I'm trying to use OpenPowerlink for safe communication with
a B&R SafeLogic and some B&R safe modules. As the
OpenConfigurator doesn't support safe modules yet I have
to create the mnobd.txt file manually and then convert it
with txt2cdc into a .cdc file that is then fed to OpenPowerlink.
Part of this work was done with the help of B&R and Wireshark,
that's why it works now without fully understanding it yet.
I have a node with these modules:
PS9400, SO2110, DI8371, SI4100, SI4100, DO2649
It sends out this data frame:
1A00 01 00000008 00100000001E2100
1A00 02 00000008 00780010001E2101
1A00 03 00000008 00100088001E2102
1A00 04 00000008 00800098001E2103
1A00 05 00000008 00800118001E2104
The safe logic (SL8001) receives this data frame:
1601 01 00000008 0068002000012200
1601 02 00000008 0008001800022500
1601 03 00000008 007800a000022200
1601 04 00000008 0078012000032200
Why doesn't the first entry start at 10 as does 1A00/02?
What is the meaning of 1601/02?
Why is 1601/02 mapped to 2500 and not to 2200 as
are all the others?
Why do the sizes not match (68<->78, 78<->80)?
Also the other direction is not clear. SafeLogic sends:
1A00 01 00000008 0008000000012580
1A00 02 00000008 0078000800012210
1A00 03 00000008 0058008000022210
1A00 04 00000008 005800D800032210
1A00 05 00000008 0078013000042210
1A00 06 00000008 007801A800052210
1601 01 00000008 0078000800062501
1601 02 00000008 0058008000202103
1601 03 00000008 005800D800202104
3 entries for 3 safe modules, that's ok. But why is
the first entry again mapped to 2500 and not 2100?
I would expect that only 1A00/(01)02-04 are needed.
However if I leave out 1A00/06 or 05/06 then the safe
communication stops working on the SO2110. The
2 SI4100 continue to work even though they're after
I created a python script to create a complete mnobd.txt
file with safe modules, but as long as I don't understand
the working solution I can't implement the necessary
details for the safe communication.
Thanks for any help
Dear Mr. Cenedese,
Your question is specifically aimed to the mapping of the B & R components and has nothing to do with the openPOWERLINK stack itself. For this reason, I would recoomend you to send your request directly to the B & R support, see link below.
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