TR-Electronic CDV582 - Submodule Velocity (BP;XP); Structure of the Cyclic Process Data

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11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 103 of 154
6.5.2 Submodule Velocity (BP/XP)
As the submodules Position + Velocity (BP/XP)contain the same process
data and parameters as the Submodule Velocity (BP/XP) with respect to the
velocity output, the exact breakdown is therefore described only once in Chapter
“Submodule Position + Velocity (BP/XP)” Page 106.
6.5.2.1 Structure of the cyclic process data
Basic Protocol (BP)
Structure of input words 1 to 2, IO device -> Master
IW 1
IW 2
Safe Status, 3-Byte-CRC (V2.4)
Velocity
F_MessageTrailer4Byte
Structure of output data, master -> IO device
Safe Control, 3-Byte-CRC (V2.4)
F_MessageTrailer4Byte
Expanded Protocol (XP)
Structure of input words 1 to 2, IO device -> Master
IW 1
IW 2
Safe Status, 4-Byte-CRC (V2.6.1)
Velocity
F_MessageTrailer5Byte
Structure of output data, master -> IO device
Safe Control, 4-Byte-CRC (V2.6.1)
F_MessageTrailer5Byte