Bosch Rexroth R-IB IL 24 PSDO 8-PAC User manual

The Drive & Control Company
Application Description
R911326028
Edition 04
Rexroth Inline Module with
safe digital outputs
R-IB IL 24 PSDO 8-PAC

Bosch Rexroth AG DOK-CONTRL-ILPSDO8****-AW04-EN-P
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
Title Rexroth Inline Module with
safe digital outputs
R-IB IL 24 PSDO 8-PAC
Type of Documentation Application Description
Document Typecode DOK-CONTRL-ILPSDO8****-AW04-EN-P
Internal File Reference 7809_en_04, R911326028_04.pdf
Purpose of Documentation This document describes the Rexroth Inline Module with safe digital outputs
R-IB IL 24 PSDO 8-PAC as of the version HW/FW/FW 01/201/100.
Record of revision
Copyright © Bosch Rexroth AG 2016
This document, as well as the data, specifications and other information set forth
in it, are the exclusive property of Bosch Rexroth AG. It may not be reproduced or
given to third parties without its consent.
Liability The specified data is intended for product description purposes only and shall not
be deemed to be a guaranteed characteristic unless expressly stipulated in the
contract. All rights are reserved with respect to the content of this documentation
and the availability of the product.
Editorial department Engineering automation systems control hardware, SB
Edition Release
date
Note
02 12.2013 First edition
03 04.2016 Modification in Table 13-1
(rows 1 + 2)
04 05.2018 HW/FW/FW version updated (as of...)
Chapters updated: Use of the Safety Instructions, Disposal,
Service and Support
Information about safety seals removed (Chapter General Safety
Notes and Chapter Repair)
Information on test pulses in the chapter Safe digital outputs
added
EMC Directive updated
Conditions for Use at Altitudes greater than 2000 m above Sea
Level inserted

Table of Contents
Page
DOK-CONTRL-ILPSDO8****-AW04-EN-P Bosch Rexroth AG I/94
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
1 Use of the Safety Instructions .................................................................................... 5
1.1 Structure of the Safety Instructions ..........................................................................................................5
1.2 Explaining Signal Words and Safety Alert Symbol ...................................................................................5
1.3 Symbols used ..........................................................................................................................................6
1.4 Signal Graphic Explanation on the Device ...............................................................................................6
2 For Your Safety ............................................................................................................ 7
2.1 General Safety Notes...............................................................................................................................7
2.2 Electrical Safety .......................................................................................................................................9
2.3 Safety of the Machine or System............................................................................................................10
2.4 Directives and Standards .......................................................................................................................11
2.5 Correct Usage ........................................................................................................................................11
2.6 Documentation.......................................................................................................................................12
2.7 Abbreviations Used................................................................................................................................13
2.8 Safety Hotline.........................................................................................................................................13
3 Product Description................................................................................................... 15
3.1 Brief Description of the Safety Module ...................................................................................................15
3.2 Structure of the Safety Module ...............................................................................................................16
3.3 Housing Dimensions ..............................................................................................................................17
3.4 Safe Digital Outputs ...............................................................................................................................18
3.5 Connection Options for Actuators Depending on the Parameterization .................................................20
3.6 Local Diagnostic and Status Indicators ..................................................................................................20
3.7 Safe State ..............................................................................................................................................22
3.7.1 Operating State ..................................................................................................................................22
3.7.2 Error Detection in I/O Devices ............................................................................................................22
3.7.3 Device Errors .....................................................................................................................................23
3.7.4 Parameterization Errors ......................................................................................................................23
3.8 Enabling Safe Outputs for PROFIsafe....................................................................................................24
3.9 PROFIsafe process Data Words (PROFIBUS, PROFINET) ...................................................................24
3.10 Programming Data/Configuration Data ..................................................................................................24
3.10.1 Local Bus ...........................................................................................................................................24
3.10.2 PROFIBUS, PROFINET .....................................................................................................................24
4 Inline Potential and Data Routing, and Inline Connectors..................................... 25
4.1 Inline Potential and Data Routing ...........................................................................................................25
4.2 Supply Voltage UL..................................................................................................................................25
4.3 Supply Voltage UM.................................................................................................................................26
4.4 Terminal Point Assignment ....................................................................................................................28
Table of Contents

