10-26-2011 Revision Level:B 561 Hillgrove Ave. 3KUM1331
Contents
1. Manufacturer Software Version cccccececeececeeeecececeececeeeececeeaeceeeeaeeeeetaeeeseeas 3 5 6 1010h Store Parameters sssssssssssem I III Immer meme memetet erri rere tetetetit riri reris 3 5 7 1011h Load Parameters 2 0 00 cece ce cecececeeeececececeeeeeenecececeeeeeeaeaeseseceeeeeeneaeaeneneseneeenenenens 3 5 8 1017h Producer Heartbeat Time esses Hmmm Immer 3 59 1018n Identity ODIBCLsseknsciesstiwxibiiteiir Rie UtCi tox URS tet iv R a dative tha iuto da ive tai 3 5 10 1400h 1 Receive PDO Communication Parameter 3 5 11 1401h 2 Receive PDO Communication Parameter ees 4 5 12 1600h 1 Receive PDO Mapping eeeceeetttn nennen 4 5 13 1601h 2 Receive PDO Mapping 4 5 14 1800h 1 Transmit PDO Communication Parameter e 4 5 15 1A00 1 Transmit PDO Mapping eeceeeeetenn tenentes 4 5 16 2010h LED Salar essssssssssseeeme mem emen mere metre met remite rete re sitter perennis 4 5 17 6000 Read Input 8 bit Button information eeeeeeseeseeeeeeeeeeeeeeeeee 4 5 18 6200 Digital Outputs IndIGatO Is uu neo ttr rre t rh ok re e tents 5 5 19 6411 Analog Outputs Controls the indicator and backlight brightness 5 6 Process Data Objects PDO S iuueni besote taetbs pnl RNEER AREER ptt Re beu Re utn2. 5 3 1008h Manufacturer Device Name This is a visible string constant and gives the name of the device 5 4 1009h Manufacturer Hardware Version This is a visible string constant and describes the version of the hardware 5 5 100Ah Manufacturer Software Version This is a visible string constant and describes the version of the software 5 6 1010h Store Parameters This entry will be used to store parameters pertaining to the communication device specific parameters as defined by CiA v301 5 7 1011h Load Parameters This entry is used to load the parameters that were stored according to Sec 5 6 5 8 1017h Producer Heartbeat Time 5 9 1018h Identity Object Sub Entry 00h Number of Subentries 4 01h Vendor ID 0307h 02h Product Code 334Bh ASCII 3K O3h Revision Number 04h Serial Number O O OO 1 5 10 1400h 1 Receive PDO Communication Parameter Default values as defined in CiA v401 Grayhill Confidential Page 3 10 26 2011 vayhill Engineering Specification Revision Level A 561 Hilgrove Ave kumasa o LaGrange Ilinois 60525 Written By BMM 5 11 1401h 2 Receive PDO Communication Parameter Default values as defined in CIA v401 RTR Not supported 5 12 1600h 1 Receive PDO Mapping Default values as defined in CiA v401 5 13 1601h 2 Receive PDO Mapping Default values as defined in CiA v401 5 14 1800h 1 Transmit PDO Comm
3. 6 X MEE DO D 6 6 1 1 PPT 6 6 1 2 gbe 6 SA E nd DI O MMMMME 6 6 2 1 NP ON 6 SEE 281 dele ae ETT 6 7 Layer SCUING SEIVICES esent me eitis vbt qu VERON itis o Re RUM UN EEE HO Re ROM Re tae 6 Grayhill Confidential Page 1 10 26 2011 vayhill Engineering Specification Revision Level A 561 Hilgrove Ave gskuwiStH o LaGrange Ilinois 60525 Written By BMM 8 Grayhill CAN Open Configuration Variables essesseseeeeeennennn nnn 7 1 Scope This document describes the implementation of CANopen on the Grayhill standard CAN keypads designed for adherence to CiA Draft Standard 401 2 Relevant Documents o CIA Draft Standard 301 Application Layer and Communication Profile o CIA Draft Standard 305 Layer Setting Services LSS and Protocols o CIA Draft Standard 401 Device Profile for Generic I O Modules 3 Product Validation Compliance shall be per CiA conformance test tool version 2 0 Grayhill CANopen vendor ID 0307h 4 Hardware Description The Grayhill standard CAN keypads have buttons for inputs and indicator LEDs for outputs The brightness of both the indicators and the backlights can be indivi
4. R Receive PDO Comm a COBID PDO indicator data Backlight Scaler pet Backlight INTEGER Backlight Brightness LL Backlight INTEGER Grayhill Confidential Page 7 10 26 2011 e Pied AL Il Engineering Specification Revision Level A Gira 561 Hilgrove Ave kumasa o LaGrange Ilinois 60525 Written By BMM Grayhill Confidential Page 8 10 26 2011
