INSTRUCTION MANUAL
SWD® Starter Kit
Page
11
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30
V-EN_20072022_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
•
Safety laser scanner OSSD outputs
➔
SWD R - programmable inputs
CANopen Safety between SWD L and R is used to replicate the safety inputs from one drive to the
other one
Control
CANopen from iMX6 to SWD L and R, uses CiA 402 velocity control mode for speed and direction
control. Ethernet from safety laser scanner to iMX6, is used to get data for SLAM and ROS-based
algorithms
CANopen and CANopen Safety frames are transmitted on the same physical CAN bus
STO1/2
OSSD1/2
OSSD3/4
C Power
Ethernet
STO1/2
OSSD1/2
OSSD3/4
STO1/2
STO1/2