Table of Contents
Page
II/94 Bosch Rexroth AG DOK-CONTRL-ILPSDO8****-AW04-EN-P
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
5 Assembly, Removal, and Electrical Installation ......................................................31
5.1 Assembly and Removal......................................................................................................................... 31
5.1.1 Unpacking the Module ...................................................................................................................... 31
5.1.2 General ............................................................................................................................................. 31
5.1.3 Setting the DIP Switches ................................................................................................................... 32
5.1.4 Assembly and Removal of the Safety Module ................................................................................... 33
5.2 Electrical Installation.............................................................................................................................. 35
5.2.1 Electrical Installation of the Rexroth Inline Station ............................................................................. 35
5.2.2 Electrical Installation of the Safety Module ........................................................................................ 35
6 Parameterization of the Safety Module ....................................................................37
6.1 Parameterization in a PROFIsafe System ............................................................................................. 37
6.2 Parameterization of the Safe Outputs.................................................................................................... 38
6.3 Behavior of the Outputs in the Event of Enabled Switch-Off Delay for Stop Category 1 ........................ 40
7 Connection Examples for Safe Outputs...................................................................41
7.1 Explanation of the Examples ................................................................................................................. 41
7.2 Notes on the Protective Circuit for External Relays/Contactors (Free Running Circuit) ......................... 42
7.3 Measures Required to Achieve a Specific Safety Integrity Level........................................................... 43
7.4 Single-Channel Assignment of Safe Outputs ........................................................................................ 45
7.5 Two-Channel Assignment of Safe Outputs............................................................................................ 48
8 Startup and Validation ...............................................................................................51
8.1 Initial Startup ......................................................................................................................................... 51
8.2 Restart after Replacing a Safety Module ............................................................................................... 53
8.2.1 Replacing a Safety Module ............................................................................................................... 53
8.2.2 Restart ............................................................................................................................................... 53
8.3 Validation .............................................................................................................................................. 53
9 Errors: Messages and Removal ................................................................................55
9.1 Safe Digital Output Errors...................................................................................................................... 57
9.2 Supply Voltage Errors ........................................................................................................................... 58
9.3 Parameterization Errors......................................................................................................................... 59
9.4 General Errors....................................................................................................................................... 60
9.5 PROFIsafe Errors .................................................................................................................................. 61
9.6 Acknowledging an Error ........................................................................................................................ 61
10 Maintenance, Repair, Decommissioning, and Disposal.........................................63
10.1 Maintenance ......................................................................................................................................... 63
10.2 Repair ................................................................................................................................................... 63
10.3 Decommissioning and Disposal ............................................................................................................ 63

Table of Contents
Page
DOK-CONTRL-ILPSDO8****-AW04-EN-P Bosch Rexroth AG III/94
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
11 Technical Data and Ordering Data ........................................................................... 65
11.1 System Data...........................................................................................................................................65
11.1.1 Rexroth Inline .....................................................................................................................................65
11.1.2 PROFIsafe .........................................................................................................................................65
11.2 R-IB IL 24 PSDO 8-PAC.........................................................................................................................65
11.3 Conformance with EMC Directive ..........................................................................................................70
11.4 Ordering Data.........................................................................................................................................71
11.4.1 Ordering Data: Safety Module ............................................................................................................71
11.4.2 Ordering Data: Documentation ...........................................................................................................71
12 PROFIsafe Terms Used in the Application Description ......................................... 73
13 F-Parameters and iParameters................................................................................ 75
13.1 F-Parameters ........................................................................................................................................ 75
13.2 iParameters........................................................................................................................................... 76
13.3 Diagnostic Messages for Parameter Errors........................................................................................... 77
14 Checklists ................................................................................................................... 79
14.1 Planning ......................................................................................................................................... 80
14.2 Assembly and Electrical Installation ................................................................................................. 81
14.3 Startup and Parameterization ........................................................................................................... 82
14.4 Validation ............................................................................................................................................ 83
15 Conditions for Use at Altitudes greater than 2000 m above Sea Level................ 85
15.1 Conditions..............................................................................................................................................85
15.2 Example Calculation ..............................................................................................................................86
16 Disposal ......................................................................................................................87
16.1 General Information ...............................................................................................................................87
16.2 Return ....................................................................................................................................................87
16.3 Packaging ..............................................................................................................................................87
16.4 Batteries and Accumulators ...................................................................................................................87
17 Service and Support.................................................................................................. 89
18 Index............................................................................................................................ 91

