FSoE: Safety PDU command table

The FSoE Safety PDU command determines the meaning of the PDUs.

The following commands are defined in the FSoE standard:

Command	Description
`0x36`	`ProcessData`
`0x2A`	`Reset`
`0x4E`	`Session`
`0x64`	`Connection`
`0x52`	`Parameter`
`0x08`	`FailSafeData`

Source: ETG.5100 S (D) V1.2.0, section 8.1.2: Safety PDU commands, available on request from the EtherCAT Technology Group (ETG)

C++ representation

SafetyPDUCommand.h

enum class SafetyPDUCommand : uint8_t {
    ProcessData = 0x36,
    Reset = 0x2A,
    Session = 0x4E,
    Connection = 0x64,
    Parameter = 0x52,
    FailSafeData = 0x08
};

enum class SafetyPDUCommand : uint8_t {
    ProcessData = 0x36,
    Reset = 0x2A,
    Session = 0x4E,
    Connection = 0x64,
    Parameter = 0x52,
    FailSafeData = 0x08
};

Python representation

safety_pdu_command.py

from enum import IntEnum

class SafetyPDUCommand(IntEnum):
    ProcessData = 0x36
    Reset = 0x2A
    Session = 0x4E
    Connection = 0x64
    Parameter = 0x52
    FailSafeData = 0x08

from enum import IntEnum

class SafetyPDUCommand(IntEnum):
    ProcessData = 0x36
    Reset = 0x2A
    Session = 0x4E
    Connection = 0x64
    Parameter = 0x52
    FailSafeData = 0x08

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