5. cts PDO s 6 1 RPDO Two RPDO Ss exist that will control the indicators One for controlling the state of each indicator and the other for controlling the brightness of the indicators as a group and the backlights The indicator and backlight brightness can be controlled independently of each other 6 1 1 RPDO1 OD 6000 is mapped to this RPDO and will be used to receive the digital input used for controlling the indicators Eight sub indexes for OD 6000 each of type UNSIGNEDS are used with each bit within the UNSIGNEDS controls a corresponding indicator The bits in 6000sub01 are mapped to the first eight indicators on the keypad with the top left most indicator controlled by the least significant bit 6000sub02 then controls the next eight and so on until all indicators are accounted for 6 1 2 RPDO2 OD 6411 is mapped to this RPDO and is used to control the brightness of the indicators as a whole and the backlights 6411sub01 controls the indicators and 6411sub02 controls the backlights Each is of type INTEGER16 but only the values from 0 to 255 are used Any other value is ignored 6 2 TPDO One TPDO will be used to transmit the button information Remote Transmit Request RTR will not be supported on the TPDO 6 2 1 TPDO1 OD 6200 is mapped to this PDO and is used to transmit the button information All three sub indexes are mapped The three interrupt mask OD entries 6006 6007 and 6008 are implemented for full control o
6. dually controlled The keypads will be designed to adhere to the CiA Draft Standard 401 for Generic I O Modules 4 1 Input The keypads currently exist with 8 12 15 and 20 buttons Each button will correspond to a digital input A pressed released button shall have a value of 1 0 respectively These inputs shall be transmitted using the default TPDO 1 as defined in CiA 401 4 2 Outputs Each button has three indicator LEDs associated with them Each indicator can be controlled individually and each will correspond to a digital output The indicators as a group and the backlights can have the brightness controlled Both will be controlled using the default Analog Output entries as defined in CiA 401 5 Object Dictionary OD All of the mandatory entries of the Object Dictionary OD as defined in CiA 301 305 and 401 shall be implemented The following is the list of the non mandatory Object Dictionary entries that are implemented Grayhill Confidential Page 2 10 26 2011 vayhill Engineering Specification Revision Level A 561 Hilgrove Ave skumi33ia o LaGrange Ilinois 60525 Written By BMM 5 1 1000 Device Type Value 000B0191h This value indicates that the device is based on CiA standard 401 uses digital inputs digital output analog outputs and is non mappable Refer to CiA v401 Sec 6 2 1 5 2 1001 Error Register The use of the this register is not yet defined but is mandatory to be compliant
7. f when the PDO is transmitted For consistency the number of 8 bit button parameters is fixed at three which will then be able to support up to 24 buttons total If buttons are not present an 8 position keypad for example the corresponding values for the missing buttons shall read as zero 6 3 PDO Mapping The implementation of Dynamic Mapping is to be determined T Layer Setting Services The Grayhill keypads shall support the following baud rates o 10kbps Grayhill Confidential Page 6 10 26 2011 Sita hill Engineering Specification Revision Level A f ince j 561 Hilgrove Ave gskumi3tH LaGrange Ilinois 60525 Written By BMM 20kbps 50kbps 100kbps 125kbps 250kbps Default 500kbps 1000kbps Using the LSS the device shall have the ability to change the node ID and the baud according to CiA v305 O O O Value is stored in non volatile memory when the Store Parameters is performed for the Manufacturer Specific entries 8 Grayhill CAN Open Configuration Variables Custom versions of our 3K product feature a customer specific part number and allow factory configuration of numerous parameters A description of parameters Grayhill can configure for custom part numbers appears below in table 1 Table 1 Configurable parameters Field Name Parameter Size Range Default Comments Type bytes Value Add customer part YES NO number on label Default Node ID INTEGER Heartbeat period INTEGE
