TR-Electronic CDV582 - TR Encoder Profile, Safety Instrumented (Safety (TR)); Submodule Position (BP;XP); Structure of the Cyclic Process Data

Parameterization and configuration
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6.5 TR Encoder Profile, safety instrumented (Safety (TR))
The F-status byte Safe Status or F-Control Byte Safe Control contained in the
F_MessageTrailer (process data) is contained in all safety-instrumented
submodules ( Position (BP/XP), Velocity (BP/XP) and Position + Velocity (BP/XP) ) and
is therefore described only once in Chapter 6.7 from Page 132.
6.5.1 Submodule position (BP/XP)
As the submodules Position + Velocity (BP/XP)contain the same process
data and parameters as the Submodule Position (BP/XP) with respect to the
position output, the exact breakdown is therefore described only once in Chapter
“Submodule Position + Velocity (BP/XP)” Page 106.
6.5.1.1 Structure of the cyclic process data
Basic Protocol (BP)
Structure of input words 1 to 3, IO device -> Master
IW 1
IW 2
IW 3
Safe Status, 3-Byte-CRC (V2.4)
IB1
IB2
Stat. 2
Stat. 1
Position
F_MessageTrailer4Byte
Stat.: TR status
Structure of output words 1 to 3, Master -> IO device
OW 1
OW 2
OW 3
Safe Control, 3-Byte-CRC (V2.4)
OB1
OB2
Cont. 2
Cont. 1
Preset
F_MessageTrailer4Byte
Cont.: TR control
Expanded Protocol (XP)
Structure of input words 1 to 3, IO device -> Master
IW 1
IW 2
IW 3
Safe Status, 4-Byte-CRC (V2.6.1)
IB1
IB2
Stat. 2
Stat. 1
Position
F_MessageTrailer5Byte
Stat.: TR status
Structure of output words 1 to 3, Master -> IO device
OW 1
OW 2
OW 3
Safe Control, 4-Byte-CRC (V2.6.1)
OB1
OB2
Cont. 2
Cont. 1
Preset
F_MessageTrailer5Byte
Cont.: TR control