IV/94 Bosch Rexroth AG DOK-CONTRL-ILPSDO8****-AW04-EN-P
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC

Use of the Safety Instructions
DOK-CONTRL-ILPSDO8****-AW04-EN-P Bosch Rexroth AG 5/94
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
1 Use of the Safety Instructions
1.1 Structure of the Safety Instructions
The safety instructions are structured as follows:
Abb. 1-1 Structure of the safety instructions
1.2 Explaining Signal Words and Safety Alert Symbol
The safety instructions in this documentation contain specific signal words (dan-
ger, warning, caution, notice) and, if necessary, a safety alert symbol (according
to ANSI Z535.6-2006).
The signal word is used to draw attention to the safety instruction and also provi-
des information on the severity of the hazard.
The safety alert symbol (a triangle with an exclamation point), which precedes the
signal words danger, warning and caution is used to alert the reader to personal
injury hazards.
DANGER
In case of non-compliance with this safety instruction, death or serious injury will
occur.
WARNING
In case of non-compliance with this safety instruction, death or serious injury can
occur.
VCAUTION
In case of non-compliance with this safety instruction, minor or moderate injury can
occur.
NOTICE
In case of non-compliance with this safety instruction, material damage can occur.

Use of the Safety Instructions
6/94 Bosch Rexroth AG DOK-CONTRL-ILPSDO8****-AW04-EN-P
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
1.3 Symbols used
Hints are represented as follows:
Tips are represented as follows:
1.4 Signal Graphic Explanation on the Device
This is an information.
This is a tip for the user.
Prior to the installation and commissioning of the device,
refer to the device documentation.

For Your Safety
DOK-CONTRL-ILPSDO8****-AW04-EN-P Bosch Rexroth AG 7/94
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
2ForYourSafety
Purpose of this application description
The information in this document is designed to familiarize you with how the
R-IB IL 24 PSDO 8-PAC safety module works, its operating and connection ele-
ments, and its parameter settings. This information will enable you to use the mod-
ule within an PROFIsafe system according to your requirements.
Validity of the application description
This application description is only valid for the R-IB IL 24 PSDO 8-PAC module in
the version indicated on the inner cover page.
User group of this application description
The use of products described in this manual is oriented exclusively to qualified
electricians or persons instructed by them, who are familiar with applicable stan-
dards and other regulations regarding electrical engineering and, in particular, the
relevant safety concepts.
Bosch Rexroth accepts no liability for erroneous handling or damage to products
from Bosch Rexroth or third-party products resulting from disregard of information
contained in this manual.
2.1 General Safety Notes
Requirements Knowledge of the following is required:
• The non-safety-related target system (e.g., PROFIBUS, PROFINET)
• The PROFIsafe system
• The components used in your application
• The Inline product range
• Operation of the software tools used
• Safety regulations in the field of application
Depending on the application, incorrect han-
dling of the safety module can pose serious
risks for the user
When working with the safety module within the PROFIsafe system, please ob-
serve all the safety notes included in this section.
WARNING

