CANopen Device Specifications

The system supports the following CANopen devices:

HCMS8 Specification

This plug-in is developed for a joystick based on the HCMS8 controller.

Specification Name	HCMS8
Default Node ID	0x49
Communication Baudrate	250 kbps
Data Byte Ordering	Little Endian

PDO Mapping

PDO	COB-ID	Data Segment Count	Data Segments

PDO	COB-ID	Data Segment Count	Data Segments
TPD01	0x183	1	8

Hardware Inputs

Label	Data Type	PDO (COB-ID)	Event Time	Inhibit Time	Data Location	Data Length	Notes

Label	Data Type	PDO (COB-ID)	Data Location	Data Length	Notes
AI-00	unsigned int16	TPDO5 (0x1C9)	byte 0-1	11 bits
AI-01	unsigned int16	TPDO5 (0x1C9)	byte 2-3	11 bits
AI-02	unsigned int16	TPDO5 (0x1C9)	byte 4-5	11 bits
DI-00	bool	TPDO5 (0x1C9)	byte 6, bit 0	1 bit	1 = button pressed
DI-01	bool	TPDO5 (0x1C9)	byte 6, bit 1	1 bit	1 = button pressed
DI-02	bool	TPDO5 (0x1C9)	byte 6, bit 2	1 bit	1 = button pressed
DI-03	bool	TPDO5 (0x1C9)	byte 6, bit 3	1 bit	1 = button pressed
DI-04	bool	TPDO5 (0x1C9)	byte 6, bit 4	1 bit	1 = button pressed
DI-05	bool	TPDO5 (0x1C9)	byte 6, bit 5	1 bit	1 = button pressed
DI-06	bool	TPDO5 (0x1C9)	byte 6, bit 6	1 bit	1 = button pressed
DI-07	bool	TPDO5 (0x1C9)	byte 6, bit 7	1 bit	1 = button pressed
DI-08	bool	TPDO5 (0x1C9)	byte 7, bit 0	1 bit	1 = button pressed
DI-09	bool	TPDO5 (0x1C9)	byte 7, bit 1	1 bit	1 = button pressed
DI-10	bool	TPDO5 (0x1C9)	byte 7, bit 2	1 bit	1 = button pressed
DI-11	bool	TPDO5 (0x1C9)	byte 7, bit 3	1 bit	1 = button pressed
DI-12	bool	TPDO5 (0x1C9)	byte 7, bit 4	1 bit	1 = button pressed
DI-13	bool	TPDO5 (0x1C9)	byte 7, bit 5	1 bit	1 = button pressed
DI-14	bool	TPDO5 (0x1C9)	byte 7, bit 6	1 bit	1 = button pressed
DI-15	bool	TPDO5 (0x1C9)	byte 7, bit 7	1 bit	1 = button pressed

Hardware Outputs

Label	Data Type	PDO (COB-ID)	Event Time	Inhibit Time	Data Location	Data Length	Notes

Label	Data Type	PDO (COB-ID)	Event Time	Data Location	Data Length	Notes
DO-00	bool	RPDO1 (0x249)	24 ms	byte 0, bit 0	1 bit	0 = Light Off 1 = Light On
DO-01	bool	RPDO1 (0x249)	24 ms	byte 0, bit 1	1 bit	0 = Light Off 1 = Light On
DO-02	bool	RPDO1 (0x249)	24 ms	byte 0, bit 2	1 bit	0 = Light Off 1 = Light On
DO-03	bool	RPDO1 (0x249)	24 ms	byte 0, bit 3	1 bit	0 = Light Off 1 = Light On
DO-04	bool	RPDO1 (0x249)	24 ms	byte 0, bit 4	1 bit	0 = Light Off 1 = Light On
DO-05	bool	RPDO1 (0x249)	24 ms	byte 0, bit 5	1 bit	0 = Light Off 1 = Light On
DO-06	bool	RPDO1 (0x249)	24 ms	byte 0, bit 6	1 bit	0 = Light Off 1 = Light On
DO-07	bool	RPDO1 (0x249)	24 ms	byte 0, bit 7	1 bit	0 = Light Off 1 = Light On
Thumper (optional)	bool	RPDO2 (0x349)		byte 0, bit 2	1 bit	0 = Vibrate Off 1 = Virbrate On

Heartbeat

Direction	Rate	Format	Notes

Direction	Rate	Format	Notes
From	250 ms	NMT status from node ID 49	Standard NMT heartbeat should be sent every 250 ms.

