
Std!
4F!01!14!02!FE!00!00!00!
FEh!
!!!!!!!!!!!!!!!Receive!PDO!communication!Parm!1:!!
• Number!of!mapped!objects:!2;!
• COB!id:!0000!0300h!+!NODE!ID;!!
• Transmission!Type:!FEh.!
!
22. Object 1402h: Receive PDO communication Parm 2
!!!!!!!!Describes!the!Receive!Parameters!for!the!Backlight!state!PDO!Message.!
!
Identifier!
615h!(600h!+!current!CAN!ID)!
!
Byte!0!
40h!
Read!Device!Register!
Byte!1!
02h!
CAN!Object!1402h!
Byte!2!
14h!
!
Byte!3!
00h!
Number!of!mapped!objects!
01h!
COB!Id!
02h!
Transmission!Type!
Byte!4,7!
00h!
Not!used!
!
Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To!Keypad!
615!
Std!
40!0214!00!00!00!00!00!
!
Keypad!reply!
595!
Std!
4F!02!14!00!02!00!00!00!
2!
To!Keypad!
615!
Std!
40!02!14!01!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!02!14!01!15!04!00!00!!!!
0000!0415h!
To!Keypad!
615!
Std!
40!02!14!03!00!00!00!00!
!
Keypad!reply!
595!
Std!
4F!01!14!02!FE!00!00!00!
FEh!
!!!!!!!!!!!!!!!Receive!PDO!communication!Parm!2:!!
• Number!of!mapped!objects:!2;!
• COB!id:!0000!0400h!+!NODE!ID;!!
• Transmission!Type:!FEh.!
!
!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 16 -
Tel. +39 (02) 3088583 – Fax +39 (02) 33406697
www.blinkmarine.com – info@blinkgroup.com PowerTruck_CANOpen_UM_REV1.5
23. Object 1600h: Receive PDO mapping Parameter 0
Describes!the!mapping!of!LED!state!PDO!Message.!
!
Identifier!
615h!(600h!+!current!CAN!ID)!
!
Byte!0!
40h!
Read!Device!Register!
Byte!1!
00h!
CAN!Object!1600h!
Byte!2!
16h!
Byte!3!
00h!
Number!of!mapped!objects!
01h!
PDO!Mapping!Entry!1!
02h!
PDO!Mapping!Entry!2!
03h!
PDO!Mapping!Entry!3!
04h!
PDO!Mapping!Entry!4!
05h!
PDO!Mapping!Entry!5!
Byte!4,7!
00h!
Not!used!
!
Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To!Keypad!
615!
Std!
40!00!16!00!00!00!00!00!
!
Keypad!reply!
595!
Std!
4F!00!16!00!05!00!00!00!
5!
To!Keypad!
615!
Std!
40!00!16!01!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!00!16!01!18!01!01!20!
2001!01!18!
To!Keypad!
615!
Std!
40!00!16!02!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!00!16!02!18!02!01!20!
2001!02!18!
To!Keypad!
615!
Std!
40!00!16!03!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!00!16!03!08!01!02!20!
2002!01!08!
To!Keypad!
615!
Std!
40!00!16!04!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!00!16!04!08!02!02!20!
2002!02!08!
To!Keypad!
615!
Std!
40!00!16!05!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!00!16!05!08!03!02!20!
2002!03!08!
Receive!PDO!mapping!Parameter!0:!
• Number!of!mapped!objects:!5;!
• Set!KEY!LED!green:!Object!2001h,!Sub!index!01h,!Length!18h;!
• Set!KEY!LED!red:!Object!2001h,!Sub!index!02h,!Length!18h;!
• Set!RING!LED!green:!Object!2002h,!Sub!index!01h,!Length!08h;!
• Set!RING!LED!red:!Object!2002h,!Sub!index!02h,!Length!08h;!
• Set!RING!LED!blue:!Object!2002h,!Sub!index!03h,!Length!08h.!
! !
!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 17 -
Tel. +39 (02) 3088583 – Fax +39 (02) 33406697
www.blinkmarine.com – info@blinkgroup.com PowerTruck_CANOpen_UM_REV1.5
24. Object 1601h: Receive PDO mapping Parameter 1
Describes!the!mapping!of!LED!blink!state!PDO!Message.!
!
Identifier!
615h!(600h!+!current!CAN!ID)!
!
Byte!0!
40h!
Read!Device!Register!
Byte!1!
01h!
CAN!Object!1601h!
Byte!2!
16h!
!
Byte!3!
00h!
Number!of!mapped!objects!
01h!
PDO!Mapping!Entry!1!
02h!
PDO!Mapping!Entry!2!
03h!
PDO!Mapping!Entry!3!
04h!
PDO!Mapping!Entry!4!
05h!
PDO!Mapping!Entry!5!
Byte!4,7!
