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PowerTruck_CANOpen_UM_REV1.5
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
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.
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
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
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
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.
