Scanreco – Service Manual G6 Radio Remote Control System
1.3. SDO
SDO listens to COB-ID (0x600 + node id) and transmits on COB-ID (0x580 + node id).
Expedited, segmented and block transfers are supported. Chapter OD summarizes imple-
mented objects.
1.4. PDO Configuration
All PDO’s can be configured as specified in the CANopen standard where it is possible to choose
if the PDO should be in use or not, mapping, transmission type, inhibit time and event time.
1.5. LSS
Node ID and baud rate can be inquired and/or changed using LSS protocol.
2. SRDO
As part of the safety solution for the G6 platform the safety classified information will not only be
available on HW signals, but they will also be available on CAN-bus by using the principles of the
CANopen SRDO protocol. This procedure ensures that critical system status is available on two
dierent channels. This enables customers to fulfill their required safety integrity levels.
The SRDO protocol will be followed in following manner:
• COB-ID will as default be based on application used NODE ID (Value must be from 1-64 to
follow CANopen standard) but can be changed also for customer specific needs. Messages
are sent from two dierent safety CAN controllers.
• SCT time will be set to 50 cms (Safeguard cycle time) as default.
°
Configurable from 10 ms up to 200 ms in 10 ms steps.
• SRVT time will be set to maximum 5 ms (Safety object validation time).
• Data in tailing message will be bit-wise inverted.
It is important that the consumer (Customer’s machine controller) is following SRDO consumer
obligations by monitoring both SCT, SRVT and data content from both SRDOs before considering
information valid.
Due to the use of separated CAN controllers it is possible that during a state transition there
could be inconstant messages for one frame period. For robustness the consumer SRDO
controller should allow missing SRDOs for at least 2 frame cycles."
Example: System state transition between standstill and movement after first SRDO is sent and
before tailing SRDO is sent will cause incorrect data value between frames. This message pair
shall be ignored by consumer and last state used.
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