00h!
Not!used!
!
Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To!Keypad!
615!
Std!
40!01!16!00!00!00!00!00!
!
Keypad!reply!
595!
Std!
4F!01!16!00!05!00!00!00!
5!
To!Keypad!
615!
Std!
40!01!16!01!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!01!16!01!18!03!01!20!
2001!03!18!
To!Keypad!
615!
Std!
40!01!16!02!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!01!16!02!18!04!01!20!
2001!04!18!
To!Keypad!
615!
Std!
40!01!16!03!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!01!16!03!08!04!02!20!
2002!04!08!
To!Keypad!
615!
Std!
40!01!16!04!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!01!16!04!08!05!02!20!
2002!05!08!
To!Keypad!
615!
Std!
40!01!16!05!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!01!16!05!08!06!02!20!
2002!06!08!
!Receive!PDO!mapping!Parameter!1:!
• Number!of!mapped!objects:!5;!
• Blink!KEY!LED!green:!Object!2001h,!Sub!index!03h,!Length!18h;!
• Blink!KEY!LED!red:!Object!2001h,!Sub!index!04h,!Length!18h;!
• Blink!RING!LED!green:!Object!2002h,!Sub!index!04h,!Length!08h;!
• Blink!RING!LED!red:!Object!2002h,!Sub!index!05h,!Length!08h;!
• Blink!RING!LED!blue:!Object!2002h,!Sub!index!06h,!Length!08h.!
!
! !
!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 18 -
Tel. +39 (02) 3088583 – Fax +39 (02) 33406697
www.blinkmarine.com – info@blinkgroup.com PowerTruck_CANOpen_UM_REV1.5
25. Object 1602h: Receive PDO mapping Parameter 2
Describes!the!mapping!of!backlight!LED!state!PDO!Message.!
!
Identifier!
615h!(600h!+!current!CAN!ID)!
!
Byte!0!
40h!
Read!Device!Register!
Byte!1!
02h!
CAN!Object!1602h!
Byte!2!
16h!
Byte!3!
00h!
Number!of!mapped!objects!
01h!
PDO!Mapping!Entry!1!
02h!
PDO!Mapping!Entry!2!
03h!
PDO!Mapping!Entry!3!
Byte!4,7!
00h!
Not!used!
!
Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To!Keypad!
615!
Std!
40!02!16!00!00!00!00!00!
!
Keypad!reply!
595!
Std!
4F!02!16!00!03!00!00!00!
3!
To!Keypad!
615!
Std!
40!02!16!01!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!02!16!01!08!02!03!20!
2003!02!08!
To!Keypad!
615!
Std!
40!02!16!02!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!02!16!02!08!03!03!20!
2003!03!08!
To!Keypad!
615!
Std!
40!02!16!03!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!02!16!03!08!04!03!20!
2003!04!08!
!Receive!PDO!mapping!Parameter!2:!
• Number!of!mapped!objects:!3;!
• Set!backlights!LED!green:!Object!2003h,!Sub!index!02h,!Length!08h;!
• Set!backlights!LED!red:!Object!2003h,!Sub!index!03h,!Length!08h;!
• Set!backlights!LED!blue:!Object!2003h,!Sub!index!04h,!Length!08h.!
! !
!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 19 -
Tel. +39 (02) 3088583 – Fax +39 (02) 33406697
www.blinkmarine.com – info@blinkgroup.com PowerTruck_CANOpen_UM_REV1.5
26. Object 1800h:
a) Transmit PDO Communication Parm 0
!
Identifier!
615h!(600h!+!current!CAN!ID)!
!
Byte!0!
40h!
Read!Device!Register!
Byte!1!
00h!
CAN!Object!1800h!
Byte!2!
18h!
!
!
Byte!3!
00h!
Number!of!mapped!objects!
01h!
COB!Id!
02h!
Transmission!Type!
05h!
Event!Timer!
Byte!4,7!
00h!
Not!used!
!
Example:!
Direction!
Identifier!
Format!
Message!
Data!
To!Keypad!
615!
Std!
40!00!18!00!00!00!00!00!
!
Keypad!reply!
595!
Std!
4F!00!18!00!05!00!00!00!
5!
To!Keypad!
615!
Std!
40!00!18!01!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!00!18!01!95!01!00!00!
195h!
To!Keypad!
615!
Std!
40!00!18!02!00!00!00!00!
!
Keypad!reply!
595!
Std!
4F!00!18!02!FE!00!00!00!
FEh!
To!Keypad!
615!
Std!
40!00!18!05!00!00!00!00!
!
Keypad!reply!
595!
Std!
4B!00!18!05!00!00!00!00!
0!=!OFF!
Transmit!PDO!communication!Parm!0:!
• Number!of!mapped!objects:!2;!
• Address!base:!195h=!180h+!NODE!ID;!
