Tab 'CANopen Safety Slave - SRDOs'
This tab is used for displaying the SRDOs and the experts in addition to the definition of the safety-related data objects (SRDOs). A maximum of 64 SRDOs are possible in the entire CAN network. The Receive SRDOs (Master => Slave) are displayed on the left side and the Transmit SRDOs (Slave => Master) are display on the right side.
Basically, each SRDO consists of two CAN telegrams: a telegram with an uneven COB ID that contains the data, and a telegram with an even COB ID and bit-inverted data. Then a maximum possible data size of 8 bytes.
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Add SRDO |
Opens the Select SRDO dialog. This dialog shows the SRDOs defined in the standard. When you select an SRDO in this dialog and confirm it, the SRDO is displayed in the SRDO tab. |
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Add mapping |
Requirement: An SRDO is selected. This command opens the SRDO mapping dialog for adding the mapping. The corresponding objects must already be added to the Object directory. |
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Edit |
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Delete |
Deletes the selected line. |
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Name |
Name of the SRDO and mapping
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The parameters of the SRDOs are shown as tooltips when the mouse pointer is located over the name.
In the dialog, the mapping and assignment of the simple data object are defined for the inverse data object.
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Simple data object |
Double-clicking the line below it opens the dialog Select SRDO mapping where the applicable elements are displayed from the object directory. When you select a simple data type in the dialog Select SRDO mapping and click OK, the data object is added to the SRDO mapping dialog. |
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Inverse data object |
Double-clicking the line below it opens the dialog Select SRDO mapping. When you select an inverse data type in the dialog Select SRDO mapping and click OK, the data object is added to the SRDO mapping dialog. |
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CODESYS checks automatically whether the data type and data length of the simple and the inverse data objects match. The result is shown at the bottom of the dialog. |
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Call: Double-click the SRDO in the SRDOs tab.
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COB ID 1 |
COB ID of the CAN telegram that contains the data. Note: An uneven COB ID or 0 should be specified in order to comply with the standard. The tooltip of the input field shows information about the COB ID. |
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COB ID 2 |
COB ID of the CAN telegram that contains the inverse data. Note: An even COB ID or 0 should be specified in order to comply with the standard. The tooltip of the input field shows information about the COB ID. |
: SRDO is activated by default.
: SRDO is deactivated by default.