10/26/2011 Revision Level: B 561 Hillgrove Ave. 3JUM1330
Contents
1. Confidential Page 6 10 26 2011 Grayhill Engineering Specification Revision Level A 561 Hillgrove Ave 3JUM1330 1 Po LaGrange Ilinois 60525 Written By BMM Scalar INTEGER 1 64 255 255 Grayhill Confidential Page 7 10 26 20112. 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 Not all Manufacturer Specific parameters are stored Refer to the Manufacturer Specific OD entries for the parameters that are stored 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 307h 02h Product Code 334Ah ASCII 3J 03h Revision Number 04h Serial Number 00000 5 10 1400h 1 Receive PDO Communication Parameter Sub Entry o 00h Number of Subentries Value 3 o 01h COBID Default 200h NODEID o 02h Transmission Type Grayhill Confidential Page 3 10 26 2011 vayhill Engineering Specification Revision Level A 561 Hillgrove Ave 3JUM1330 1 Po LaGrange Ilinois 60525 Written By BMM 5 11 1600h 1 Receive PDO Mapping Sub Entry o 00h Number of subentries Value 1 o 01h Backlight brightness mapping parameter Value 20100108h 5 12 1800h 1 Transmit PDO Communication Parameter Sub Entry 00h Number of Subentries Value 5 01h COBID Default 180h NODEID 2 30 RTR not supported 02h Transmission Type 03h Inhibit Time Default 0 04h Reserved not used 05h Event
3. up down left right respectively Directions Up Down are mutually exclusive Directions Left Right are mutually exclusive Moving the joystick up and to the left will set both bit O and bit 3 5 17 2010h Backlight Brightness Sub Entry o 00h Number of entries o Oth 8 bit unsigned value controlling the brightness of the backlights o Valid Range from 0 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 100 on is too bright 255 255 a value of 191 can be entered in this OD entry to scale the full range down to 75 191 255 6 Process Data Objects PDO s 6 1 RPDO One RPDO exist controlling the brightness of the backlights 6 1 1 RPDO1 OD 2010sub01 is mapped to this RPDO and will be used to receive the analog input used for controlling the backlight brightness 6 2 TPDO One TPDO will be used to transmit the VDC information Remote Transmit Request RTR will not be supported on the TPDO 6 2 1 TPDO1 This PDO will transmit OD 2000sub01 2001sub01 and 2002sub01 in a four byte CAN Object COB using the default COBID for TPDO1 6 3 Dynamic PDO Mapping No Dynamic Mapping shall be used 7 Layer Setting Services The Grayhill keypads shall support the following baud rates o 10kbps Grayhill Confidential Page 5 10 26 2011
4. Ca hill Engineering Specification Revision Level A 561 Hillgrove Ave 3JUM1330 1 Po 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 oo0o0o0000 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 3J 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 Value Comments Type bytes Add customer part YES NO NO number on label Default Node ID INTEGER 1 Ox0A Heartbeat period INTEGER 1 0 Receive PDO Comm Params COBID INTEGER 2 0x020A Transmit PDO Comm Param COBID INTEGER 2 0x4000018A PDO mapping not supported 0x180 COBID RTR not supported Inhibit Time INTEGER 2 0 Event Timer INTEGER 2 0 Encoder Variables Rollover BOOLEAN 1 0 1 0 When enabled will roll over from TOP to zero TOP INTEGER 2 0 65535 Backlight Brightness Equal to high byte of the value multipled by the scalar Value INTEGER 1 0 255 0 Grayhill
5. Timer Default 0 000000 5 13 1A00h 1 Transmit PDO Mapping Sub Entry o 00h Number of Subentries Value 3 o Oth Encoder Mapping Value 20000110h o 02h Button Mapping Value 20010108h o 03h Joystick Mapping Value 20020108h 5 14 2000h Encoder Information Sub Entry o 00h Number of Subenitries o Oth Current Value 16 bit signed number indicating the current value of the encoder o 02h Direction 8 bit unsigned indicating the direction of the turn 1 Clockwise 2 Counter Clockwise o 03h Rollover 8 bit unsigned value used to enable or disable the Current Value from rolling over o 0 Disabled o 1 Enabled o 04h Revolutions 16 bit signed integer holding the revolutions of the encoder o 05h Top Value 16 bit unsigned value that holds the top most value the Current Value counts up to Turing the encoder clockwise will increase the value 5 15 2001h Button Information Sub Entry o 00h Number of Subentries o 01h 8 bit unsigned The first five bits correspond to buttons 1 through 5 The sixth bit corresponds to the encoder select pushbutton if capable Grayhill Confidential Page 4 10 26 2011 vayhill Engineering Specification Revision Level A 561 Hillgrove Ave 3JUM1330 1 Po LaGrange Ilinois 60525 Written By BMM 5 16 2002h Joystick Information Sub Entry o 00h Number of Subentries o Oth 8 bit unsigned Bits 0 through 3 correspond to joystick
