CANopen (Preview)

Object 0x1006: Communication cycle period

The Touch Encoder implements a SYNC producer. Use this object to configure the cycle period.

Object 0x1008: Manufacturer device name

Object 0x1017: Producer heartbeat time

The Touch Encoder implements a heartbeat producer. Use this object to configure the heartbeat time.

Object 0x1018: Identity

TPDO parameters

3.1. Object 0x2000: Commands

The Commands object is the endpoint for general device configuration.

VALUE DEFINITION

Sub-index 0x01 is used to submit a command. A command consists of a command ID and an optional command-specific data of varying length as depicted in the table below. For the list of the available commands, please see Command Reference.

Sub-index 0x02 is a single byte entry that represents the status of the recently submitted command. The status code of 15 indicates that the command is still in progress while all other values indicate that the command has completed. By default, TPDO 5 combines this entry along with sub-index 0x03 for the efficient way to reap the command result.

The sole purpose of sub-index 0x03 is to contain the result of a command if the result size does not exceed 7 bytes. This allows it to be mapped in a TPDO (TPDO5) along with the status (sub-index 0x02). The appropriate bits in the status entry (sub-index 0x02) will indicate this. If the result is 8 bytes or larger, it is only available in sub-index 0x04 and must be read using SDO.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

3.2. Object 0x2001: Channels

There are certain commands that require exchange of data beyond the initial request and response. These commands require the host to specify the channel index as part of the command data. The channel index directly identifies a sub-index in the Channels object to be used for further communication.

VALUE DEFINITION

Sub-index 0x01 to 0x08 are the communication channels. The data exchanged between the host and the device using the channel is command-specific and not defined in this section. Each channel is a domain entry with the read/write behavior as follows. Data written to the channel is sent directly to the command context for consumption. Data destined for the host is placed in the channel-specific queue. Each read operation on the channel will yield the data from the front of the queue. There is a limit to the amount of data that can be queued in all channels. It is important for the host to read the data from the channel as soon as possible. The device will drop each new data when the queue space is exhausted and an EMERGENCY message will be emitted. In case the channel index is assigned to a different context (different command), the device will drop all data present in the queue.

Sub-index 0x09 is a TPDO-mappable entry that contains the queue size of each channel. Each byte represents the queue size of the corresponding channel as shown in the table below. The size increases with each new data put in the queue and decreases with each read operation. By default, TPDO 6 contains this entry for the efficient way to monitor the queue size of each channel.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

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3.3. Object 0x2002: Raw Input Events

Object 0x2002 is the interface for the Raw Input Events (RIE). RIE are reported whenever a new input event is available and is being processed by the Touch Encoder. Input events are generated when any of the TE's user input devices show a change in their state. Each input device (encoder, touch sensor) generates a different type of RIE report.

VALUE DEFINITION

Sub-index 0x01 is an 8-byte entry that contains the most recent RIE report. By default, TPDO 7 contains this entry for the efficient notification mechanism. The following tables describe the layout of each report type.

Sub-index 0x02 is currently a write-only entry that is used to configure the RIE as follows:

OBJECT DESCRIPTION

ENTRY DESCRIPTION

3.4. Object 0x2003: GUIDE

This object allows the host to control the GUIDE project currently running on the Touch Encoder. It offers facilities to monitor various events occurring as well as to control screen and the associated variables.

VALUE DEFINITION

Sub-index 0x01 is a read/write entry that contains the current screen ID. Writing to this entry will effectively change the screen on the Touch Encoder.

Sub-index 0x02 is a read/write domain entry to query and modify variables in the running project. The write operation is used to select a variable and change its value. The data sent as part of the write operation must begin with the screen ID and the variable ID. The new variable value can optionally follow. The pair of identifiers is used to select a variable whose value is to be changed (if the variable value is provided) and for any subsequent read operation that will return the current value of the variable. The table below describes the layout of the write operation.

As described above, the write operation must be carried out in order to select a variable. Once the variable is selected, the host can read its value by issuing a read operation to sub-index 0x02. The read operation will return the pair of identifiers (screen ID and variable ID) followed by the current value of the variable:

Sub-index 0x03 is a read-only entry that contains the last GUIDE notification. This entry is updated whenever the current screen is changed, a variable has changed or a new GUIDE event has occurred. The entry is TPDO-mappable for the efficient way to monitor GUIDE events. By default, TPDO 8 contains this entry. The general format of the notification is as follows:

Please refer to GUIDE Notification for the complete list of notification types and the corresponding data layout.

OBJECT DESCRIPTION

ENTRY DESCRIPTION

4.1 Restart

This command restarts the Touch Encoder.

4.2 Restart To Utility Mode

In the Utility Mode, it is possible to access the Touch Encoder info, perform software update and configure the device.

4.3 Backlight Control

The Backlight Control command allows setting the backlight intensity as well as the persistence of the backlight setting. The backlight level is a percentage value from 0 to 100, where 0 means no backlight and 100 means maximum brightness. The persistence control allows to specify whether the backlight level should be persistent across restarts or not.

4.4 Suspend

The Suspend command puts the Touch Encoder into a low-power state. The device wakes up when it detects activity on the CAN bus.

4.5 Request Project Info

This command requests the brief project info from the Touch Encoder.

The result has the following format:

4.6 Live Update Request

The request initiates the software update. As part of the request, the host must specify the channel index to be used for further communication with the Touch Encoder. To learn more about the live update procedure, see our Live Update guide.

4.7 Service Tool Authentication Request

This request initiates the service tool authentication session. As part of the request, the host must specify the channel index to be used for further communication with the Touch Encoder. To learn more, refer to Service Tool Authentication.

5.1. Screen Change

This notification is generated whenever the current screen is changed. The notification data contains the new screen ID.

5.2. Integer Variable Change

This notification is generated whenever an integer variable changes its value. The notification data contains the screen ID, variable ID and the new value of the variable.

5.3. String Variable Change

This notification is generated whenever a string variable changes its value. The notification data contains the screen ID, variable ID and the new value of the variable. If the string length exceeds 5 bytes, the value is truncated to 5 bytes, possibly in the middle of a UTF-8 code point. If the string is shorter than 5 bytes, it is padded with zeroes to fill the remaining bytes.

5.4. Knob Event

5.5. Touch Event

5.6. Gesture Event

Gesture Data varies depending on the value of Type. It is defined as follows:

• Tap:

  Byte	Bits	Description	Value
  3	15-0	X	16-bit signed integer value
  5	15-0	Y	16-bit signed integer value

• Axis-aligned swipe:

  Byte	Bits	Description	Value
  3	1-0	Direction	0 - Up
  			1 - Dwn
  			2 - Left
  			3 - Right
  	7-2	Reserved	0x00
  4	7-0	Reserved	0x00
  5	15-0	Reserved	0x0000

5.7. Scene Event

Data varies depending on the value of Type. It is defined as follows:

• Input focus change:

  Byte	Bits	Description	Value
  3	7-0	Input focus	0 - Focus gained
  			1 - Focus lost
  4	7-0	Reserved	0x00
  5	15-0	Reserved	0x0000

• Visibility change:

  Byte	Bits	Description	Value
  3	7-0	Visibility	0 - Hidden
  			1 - Visible
  4	7-0	Reserved	0x00
  5	15-0	Reserved	0x0000

5.8. Failure

Failure notification is issued in response to a failed attempt to set the active screen or to modify a variable.