TR-Electronic CDV582 - Bus Status Display

Parameterization and configuration
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Page 34 of 154 TR - ECE - BA - GB - 0139 - 02 11/21/2019
TR mode
Safety (TR)
+---BP IN/OUT (Byte)
| +---Position (32Bit); 10 10 SUBSLOT 1
| +---Velocity (32 Bit); 8 4 SUBSLOT 1
| └---Position + Velocity; 14 10 SUBSLOT 1
└---XP
+---Position (32 Bit); 11 11 SUBSLOT 1
+---Velocity (32 Bit); 9 5 SUBSLOT 1
└---Position + Velocity; 15 11 SUBSLOT 1
Channel 1 (TR)
+---Position (32 Bit); 4 - SUBSLOT 2
+---Velocity (32 Bit); 4 - SUBSLOT 3
+---Preset; 1 5 SUBSLOT 4
└---Status; 1 - SUBSLOT 5
Channel 2 (TR)
+---Position (32 Bit); 4 - SUBSLOT 2
+---Velocity (32 Bit); 4 - SUBSLOT 3
+---Preset; 1 5 SUBSLOT 4
└---Status; 1 - SUBSLOT 5
Figure 9: TR mode, module / submodule / subslot assignments (“…”: Default)
OPTION: PNO safety mode
Safety BP (PNO) IN/OUT (Byte)
+---Telegram 36; 12 10 SUBSLOT 2
└---Telegram 37; 10 10 SUBSLOT 2
Safety XP (PNO) IN/OUT (Byte)
+---Telegram 36; 13 11 SUBSLOT 2
└---Telegram 37; 11 11 SUBSLOT 2
Figure 10: PNO safety mode, module / submodule / subslot assignments
PNO channel mode
Channel 1 (PNO)
+---Telegram 81; 12 4 SUBSLOT 2
+---Telegram 82; 14 4 SUBSLOT 2
+---Telegram 83; 16 4 SUBSLOT 2
└---Telegram 84; 20 4 SUBSLOT 2
Channel 2 (PNO)
+---Telegram 81; 12 4 SUBSLOT 2
+---Telegram 82; 14 4 SUBSLOT 2
+---Telegram 83; 16 4 SUBSLOT 2
└---Telegram 84; 20 4 SUBSLOT 2
Figure 11: PNO channel mode, module / submodule / subslot assignments