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<p class="MsoNormal"><span style="mso-fareast-language:EN-US">Hi Uwe,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">We have implemented FSoE with an EK1960, an EL1904 and an EL2904 in the past. The EK1960 is a bit different to the EL6900 as it also has it’s own IO. However it seems like your PDO configuration
is missing a lot of data both in what the device thinks it has configured (Currently mapped PDO entries) and what you are attempting to write (Entries to map).<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">First check that your project has been loaded on the EL6900 correctly, has been activated and the whole system repowered. Also verify the project crc. (We use the Beckhoff TwinSAFE Loader application
to load the safety program via Linux. This requires a Mailbox Gateway Server, which is a patch I submitted to EtherLab a while ago.) The safety program is what defines the PDO layout on the EL6900. The master cstruct command may give you the correct PDO
mapping but it’s a while ago so I’m not sure on that one. I remember configuring my structs manually based on what was in the safety program as shown by TwinCAT. E.g.: in TwinCAT 3, if you go to I/O, Devices, Device 1, Term 1 (EL6900), Process Data tab it
should show you the expected PDO layout for the terminal.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><img width="225" height="255" style="width:2.3437in;height:2.6562in" id="Picture_x0020_2" src="cid:image001.png@01D8B6E2.EB61F800"><span style="mso-fareast-language:EN-US">
<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><img width="778" height="328" style="width:8.1041in;height:3.4166in" id="Picture_x0020_3" src="cid:image002.png@01D8B6E2.EB61F800"><span style="mso-fareast-language:EN-US"><o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">Order the PDO’s by Sync Manager, then PDO Assignment, then PDO Content. Don’t worry if you have duplicate index:subindex values. They should be unique within a particular PDO group. However you
will need to use “ecrt_slave_config_reg_pdo_entry_pos” rather than “ecrt_slave_config_reg_pdo_entry” if you have any duplicates.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">For each safety device (EL1904, EL2904) the EL6900 controls, your application must copy 48 input bits and 48 output bits (6 bytes) between the EL6900’s PDO and each safety devices PDO’s within your
realtime read-calc-write loop. e.g. copy:<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">EL6900 TxPDO 0x1a00 -> EL1904 RxPDO 0x1600 (length 48 bits)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">EL6900 TxPDO 0x1a01 -> EL2904 RxPDO 0x1600 (length 48 bits)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">EL1904 TxPDO 0x1a00 -> EL6900 RxPDO 0x1600 (length 48 bits)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">EL2904 TxPDO 0x1a00 -> EL6900 RxPDO 0x1601 (length 48 bits)<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">I think I got those the right way around. You will also need to check which blocks the EL1904/EL2904 actually map to based on you safety program.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">Also for housekeeping, I put all of the safety related PDO’s in their own domain.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">Regards,<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US">Graeme.<o:p></o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
<p class="MsoNormal"><span style="mso-fareast-language:EN-US"><o:p> </o:p></span></p>
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<p class="MsoNormal"><b><span lang="EN-US">From:</span></b><span lang="EN-US"> Etherlab-users <etherlab-users-bounces@etherlab.org>
<b>On Behalf Of </b>Stegemann Uwe<br>
<b>Sent:</b> Tuesday, 23 August 2022 02:02<br>
<b>To:</b> etherlab-users@etherlab.org<br>
<b>Subject:</b> [Etherlab-users] Implementation of Safety - Terminals EL6900, EL1904 and EL2904<o:p></o:p></span></p>
</div>
</div>
<p class="MsoNormal"><o:p> </o:p></p>
<p class="MsoNormal"><span lang="DE" style="font-family:"Arial",sans-serif"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">Hi erveryone,<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">I want to setup TwinSafe Logic Terminals, EL6900, EL2904 and EL1904.I've created a Safety-Project with TwinCat3 and downloaded the safety-logic to the EL6900. I use the default settings
from TwinCat3. Now I want to implement it to the etherlab-master. <o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">The Default PDO-Mapping of the EL6900 - Terminal:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">SM0: PhysAddr 0x1000, DefaultSize 256, ControlRegister 0x26, Enable 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">SM1: PhysAddr 0x1100, DefaultSize 256, ControlRegister 0x22, Enable 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">SM2: PhysAddr 0x1200, DefaultSize 2, ControlRegister 0x24, Enable 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> RxPDO 0x1600 "FSOE RxPDO-Map 001"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0x7000:01, 8 bit, "FSOE Command"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0x7001:01, 8 bit, "SubIndex 001"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0x7000:03, 16 bit, "FSOE CRC 001"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0x7000:02, 16 bit, "FSOE ConnID"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> RxPDO 0x1601 "FSOE RxPDO-Map 002"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0x7010:01, 8 bit, "FSOE Command"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0x7011:01, 8 bit, "SubIndex 001"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0x7010:03, 16 bit, "FSOE CRC 001"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0x7010:02, 16 bit, "FSOE ConnID"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> RxPDO 0x17f0 "DEVICE RxPDO-Map Standard In Vars"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0xf201:01, 1 bit, "SubIndex 001"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0xf201:02, 1 bit, "SubIndex 002"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0xf201:03, 1 bit, "SubIndex 003"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0xf201:04, 1 bit, "SubIndex 004"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0xf201:05, 1 bit, "SubIndex 005"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0xf201:06, 1 bit, "SubIndex 006"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0xf201:07, 1 bit, "SubIndex 007"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0xf201:08, 1 bit, "SubIndex 008"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> RxPDO 0x17ff "DEVICE RxPDO-Map Control"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0xf200:01, 16 bit, "Control"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">SM3: PhysAddr 0x1d00, DefaultSize 2, ControlRegister 0x20, Enable 1<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> </span>