6. eees 5 6 Process Data Objects PDO S miseire eenaa eiea aneda anaa aeaea edanda edana asada a enuan 5 G8 RR DO Tann a e A a A a SRS SS SS AS 5 6 1 1 RPDOT o Ri Or Be ss i Se A A A A A 5 627 TRDO AAA A A A A A SS A AAAS 5 6 2 1 TPDO 9 er ee es Pe ee es A A AA A A 5 6 3 Dynamic PDO Mapping ccccccccccecceeeccneee a 5 7 Layer Setting S rviCes ri aieeaa etida de aeaa da a aeda da eaea aa dadane eanan 5 8 Grayhill CAN Open Configuration Variables cc cccccccccccceneeeeeeeeeeteeccneeeeeeeeeeteestaaeeeeees 6 rerep hes Engineering Specification Revision Level A 561 Hillgrove Ave 3JUM1330 1 Po LaGrange Ilinois 60525 Written By BMM 4 1 4 2 5 1 Scope This document describes the implementation of CANopen on the Grayhill VDC Relevant Documents o CiA Draft Standard 301 Application Layer and Communication Profile o CiA Draft Standard 305 Layer Setting Services LSS and Protocols Product Validation Compliance shall be per CiA conformance test tool version 2 0 Grayhill CANopen vendor ID 0x0307 Hardware Description The Grayhill standard VDC have inputs that include five buttons a rotary encoder with an optional push select that behaves as a sixth button and an optional eight directional joystick The only output the VDC has is the backlight intensity of the entire module The object dictionary entries shall be the same for all options The bits associated with the unused opti
7. ons shall read as zero Input Inputs will correspond to a bit within the corresponding Object Dictionary OD entry 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 301 The user is free to change the COB ID Outputs The backlight brightness is an analog value mapped to an eight bit OD entry that can be controlled by the RPDO1 or using the Service Data Object SDO Object Dictionary OD All of the mandatory entries of the Object Dictionary OD as defined in CiA 301 and 305 shall be implemented The following is the list of the Object Dictionary entries that are implemented 1000h Device Type Value 0x00 This value indicates that this device is Manufacturer Specific and is not base on a CiA standard Grayhill Confidential Page 2 10 26 2011 rerep hes Engineering Specification Revision Level A 561 Hillgrove Ave 3JUM1330 1 Po LaGrange Ilinois 60525 Written By BMM 5 2 1001h Error Register The use of the this register is not yet defined but is mandatory to be compliant 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
8. uecseueseeueeeeaeesaeeeaaes 3 5 5 100Ah Manufacturer Software Version ccccccccccccecccceceseeeseueeseeeeeeaeueeaeueeaeeseaeeeeaeees 3 5 6 1010h Store Parameters cece ccececcecscceceeueeeeeesecuecesaeeeeeseeeaueeaeseeaaeesaeesaeeeaaes 3 5 7 1011h Load Parameters 0 0 0 cccccccececceceeeeceeeeceeuececueeseaeseeaeseeeeseeaaeeeaaeeeaeeesaeeeeaaes 3 5 8 1017h Producer Heartbeat Time ccc cec ccc ecccceccceeceeeeceeeesesueceeaeseeueeesaeeeeaaeeeaaes 3 59 AOT8h ldentity Ojetti hv ee eee ee eee he eee ee ea ee 3 5 10 1400h 1 Receive PDO Communication Parametel cc ccccsscesseseeseseerseseeseese 3 5 11 1600h 1 Receive PDO Mapping cccccccsesssesssescsesessssseseseseecscsessesssetieseaeseaeaeass 4 5 12 1800h 1 Transmit PDO Communication Parametel cccccccccessesseeseesseeseessenees 4 5 13 1A00H 1 Transmit PDO Mapping ccccccssscsssssssssssceceveseeseessssssssesevesevsusesecsersees 4 5 14 2000h Encoder Information 0 cccccccccccceccceeeeceecsceueseeeceeuuseeeaeesuaeesueeeaeeeeaneesaaes 4 5 15 2001h Button Information ccc cece ccc ccccceececeececeecseueceeeeceeeaeeseuseseeesuaeeeaeeeaueesaaes 4 5 16 2002h Joystick Information cccccccceeeeeeeceneeeeeeeeeeeeccaaeeeeeeeeeeeeeaaeeeeeeeeeeeessteeeeeees 5 5 17 2010h Backlight BrightneSs ccccccccecceeeeeeeeeeeeeeecaeeeeeeeeeseecaaaeeeeeeeeteeecnaaeee
9. y 4 ff cd Pare Date 10 26 2011 back LiL LS 4 Engineering Specification pea Revision Level B 561 Hillgrove Ave 3JUM1330 1 o LaGrange Ilinois 60525 Written By BMM Applicable Products Grayhill Vehicle Display controllers VDC with CANopen REVISION DESCRIPTION CHECKED APPROVED RMO RAL 5 3 2011 5 3 2011 RMO RAL 10 26 2011 10 26 2011 A Original B Corrected TPDO param RTR not supported 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 Li SCOPE eect RE Aa tote tk reds ln Rt A trade Falah AR Ge alte A AS 2 2 Relevant DoCcuUM NtSis c0 tt hee ee A ee aa ed 2 3 PROCUCt Validation sii keke tte ee Ae ek ied ede geek aged ele aed etd td 8 2 4 Hardware Descriptions ata ae A ee A ee ae ees 2 4 1 TUT sere tet eee ee tae AI iad eg dg A Ld Le Rd kl Lage ed 2 4 2 OTENU EE T T E E E E E E ETE E A 2 5 Object Dictionary ODJ cM Baie Rhee Waele Wa dete tee 2 5 1 hOOOK Device TYDES we Aiea eee ea ee ee ee ee idea 2 5 2 LOOAh Error Registe shiv taeieteteertes Se eieled Cet A etd WA we di 3 5 3 1008h Manufacturer Device Name ccc cccecccececeececueceseeceeeeeeeueseeueseeueeeeaaeeeaeeeaaes 3 5 4 1009h Manufacturer Hardware VersSion cccccccccceceesecseeceeeecse
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