For Your Safety
8/94 Bosch Rexroth AG DOK-CONTRL-ILPSDO8****-AW04-EN-P
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
Qualified personnel In the context of the use of the PROFIsafe system, the following operations may
only be carried out by qualified personnel:
• Planning
• Configuration, parameterization, programming
• Installation, startup, servicing
• Maintenance, decommissioning
This application description is therefore aimed at:
• Qualified personnel who plan and design safety equipment for machines and
systems and are familiar with regulations governing safety in the workplace
and accident prevention.
• Qualified personnel who install and operate safety equipment in machines
and systems.
In terms of the safety notes in this application description, qualified personnel are
persons who, because of their education, experience and instruction, and their
knowledge of relevant standards, regulations, accident prevention, and service
conditions, have been authorized to carry out any required operations, and who
are able to recognize and avoid any possible dangers.
Documentation You must observe all information in this application description as well as in the
documents listed in Chapter “Documentation” on page 12.
Safety of personnel and
equipment
The safety of personnel and equipment can only be assured if the safety module
is used correctly (see Chapter “Correct Usage” on page 11).
Error detection Depending on the wiring and the corresponding setting of the safe output module
parameters, the PROFIsafe system can detect various errors within the safety
equipment.
Do not carry out any repairs Repair work may not be carried out on the safety module.
In the event that an error cannot be removed, please contact Bosch Rexroth
immediately, engage a service engineer or send the faulty module directly to
Bosch Rexroth.
Do not open the housing It is strictly prohibited to open the housing. If the housing is opened, correct oper-
ation of the module can no longer be ensured.
Measures to prevent incorrect
connection and polarity
reversal
Take measures to prevent the incorrect connection, polarity reversal, and manip-
ulation of connections.

For Your Safety
DOK-CONTRL-ILPSDO8****-AW04-EN-P Bosch Rexroth AG 9/94
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
2.2 Electrical Safety
Direct/indirect contact Protection against direct and indirect contact according to VDE 0100 Part 410
must be ensured for all components connected to the system. In the event of an
error, parasitic voltages must not occur (single-fault tolerance).
This can be achieved by:
• Using power supply units with safe isolation (PELV).
• Decoupling circuits, which are not PELV systems, using optocouplers,
relays, and other components, which meet the requirements of safe isolation.
Power supply units for
24 V supply
Only use power supply units with safe isolation and PELV according to EN
50178/VDE 0160 (PELV). This prevents short circuits between primary and
secondary sides.
Make sure that the output voltage of the power supply does not exceed 32 V even
in the event of an error.
Insulation rating When selecting the operating equipment, please take into consideration the
contamination and surge voltages, which may occur during operation.
The R-IB IL 24 PSDO 8-PAC module is designed for surge voltage category II
(according to DIN EN 60664-1). If you expect surge voltages in the system, which
exceed the values defined in surge voltage category II, take into consideration
additional measures for voltage limitation.
Installation and configuration Please observe the instructions for installing and configuring the system
(see Chapter “Documentation” on page 12).
Hazardous body currents and the loss of func-
tional safety
Disregarding instructions for electrical safety may result in hazardous body cur-
rents and the loss of functional safety.
In order to ensure electrical safety, please observe the following points.
WARNING
Depending on the application, incorrect
installation and upgrades can pose serious
risks for the user
The user is obliged to design the devices used and their installation in the system
according to these requirements. This also means that existing plants and systems
retrofitted with PROFIsafe must be checked and tested again in this respect.
WARNING

For Your Safety
10/94 Bosch Rexroth AG DOK-CONTRL-ILPSDO8****-AW04-EN-P
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
2.3 Safety of the Machine or System
The machine/system manufacturer and the operator are solely responsible for the
safety of the machine or system and the implemented application, in which the
machine or system is used. The Machinery Directive must thus be observed.
Draw up and implement a
safety concept
In order to use the safety module described in this document, you must have
drawn up an appropriate safety concept for your machine or system. This includes
a hazard and risk analysis according to the directives and standards specified in
Chapter “Directives and Standards” on page 11, as well as a test report (checklist)
for validating the safety function (see “Checklists” on page 79).
The target safety integrity level (SIL according to EN 61508, SIL CL according to
EN 62061 or performance level and category according to EN ISO 13849-1) is
ascertained on the basis of the risk analysis. The safety integrity level ascertained
determines how to connect and parameterize the safety module within the overall
safety function.
Within a PROFIsafe system, the R-IB IL 24 PSDO 8-PAC safety module can be
used to achieve safety functions with the following requirements:
• Up to SIL 3 according to standard EN 61508
• Up to SIL CL 3 according to standard EN 62061
• Up to Cat. 4/PL e according to standard EN ISO 13849-1
Check hardware and
parameterization
Carry out a validation every time you make a safety-related modification to your
overall system.
Use your test report to ensure that:
• The safe devices are connected to the correct safe sensors and actuators
• The safe input and output devices have been parameterized correctly
• The variables have been linked to the safe sensors and actuators correctly
(single-channel or two-channel)

