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Bosch Rexroth AG
Product Description
3.8
Enabling Safe Outputs for PROFIsafe
3.9
PROFIsafe process Data Words (PROFIBUS, PROFINET)
3.10
Programming Data/Configuration Data
3.10.1
Local Bus
3.10.2
PROFIBUS, PROFINET
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
A "1" is only forwarded by the PST (PROFIsafe driver for F-Slaves) to the SAL
(safety application layer) for a safe output if the consecutive number has changed
in the corresponding PROFIsafe container.
A "0" is always forwarded.
This prevents the toggling of an output by telegrams with the same consecutive
number (e.g., by changing the order of PROFIsafe containers with the same
consecutive number).
The module occupies four words in the Rexroth Inline system. The way in which
these words are mapped in the higher-level control system is specific to the con-
troller used and is described in the system documentation for the controller system
used.
Switch address
Mode switch
ID code
Length code
Input address area
Output address area
Parameter channel (PCP)
Register length
The PCP channel is only used internally.
The programming data/configuration data is defined in the device de-
scription (e.g., GSD, GSDML, etc.) according to the bus or network
used.
DOK-CONTRL-ILPSDO8****-AW04-EN-P
PROFIsafe
Any, 1
.... 3FE
hex
hex
Mode 1
CB
(203
)
hex
dec
04
(04
)
hex
dec
Controller-specific
Controller-specific
1 word
4 words
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