Publicité
Valeurs par défaut
SRDO
Valid
Direction
1
2
3
(...)
8
9
10
11
12
13
14
15
16
SRDO 1 RX
Idx
Sub
Name
Communication parameter
00
Number of entries
h
01
Information direction
h
02
SCT
h
03
SRVT
1301
h
h
04
Transmission type
h
05
COB ID 1
h
06
COB ID 2
h
Mapping
00
Number of entries
h
01
Safety Controword 1
1381
h
h
Safety Controword 1
02
h
inverted
SRDO 2 TX
Idx
Sub
Name
Communication parameter
1302h
00
Number of entries
h
12
Implémenté à partir de la version logiciel 'Firmware' 1.1.4
Version 2.0.2_FR – 31/10/2023 - SWD®
Mapping
RX (02
)
Safety control word 1 (6620 0108
h
TX (01
)
Safety status word 1 à 8 (6621 0108
h
RX
Safety control word 2 (6620 0208
Safe position actual value i32 (6611 0020
TX
Safe velocity actual value i32 (6613 0020
RX
Safety control word 3 (6620 0308
RX
Safety control word 4 (6620 0408
RX
Safety control word 5 (6620 0508
RX
Safety control word 6 (6620 0608
Safety control word 7 (6620 0708
RX
Safety control word 8 (6620 0808
TX
Safety control word Safein 1 (2620 0208
Data
Default
Type
Value
U8
06
U8
2 (RX)
U16
50
U16
20
U8
FE
0000 00FF
U32
(2 x node-ID)
0000 0100
U32
(2 x node-ID)
U8
02
6620 0108
U8
SCW_1
6622 0108
U8
SCW_1_inv
Data
Default
Type
Value
U8
06
)
h
-> 6621 0808
h
Reserved
)
h
)
h
)
h
)
h
)
h
) +
h
)
h
Access
PDO
Type
Mapping
RO
NO
h
RW
NO
RW
NO
RW
NO
RW
NO
h
RW
+
h
NO
RW
+
h
NO
RO
NO
h
h
RO
NO
h
RO
NO
Access
PDO
Type
Mapping
RO
NO
h
NOTICE D'INSTRUCTION
)
h
) +
h
12
)
h
)
h
Lower
Upper
Unit
Limit
Limit
-
-
-
-
0 / 2 (RX)
ms
1
U16
ms
1
U16
FE
FE
h
h
-
00
08
h
h
-
-
-
-
-
-
Lower
Upper
Unit
Limit
Limit
-
-
-
Page 56 sur 132
SWD®
Size in
Bytes
1
1
2
2
1
4
4
1
4
4
Size in
Bytes
1
Publicité