8. tors NOTE All three indicators are always referenced even though the indicator may not be present in the customer artwork Like the buttons the indicators correspond with the left top most indicator to the least significant bit of the byte value of sub index 1 The next seven to the right correspond to the remaining bits The right indicator of the third button if it exists or not corresponds to the least significant bit of the byte value in sub index 2 This continues right to left then top to bottom This entry shall not have the ability to store its current state in non volatile memory Figure 2 Example LED address scheme Bank 1 Bank 2 FILS 2 3 NAP Example To turn the center LED of button one and the right most LED on button two OD entry 6000sub01 would contain the value 0x22 0600100010 The two most significant bits are mapped to Bank 3 not shown LEDs 1 and 2 5 19 6411 Analog Outputs Controls the indicator and backlight brightness Sub Entry o 00h Number of Subentries o O1h Analog Output for Indicator Brightness UNSIGNED16 with a range between 1 dimmest and 255 full brightness o 02h Analog Output for Backlight Brightness UNSIGNED 16 with a range between 0 off and 255 full brightness Grayhill Confidential Page 5 10 26 2011 vayhill Engineering Specification Revision Level A 561 Hilgrove Ave akumas o LaGrange Ilinois 60525 Written By BMM 6 Process Data Obje
9. unication Parameter Default values as defined in CiA v401 5 15 1A00 1 Transmit PDO Mapping 5 16 2010h LED Scalars Sub Entry o 00h Number of entries o 01h 8 bit unsigned value controlling the brightness of the backlights o Valid Range from O off to 255 full illumination o 02h 8 bit unsigned value used as a scalar value for the full brightness This value ranges from 64 40h to 255 FFh and can be though of as the ratio of this number over 255 Ex if 10096 on is too bright 255 255 a value of 191 can be entered in this OD entry to scale the full range down to 7596 191 255 5 17 6000 Read Input 8 bit Button information The buttons shall be treated as digital inputs A button press shall register as a logic 1 and a release a logic 0 Each group of eight buttons will correspond to an 8 bit sub index starting with sub index 1 The top left button will correspond to the least significant bit of the byte value in sub index 1 The button to the right will correspond to the next and so on Grayhill C 10 26 2011 vayhill Engineering Specification Revision Level A 561 Hilgrove Ave akumas o LaGrange Ilinois 60525 Written By BMM Figure 1 Button Numbering Example 5 18 6200 Digital Outputs Indicators The indicators shall be treated as digital outputs A logic 1 0 turns the corresponding indicator on off respectively Each button has three corresponding indica
10. y 4 ff a E Date 10 26 2011 PEFEPPREPE 4 Engineering Specification E Revision Level B 561 Hillgrove Ave Illinoi 2 3K Keypads with CANopen protocol Applicable Products Grayhill 3K Keypads with CANopen Oriainal RMO RAL dii 5 3 2011 5 3 2011 RMO RAL e ere ab en NE Corrected TPDO param RTR not supported HM 26 2011 rp 26 2011 This form is used to describe the software components or a new product or feature This form is provided as a base to describe construction of a software module s Sections may be added at the discretion of the design engineer to detail more functionality of the software components 1 S616 0 ee ee ee ee 2 2 BRST Aird MUNN M TETTE 2 3 Aea De e eE a E M apa EAM EI EM MENU E EI MEE 2 4 Hardware De SCLIDtiON ccccccecceecceecceeceeeceeeceeceuecaeecseceuesaeeceeceuesaeeseeseueseeeseeseeeseeeseesseees 2 4 1 BPM E Nr eee EENDE EOE NEEE E EEE qus md Mas MUN MAN MM aie sen er ecient ee MUN E EAEE eee NINE IDNE 2 4 2 evi 2 5 S oi ndBieio ary OD aa aiai a Saioa ea AA Ba ia Ge Aoa o ia SeA SeA SeA R ea Ra AOR iR S 2 Bile 1000 DEVICE YDE renerien anen AKERE EAREN RE EAEE OA REEERE EE EEE REEERE A RERE EAEE KERERE 3 52 TOOT ENO REJSIE TER 3 5 9 1008h Manufacturer Device Name sssssseenem I IRI Im ImRmIRRImemtttttetettrtrii 3 5 4 1009h Manufacturer Hardware Version esses RII emere 3 5 5 100Ah
Download Pdf Manuals
Related Search