Scanreco G6 - PART 3: APPENDIX 1 - G6 CANOPEN SPECIFICATION; 1. Protocol; 2. SRDO; PART 4: APPENDIX 2 - SISPTM SAFETY MANUAL

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Scanreco – Service Manual G6 Radio Remote Control System
PART 3: APPENDIX 1 – G6 CANOPEN SPECIFICATION ........................................... 1
1. Protocol ................................................................................................... 1
1.1. General Settings .........................................................................................1
1.2. NMT ...........................................................................................................1
1.3. SDO ...........................................................................................................2
1.4. PDO Configuration ......................................................................................2
1.5. LSS ............................................................................................................2
2. SRDO ....................................................................................................... 2
2.1. SRDO Data Frame .......................................................................................3
2.2. Examples ...................................................................................................3
2.2.3. Safe State ...................................................................................................3
2.2.2. Safe Standstill State ....................................................................................3
2.2.3. Safe Prop 4 and 15 Active ...........................................................................4
3. TPDO ....................................................................................................... 5
4. RPDO ....................................................................................................... 6
5. Emergency ............................................................................................... 7
6. OD ........................................................................................................... 7
7. CAN Pairing ............................................................................................. 8
PART 4: APPENDIX 2 – SISP™ SAFETY MANUAL .................................................... 1
1. Introduction ............................................................................................. 1
2. Basic Skills and Knowledge ...................................................................... 1
3. SISP
TM
Overview ....................................................................................... 1
4. Safety Functions ...................................................................................... 2
4.1. Stop Function .............................................................................................2
4.2. Prevention of Unintended Movement From Standstill ....................................2
4.3. Safe Digital Indication .................................................................................2
4.4. Correct Actuator Activation .........................................................................3
5. Integrators Implementation ...................................................................... 3
5.1. Stop Function .............................................................................................3
5.2. Unintended Movement From Standstill ........................................................4
5.3. Safe Digital Indication .................................................................................4
5.4. Correct Actuator Activation .........................................................................4
6. Configuration ........................................................................................... 4
6.1. Safety Related Parameters ..........................................................................4
6.2. Safety Related Hardware Configurations ......................................................4
7. Verification of Safety Functions ................................................................ 4