CANopen SRDO safety protocol consists of two parts: Non-safe CANopen protocol's transferring part is located in CANopen library. The non-safe variable data is stored in OD variables. SafeCANopenSRDO library includes POUs converting data between non-safe and safe variables.

Library version

Manual version in release

1.1.0.0

SDK 3.3

1.0.2.0

SDK 2.9

POU

Description

CreateSRDO_BYTE

Create diverse SRDO BYTEs from single SAFEBYTE variable.

CreateSRDO_WORD

Create diverse SRDO WORDs from single SAFEWORD variable.

CreateSRDO_DWORD

Create diverse SRDO DWORDs from single SAFEDWORD variable.

CreateSRDO_SINT

Create diverse SRDO SINTs from single SAFESINT variable.

CreateSRDO_INT

Create diverse SRDO INTs from single SAFEINT variable.

CreateSRDO_DINT

Create diverse SRDO DINTs from single SAFEDINT variable.

CreateSRDO_USINT

Create diverse SRDO USINTs from single SAFEUSINT variable.

CreateSRDO_UINT

Create diverse SRDO UINTs from single SAFEUINT variable.

CreateSRDO_UDINT

Create diverse SRDO UDINTs from single SAFEUDINT variable.

S_ValidateSRDO_BYTE

Validate received diverse SRDO UDINTs to single SAFEBYTE variable.

S_ValidateSRDO_WORD

Validate received diverse SRDO WORDs to single SAFEWORD variable.

S_ValidateSRDO_DWORD

Validate received diverse SRDO DWORDs to single SAFEDWORD variable.

S_ValidateSRDO_SINT

Validate received diverse SRDO SINTs to single SAFESINT variable.

S_ValidateSRDO_INT

Validate received diverse SRDO INTs to single SAFEINT variable.

S_ValidateSRDO_DINT

Validate received diverse SRDO DINTs to single SAFEDINT variable.

S_ValidateSRDO_USINT

Validate received diverse SRDO USINTs to single SAFEUSINT variable.

S_ValidateSRDO_UINT

Validate received diverse SRDO UINTs to single SAFEUINT variable.

S_ValidateSRDO_UDINT

Validate received diverse SRDO UDINTs to single SAFEUDINT variable.