Software Extension

Extension name: HCMS8

Software Inputs

Field Name	Field Type	Device Mapping	Notes

Field Name	Field Type	Device Mapping	Notes
Digital Input 1	bool	DO-00	true light is on
Digital Input 2	bool	DO-01	true light is on
Digital Input 3	bool	DO-02	true light is on
Digital Input 4	bool	DO-03	true light is on
Digital Input 5	bool	DO-04	true light is on
Digital Input 6	bool	DO-05	true light is on
Digital Input 7	bool	DO-06	true light is on
Digital Input 8	bool	DO-07	true light is on
Enable Thumper			Enable thumper, work with field thumper frequency
Thumper Frequency	double	Thumper	Bit is set at the given frequency when Enable Thumper is true

Software Outputs

Field Name	Field Type	Device Mapping	Notes

Field Name	Field Type	Device Mapping	Notes
Device Initialized	bool		Indicates the software is receiving updates from the hardware
Axis 1	unsigned int	AI-00	Typically the forward axis, centered at 0x400
Axis 2	unsigned int	AI-01	Typically the side axis, centered at 0x400
Digital Output 1	bool	DI-00	`true` when the button is pressed
Digital Output 2	bool	DI-01	`true` when the button is pressed
Digital Output 3	bool	DI-02	`true` when the button is pressed
Digital Output 4	bool	DI-03	`true` when the button is pressed
Digital Output 5	bool	DI-04	`true` when the button is pressed
Digital Output 6	bool	DI-05	`true` when the button is pressed
Digital Output 7	bool	DI-06	`true` when the button is pressed
Digital Output 8	bool	DI-07	`true` when the button is pressed
Digital Output 9	bool	DI-08	`true` when the button is pressed
Digital Output 10	bool	DI-09	`true` when the button is pressed
Digital Output 11	bool	DI-10	`true` when the button is pressed
Digital Output 12	bool	DI-11	`true` when the button is pressed
Digital Output 13	bool	DI-12	`true` when the button is pressed
Digital Output 14	bool	DI-13	`true` when the button is pressed
Digital Output 15	bool	DI-14	`true` when the button is pressed
Digital Output 16	bool	DI-15	`true` when the button is pressed

Parameters

Field Name	Field Type	Device Mapping	Notes

Field Name	Field Type	Device Mapping	Notes
Nodes	Array	N/A	The device has a single node
0. Node ID	73		When these controls come in pair, the left node is 73 (0x49) and the right is 72 (0x48)
0.NMT State	Varies		Indicates the current NMT state of the device

Analog Foot Pedal Specification

The system supports the following types of analog foot pedals:

Analog Pedal Type	Description

Analog Pedal Type	Description
Bidirectional	Users can press the pedal forwards and backwards (two functions)
Unidirectional	Users can press the pedal forwards (single function)

Note For information about foot pedals supplied with the Vortex Advantage hardware platform, see the specification for Vortex Advantage Steering Wheel and Pedals.

Specification Name	OC13
Default Node ID	0x61 (unidirectional; 0x64 (bidirectional)
Communication Baudrate	250 kbps
Data Byte Ordering	Little Endian

PDO Mapping

PDO	COB-ID	Data Segment Count	Data Segments

PDO	COB-ID	Data Segment Count	Data Segments
TPDO5	0x1E1	2	16, 8

Hardware Inputs

Label	Data Type	PDO (COB-ID)	Event Time	Inhibit Time

Label	Data Type	PDO (COB-ID)	Event Time	Inhibit Time