<span lang="PT-BR" style="font-family:"Arial",sans-serif">TxPDO 0x1a00 "FSOE TxPDO-Map 001"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="PT-BR" style="font-family:"Arial",sans-serif">
</span><span lang="EN-US" style="font-family:"Arial",sans-serif">PDO entry 0x6000:01, 8 bit, "FSOE Command"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0x6001:01, 8 bit, "SubIndex 001"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0x6000:03, 16 bit, "FSOE CRC 001"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0x6000:02, 16 bit, "FSOE ConnID"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> </span>
<span lang="PT-BR" style="font-family:"Arial",sans-serif">TxPDO 0x1a01 "FSOE TxPDO-Map 002"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="PT-BR" style="font-family:"Arial",sans-serif">
</span><span lang="EN-US" style="font-family:"Arial",sans-serif">PDO entry 0x6010:01, 8 bit, "FSOE Command"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0x6011:01, 8 bit, "SubIndex 001"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0x6010:03, 16 bit, "FSOE CRC 001"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0x6010:02, 16 bit, "FSOE ConnID"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> TxPDO 0x1bff "DEVICE TxPDO-Map Status"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0xf100:01, 3 bit, "Safety Project State"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0x0000:00, 4 bit, "Gap"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0xf100:08, 1 bit, "Login Active"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0xf100:09, 1 bit, "Input Size Mismatch"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0xf100:0a, 1 bit, "Output Size Mismatch"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0x0000:00, 4 bit, "Gap"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0xf100:0f, 1 bit, "TxPDO State"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> PDO entry 0xf100:10, 1 bit, "TxPDO Toggle"<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">When I want to add PDOs, I get following warnings:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">EtherCAT WARNING 0-1: Currently mapped PDO entries: 0x7000:01/8 0x7001:01/8 0x7000:03/16 0x7000:02/16. Entries to map: 0x7000:01/8 0x7001:01/8 0x7000:03/16 0x7000:02/16 0x6000:01/48
0x6000:02/48<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">EtherCAT WARNING 0-1: Slave does not support changing the PDO mapping!<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">Slave Info EL6900:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">=== Master 0, Slave 1 ===<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">Alias: 100<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">Device: Main<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">State: OP<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">Flag: +<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">Identity:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Vendor Id: 0x00000002<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Product code: 0x1af43052<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Revision number: 0x00130000<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Serial number: 0x00000000<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">DL information:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> FMMU bit operation: no<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Distributed clocks: yes, delay measurement only<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> DC system time transmission delay: 145 ns<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">Port Type Link Loop Signal NextSlave RxTime [ns] Diff [ns] NextDc [ns]<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> 0 EBUS up open yes 0 2874259272 0 145<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> 1 EBUS up open yes 2 2874260152 880 145<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> 2 N/A down closed no - - - -<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> 3 N/A down closed no - - - -<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">Mailboxes:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Bootstrap RX: 0x1000/244, TX: 0x10f4/244<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Standard RX: 0x1000/256, TX: 0x1100/256<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Supported protocols: CoE, FoE<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">General:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Group: Safety<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Image name: EL69XX<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Order number: EL6900<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Device name: EL6900, TwinSAFE-PLC<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> CoE details:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Enable SDO: yes<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Enable SDO Info: yes<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Enable PDO Assign: no<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Enable PDO Configuration: no<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Enable Upload at startup: no<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Enable SDO complete access: no<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Flags:<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Enable SafeOp: no<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Enable notLRW: no<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"> Current consumption: 190 mA<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">I see, that's not possible to assign or to configure PPOs, but what is the right track to setup this system successfully?<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">The used PDOs are not unique!<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">Do I have to change settings in TwinCat3? I am not an Expert of this; I only want to use the Safety-Editor to create the Safety - Logic!<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">In earlier posts here I found, that it is possible to implement Safety Terminals in the etherlab master successfully.
