INSTRUCTION MANUAL
SWD® Starter Kit
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V-EN_2021_SWD® Starter Kit
To edit and customize the safety fields, use the SLS Project Designer software
7.4.
Safety loops configuration
The safety loops of the SWD Starter Kit are set up as follows:
•
Emergency Stop L
➔
SWD L - STO inputs
•
Emergency Stop R
➔
SWD R - STO inputs
•
SE2L OSSD outputs
➔
SWD L - programmable inputs
•
CANopen Safety between SWD L and R, to replicate the safety inputs from one drive to the other one
The drives configuration is done by CANopen messages. Scripts are available to configure the
drives on the ez-Wheel GitHub.
2
3
4
5
6
7
8
9
11
12
1
10
2
3
4
5
6
7
8
9
11
12
1
10
STO + SDIp + SLS
STO
SRDO_16
(TX)
SRDO_1
(RX)
SRDO_16
(TX)
SRDO_1
(RX)
OSSD1/2
OSSD3/4
SafeIN
1/2
3/4
STO1/2
STO1/2
NodeID
0x5
Polarity
1 (-)
NodeID
0x10
Polarity
0 (+)
SDIn
SLS
SWD
Left
SWD
Right
SafeIN
1/2
3/4
nc
nc
Figure 8 - Configuration of safety loops in SWD Core
