PKP2600SI_CANopenUM_REV1.1
6/28
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 state message
The keypad must be activated, see NMT Start CANopen Node message.
•
PKP 2600SI
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 #12
0 0 0 0
–
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
08 00 00 00 XX
Only key #4 pressed
From Keypad
195
Std
80 00 00 00 XX
Only key #8 pressed
From Keypad
195
Std
21 00 00 00 XX
Keys #6 and #1 pressed
From Keypad
195
Std
00 08 00 00 XX
Only key #12 pressed
11.Set LED ON message
The keypad must be activated, see NMT Start CANopen Node message.
•
PKP 2600SI
Identifier
200 + current CAN ID
Default 215h
Byte 0
R8 R7 R6 R5
–
R4 R3 R2 R1
Red LED
Byte 1
G4 G3 G2 G1
–
R12 R11 R10 R9
Green and Red LED
Byte 2
G12 G11 G10 G9
–
G8 G7 G6 G5
Green LED
Byte 3
B8 B7 B6 B5 B4
–
B3 B2 B1
Blue LED
Byte 4
00 00 00 00 00
–
B12 B11 B10 B9
Blue 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
42 00 00 00 00 00 00 00
Red LED #2 and #7 ON,
other LED OFF
To Keypad
215
Std
00 00 01 00 00 00 00 00
Green LED #5 on, other LED
off
To Keypad
215
Std
00 11 00 00 00 00 00 00
Green LED #1 and red LED
#9 on, other LED off
To Keypad
215
Std
00 00 00 88 00 00 00 00
Blue LED #4 and #8 on,
other LED off
To Keypad
215
Std
00 CC 00 00 00 00 00 00
Red LED #11, #12 on; green
LED #3, #4 on; other LED off
