With this configuration, a check is done during FSoE connection setup to deter‐
mine whe
ther the checksum stored in the control (FSoE master) matches the
checksum of the configuration of the safety laser scanner. If it does not, the FSoE
connection is not established.
Alternative: deactivate checksum check (Disable Safety Configuration Check = True). A
modified configuration of the safety laser scanner is then not detected. The FSoE
connection is established regardless of the specified Expected Safety Configuration
Identifier.
9. Option: also assign the non-safety-related EtherCAT PDO (0x1B00) to Sync Man‐
ager SM3 to activate it.
10. Option: you can assign a configured station alias to the device using the control
and activate the desired addressing type for the device.
4.5.4 Available data
The cyclical data transmission between the control and safety laser scanner is done via
t
he process data objects (PDOs), see "Process data objects (PDOs)", page 68.
The safety laser scanner provides service data objects (SDOs) via CoE (CAN Application
Protocol over EtherCAT), e.g. for diagnostic purposes. The safety laser scanner also
enables configuration and diagnostics with Safety Designer via EoE (Ethernet over
EtherCAT). The CoE and EoE data must not be used for safety-related tasks.
Details:
•
"Service data objects (SDOs)", page 178
•
"Data output", page 123
4.5.4.1 Process data objects (PDOs)
Overview
T
he cyclical data transmission between the controller and the safety laser scanner
occurs via process data objects (PDOs).
The safety laser scanner provides various PDOs for transmitting the safety-related
process data.
You select the desired PDOs at two points:
•
In Safety Designer, you define via which PDOs the safety laser scanner communi‐
cates.
•
In the control configuration, select the module which contains the configured
PDOs.
Available modules and PDOs:
•
Small process data set module with these PDOs:
°
0x1,600: RxPDO Safe Small (FSoE master frame , 6byte safety-related data)
°
0x1A00: TxPDO Safe Small (FSoE slave frame, 6byte safety-related data)
•
Large process data set module with these PDOs:
°
0x1,601: RxPDO Safe Large (FSoE master frame , 18byte safety-related
data)
°
0x1A01: TxPDO Safe Large (FSoE slave frame, 18byte safety-related data)
•
A non-safety-related PDO is also available at the output of the device (input of the
control):
°
0x1B00: TxPDO Non-Safe (EtherCAT slave frame, 18byte data)
Contents of PDOs
D
ata available (input of the device, output of the control):
•
Activate sleep mode
•
Monitoring case number
•
Stop Event history
4 P
ROJECT PLANNING
68
O P E R A T I N G I N S T R U C T I O N S | microScan3 – EtherCAT® 8025220/1L9Q/2023-08-14 | SICK
Subject to change without notice
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