For Your Safety
DOK-CONTRL-ILPSDO8****-AW04-EN-P Bosch Rexroth AG 11/94
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
2.4 Directives and Standards
The manufacturers and operators of machines and systems, in which the
R-IB IL 24 PSDO 8-PAC module is used, are responsible for adhering to all
applicable directives and legislation.
For the standards observed by the module, please refer to the certificate issued by
the approval body and the EC declaration of conformity. These documents are
available on the Internet at www.boschrexroth.com/electrics.
2.5 Correct Usage
Only use the PROFIsafe system in accordance with the instructions in this section.
The R-IB IL 24 PSDO 8-PAC safety module is designed exclusively for use in a
PROFIsafe system.
It can only perform its safety-related tasks within the system if it has been
integrated into the execution process correctly and in such a way as to avoid
errors.
You must observe all information in this application description as well as in the
documents listed in “Documentation” on page 12. In particular, only use the
module according to the technical data and ambient conditions specified in
Chapter 11, “Technical Data and Ordering Data” on page 65 and onwards.
Within a PROFIsafe system, the safety module can be used to achieve safety
functions with the following requirements depending on the conditions of use:
• Up to SIL 3 according to standard EN 61508
• Up to SIL CL 3 according to standard EN 62061
• Up to Cat. 4/PL e according to standard EN ISO 13849-1
It is designed for connecting single-channel or two-channel actuators, which can
be used in association with safety technology.
For example, the module can be used in the following applications:
• Safety circuits according to EN 60204 Part 1
• Safe shutdown of contactors, motors (24 V DC), valves, ohmic, inductive,
and capacitive loads
The module is not suitable for applications, in which stop category 1 also has to be
observed in the event of an error.

For Your Safety
12/94 Bosch Rexroth AG DOK-CONTRL-ILPSDO8****-AW04-EN-P
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
2.6 Documentation
Latest documentation Make sure you always use the latest documentation. Changes or additions to this
document can be found on the Internet at www.boschrexroth.com/electrics.
PROFIsafe When working on the PROFIsafe system and its components, you must always
keep this application description and other items of product documentation to
hand and observe the information therein.
Application descriptions:
• For the safe controller used
• For PROFIsafe I/O modules
• For PROFIsafe function blocks
Please also observe the relevant information about PROFIBUS, PROFINET, and
PROFIsafe, which is available on the Internet at www.profisafe.net.
Rexroth Inline product range DOK-CONTRL-ILSYSINS***-AW..-EN-P
Automation modules of the Rexroth Inline product range (configuration and
installation)
Documentation for the bus coupler used

For Your Safety
DOK-CONTRL-ILPSDO8****-AW04-EN-P Bosch Rexroth AG 13/94
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
2.7 Abbreviations Used
2.8 Safety Hotline
Should you have any technical questions, please contact our 24-hour hotline.
Abbrevia-
tion
Meaning Standard Example
SIL Safety integrity level EN 61508 SIL 2, SIL 3
SIL CL SIL claim limit EN 62061 SIL CL 3
Cat. Category EN ISO 13849-1 Cat. 2, Cat. 4
PL Performance level EN ISO 13849-1 PL e, PL d
Fig. 2-1 Abbreviations used
Abbrevia-
tion
Meaning
PELV Protective extra-low voltage
A circuit in which the voltage cannot exceed30 V AC, 42.4 V peak value
or 60 V DC under normal conditions, and under single-fault conditions,
except earth faults in other circuits.
A PELV circuit is like a SELV circuit, but is connected to protective earth
ground.
(According to EN 61131-2)
EUC Equipment under control
Fig. 2-2 Abbreviations used
For terms and abbreviations used for PROFIsafe, please refer to
“PROFIsafe Terms Used in the Application Description” on page 73.
Phone: + 49 9352 40 5060
E-mail: [email protected]

