PowerTrackCANopenUM_REV1.4
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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 and Encoder state 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) transmit 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.
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 Yh
X = 0 clockwise,
X = 1 counterclockwise.
YYYYYYY = number of Ticks.
1 Turn (360° rotation) = 20 Ticks
Byte 2,3
Encoder Tick counter
ZZ ZZh
Byte 4,7
00h
Not used
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 turn
From Keypad
195
Std
01 00 00 00 00 00 00 00
Key 1 pressed, No knob turn
From Keypad
195
Std
08 00 00 00 00 00 00 00
Key 4 pressed, No knob turn
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 03 02 00 00 00 00 00
No key pressed, 3 ticks CW
From Keypad
195
Std
00 01 03 00 00 00 00 00
No key pressed, 1 tick CW
From Keypad
195
Std
00 81 02 00 00 00 00 00
No key pressed, 1 tick CCW
From Keypad
195
Std
09 02 04 00 00 00 00 00
Keys 1 and 4 pressed, 2 ticks CW
Keys and Encoder state message is mapped into:
-
Object 2000 sub 1
-
Object 2000 sub 2
-
Object 2000 sub 3
Refer to the applicable object for more details.
