INSTRUCTION MANUAL
SWD® Starter Kit
Page
10
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24
V-EN_2021_SWD® Starter Kit
4.
Synoptic
Figure 1
–
Safety and Control synoptic of the product
Safety
Direct connection of safety sensors and switches to SWD safe inputs
Emergency Stop L
➔
SWD L - STO inputs
Emergency Stop R
➔
SWD R - STO inputs
SE2L OSSD outputs
➔
SWD R - programmable inputs
CANopen Safety between SWD L and R, to replicate the safety inputs from one drive to the other one
Control
CANopen from iMX6 to SWD L and R, using CiA 402 velocity control mode for speed and direction control
Ethernet from SE2L to iMX6, to get data for SLAM and ROS-based algorithms
Note: CANopen and CANopen Safety frames are transmitted on the same physical CAN bus
