TR-Electronic CDV582 - Legacy (TR) Profile; Safety (Legacy), Safety-Related; Input Cams; Structure of the Cyclic Process Data

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11/21/2019 TR - ECE - BA - GB - 0139 - 02 Page 121 of 154
6.6 Legacy (TR) Profile
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 (Telegram 36 (BP/XP) and Telegram 37 (BP / XP)) and is described only
once in Chapter 6.7 from Page 132.
6.6.1 Safety (Legacy), safety-related
6.6.1.1 Structure of the cyclic process data
Basic Protocol (BP)
Structure of input words 1 to 5, IO device -> Master
IW 1
IW 2
IW 3
IW 4
IW 5
Safe Status, 3-Byte-CRC (V2.4)
Cams
TR status
Velocity
Multi-Turn
Single-Turn
F_MessageTrailer4Byte
Structure of output words 1 to 4, Master -> IO device
OW 1
OW 2
OW 3
OW 4
Safe Control, 3-Byte-CRC (V2.4)
TR-Control1
TR-Control2
(reserved)
Preset
Multi-Turn
Preset
Single-Turn
F_MessageTrailer4Byte
6.6.1.1.1 Input Cams
Unsigned16
Bit
Description
2
0
Velocity overflow
The bit is set if the velocity value is outside the range of –32768…+32767.
2
1
…2
15
reserved