<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">I've already read, that the FSoE - Data (6 Bytes) between the Safety - Terminals must be managed in the cycle_task of the Application; a little bit tricky but make sense.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">The last point: In the Safety - Logic I used one variable to set Com/Err - Signal which is also linked to a PDO, I can't mapped!<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">
<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif">Thanks in advance for attention and help.<o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-family:"Arial",sans-serif"><o:p> </o:p></span></p>
<p class="MsoNormal" style="margin-bottom:12.0pt"><span lang="EN-US" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black">Best regards<br>
<br>
Uwe Stegemann<br>
<br>
____________________________________<o:p></o:p></span></p>
<p class="MsoNormal"><b><span lang="EN-US" style="font-family:Arial-BoldMT">G+D Currency Technology<o:p></o:p></span></b></p>
<p class="MsoNormal"><b><span lang="EN-US" style="font-family:Arial-BoldMT"><o:p> </o:p></span></b></p>
<p class="MsoNormal"><b><span lang="EN-US" style="font-family:Arial-BoldMT">Uwe Stegemann</span></b><span lang="EN-US" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black"><br>
</span><span lang="EN-US" style="font-size:10.0pt;font-family:"Arial",sans-serif">Banknote-Engineering - Printing Division / Abt. CTBN 214<br>
<span style="color:#1F497D">Giesecke+Devrient Currency Technology GmbH</span>,</span><span lang="EN-US"><o:p></o:p></span></p>
<p class="MsoNormal"><span lang="EN-US" style="font-size:10.0pt;font-family:"Arial",sans-serif">Prinzregentenstraße 159, D-81677 Munich, Germany<br>
</span><span lang="EN-US" style="font-family:ArialMT">T</span><span lang="EN-US" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black"> +49 89 4119-2321
</span><span lang="EN-US" style="font-family:ArialMT">F</span><span lang="EN-US" style="font-size:10.0pt;font-family:"Arial",sans-serif;color:black"> +49 89 4119-1446<o:p></o:p></span></p>
<p class="MsoNormal"><a href="mailto:uwe.stegemann@gi-de.com"><span lang="EN-US" style="font-family:"Arial",sans-serif;color:blue">mailto:uwe.stegemann@gi-de.com</span></a><span lang="EN-US" style="font-family:"Arial",sans-serif;color:black"><o:p></o:p></span></p>
<p class="MsoNormal" style="margin-bottom:12.0pt"><a href="http://www.gi-de.com/"><span lang="DE" style="font-family:"Arial",sans-serif;color:blue">http://www.gi-de.com</span></a><span lang="DE" style="font-family:"Arial",sans-serif;color:black"><o:p></o:p></span></p>
<p class="MsoNormal" style="margin-bottom:12.0pt"><span lang="DE" style="font-family:"Arial",sans-serif;color:black"><o:p> </o:p></span></p>
<p class="MsoNormal"><span lang="DE"><o:p> </o:p></span></p>
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