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PKP2500SI_CANopenUM_REV1.0
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.
11.
Keys state message
The keypad must be activated, see NMT Start CANopen Node message.
•
PKP 2500SI
Identifier
180h + current CAN ID
Default 195h
Byte 0
Keys from #1 to #8
K8 K7 K6 K5
–
K4 K3 K2 K1
Key state: 1=pressed; 0=released
Byte 1
Keys #9 and #10
0 0 0 0
–
0 0 K10 K9
Key state: 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
Any Key released
From Keypad
195
Std
01 00 00 00 XX
Only Key #1 pressed
From Keypad
195
Std
10 00 00 00 XX
Only Key #5 pressed
From Keypad
195
Std
00 02 00 00 XX
Only Key #10 pressed
From Keypad
195
Std
01 01 00 00 XX
Keys #1 and #9 pressed
*= this hexadecimal value increases each 100ms regardless a key state variation has occurred or
not. This parameter can be used to evaluate the time interval elapsed between two consecutive key
states through the difference of the related two tick timer values. Since this counter is coded on 1-
byte length, the maximum time interval which can be monitored is about 25 seconds.