• Transmission!Type:!FEh;!
• Event!timer:!!XXYY!in!milliseconds,!0!=!OFF.!
!
b) Set periodic state transmission
!
Identifier!
600h!+!current!CAN!ID!
Default!615h!
Byte!0!
2Bh!
Set!device!register!
Byte!1!
00h!
CAN!Object!1800h!
Byte!2!
18h!
Byte!3!
05h!!
Sub!index!
Byte!4!!
YYh!
YYh:!Event!timer!period!in!milliseconds!LSByte!
Byte!5!!
XXh!
XXh:!Event!timer!period!in!milliseconds!MSByte!
Byte!5,!7!!
00h!
Not!used!
!Event!timer!period:!XXYYh!(from!000Ah!to!FFFEh:!10ms!to!65534!milliseconds).!
!
!Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To!Keypad!
615!
Std!
2B!00!18!05!00!00!00!00!
Switch!off!the!periodic!
transmission!
Keypad!reply!
595!
Std!
60!00!18!05!00!00!00!00!
!
To!Keypad!
615!
Std!
2B!00!18!05!32!00!00!00!
Set!period!=!50ms!
Keypad!reply!
595!
Std!
60!00!18!05!00!00!00!00!
!
To!Keypad!
615!
Std!
2B!00!18!05!F4!01!00!00!
Set!period!=!500ms!
Keypad!reply!
595!
Std!
60!00!18!05!00!00!00!00!
!
!
!
Via Montefeltro, 6 – 20156 Milano (MI) – Italy - 20 -
Tel. +39 (02) 3088583 – Fax +39 (02) 33406697
www.blinkmarine.com – info@blinkgroup.com PowerTruck_CANOpen_UM_REV1.5
27. Object 1A00h Transmit PDO Mapping Parameter
Describes!the!mapping!of!KEY!and!Encoder!state!PDO!Message.!
!
Identifier!
615h!(600h!+!current!CAN!ID)!
!
Byte!0!
40h!
Read!Device!Register!
Byte!1!
00h!
CAN!Object!1A00h!
Byte!2!
1Ah!
Byte!3!
00h!
Number!of!mapped!objects!
01h!
PDO!Mapping!Entry!1!
02h!
PDO!Mapping!Entry!2!
03h!
PDO!Mapping!Entry!3!
Byte!4,7!
00h!
Not!used!
Example:!
Direction!
Identifier!
Format!
Message!
Data!
To!Keypad!
615!
Std!
40!00!1A!00!00!00!00!00!
!
Keypad!reply!
595!
Std!
4F!00!1A!00!03!00!00!00!
3!
To!Keypad!
615!
Std!
40!00!1A!01!00!00!00!00!
!
Keypad!reply!
595!
Std!
43!00!1A!01!08!01!00!20!!!
2000!01!08h!
!!Transmit!PDO!Mapping!Parameter:!! !
• Number!of!mapped!objects:!3;!
• Switch!state:!Object!2000h,!Sub!index!01h,!Length!08h;!
• Encoder!direction!counter:!Object!2000h,!Sub!index!02h,!Length!08h.!
• Encoder!tick!counter:!Object!2000h,!Sub!index!03h,!Length!10h.!
!
28. Object 2000h: Key and Encoder state
a) Sub 1 – Key State
This!module!contains!all!the!button!state!information.!A!one!indicates!the!button!is!
pressed;!a!zero!indicates!the!button!is!not!pressed.!!
!
Identifier!
615h!(600h!+!current!CAN!ID)!
!
Byte!0!
40h!
Read!Device!Register!
Byte!1!
00h!
CAN!Object!2000h!
Byte!2!
20h!
Byte!3!
01h!
Sub!index!
Byte!4,7!
00h!
Not!used!
Examples:!
Direction!
Identifier!
Format!
Message!
Data!
To!Keypad!
615!
Std!
40!00!20!01!00!00!00!00!
!
Keypad!
reply!
595!
std!
4F!00!20!00!01!00!00!00!
No!key!pressed!
4F!00!20!01!01!00!00!00!
Key!K1!pressed!
4F!00!20!01!02!00!00!00!
Key!K2!pressed!
4F!00!20!01!04!00!00!00!
Key!K3!pressed!
4F!00!20!01!08!00!00!00!
Key!K4!pressed!
4F!00!20!01!10!00!00!00!
Key!K5!pressed!
4F!00!20!01!20!00!00!00!
Key!K6!pressed!
4F!00!20!01!40!00!00!00!
Key!K7!pressed!
4F!00!20!01!41!00!00!00!
Keys!K7!and!K1!pressed!
4F!00!20!01!07!00!00!00!
Keys!K1,!K2!and!K3!pressed!
4F!00!20!01!7F!00!00!00!
All!keys!pressed!
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