For Your Safety
14/94 Bosch Rexroth AG DOK-CONTRL-ILPSDO8****-AW04-EN-P
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC

Product Description
DOK-CONTRL-ILPSDO8****-AW04-EN-P Bosch Rexroth AG 15/94
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
3ProductDescription
3.1 Brief Description of the Safety Module
The R-IB IL 24 PSDO 8-PAC module is an output module, which is designed for
use within a Rexroth Inline station.
The R-IB IL 24 PSDO 8-PAC safety module can be used as part of an Rexroth
Inline station at any point within a PROFIsafe system.
One transmission speed must be used seamlessly in a Rexroth Inline
station.Please note that standard Rexroth Inline modules operate with 500 kbaud
only. Therefore, you also have to set the baud rate of the safety modules to 500
kbaud in a combined system.
The module has a 10-pos. DIP switch, which is used to set the PROFIsafe
address.
The module has four safe positive switching digital outputs for two-channel
assignment or eight safe positive switching digital outputs for single-channel
assignment.
The outputs can be parameterized according to the application and enable the
integration of actuators in the PROFIsafe system.
Within a PROFIsafe system, the safety module can be used to achieve safety
functions with the following requirements depending on the conditions of use:
• Up to SIL 3 according to standard EN 61508
• Up to SIL CL 3 according to standard EN 62061
• Up to Cat. 4/PL e according to standard EN ISO 13849-1
The output data is exchanged between the safe controller and the module using
safety-relevant messages.

Product Description
16/94 Bosch Rexroth AG DOK-CONTRL-ILPSDO8****-AW04-EN-P
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
3.2 Structure of the Safety Module
Fig. 3-1 Structure of the safety module
1Data jumpers (local bus)
2Electronics base with labeling including hardware/firmware/firmware version
designation (not shown)
3Switch for setting the transmission speed and operating mode
4Switch for setting address
For more detailed information about setting the switches, please refer
to “Setting the DIP Switches” on page 32.
5Potential jumper
6Diagnostic and status indicators; for assignment and meaning see Chapter “Local
Diagnostic and Status Indicators” on page 20
7Rexroth Inline connector; for assignment see Chapter “Terminal Point Assignment” on
page 28
8Terminal points
9Labeling field
4x
4x
1
2
3
78
9
1
2
PSDO8
0
1
2
1
1
2
2
1
2
3
D
6
76193002
FS
UM
500KBD
2MBD Mode2
Mode1
987654
3
210
4
5
P

Product Description
DOK-CONTRL-ILPSDO8****-AW04-EN-P Bosch Rexroth AG 17/94
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
3.3 Housing Dimensions
Fig. 3-2 Housing dimensions (in mm)
76192008
48,8
71,5
119,8
500KBD
2MBD Mode1
Mode2
9876543210
F-Address off
on

Product Description
18/94 Bosch Rexroth AG DOK-CONTRL-ILPSDO8****-AW04-EN-P
Rexroth Inline Module with Safe Digital Outputs R-IB IL 24 PSDO 8-PAC
3.4 Safe Digital Outputs
The safety module has safe positive switching digital outputs, which can be used
as follows:
• For two-channel assignment:
• For single-channel assignment:
Technical data For the technical data for the safe outputs, please refer to page 68.
Parameterization The individual safe digital outputs of a safety module can be parameterized
differently. This means that the outputs can be adapted to various operating
conditions and different safety integrity levels can be implemented (SIL, SIL CL,
Cat., PL).
In order to achieve a high level of error detection, the test pulses must be enabled.
If this is not possible for the connected loads, the test pulses can be disabled.
However, in this case error detection is reduced.
For information about parameterization, please refer to Chapter “Parameterization
of the Safe Outputs” on page 38.
Diagnostics Diagnostics are provided via both the local diagnostic indicators and the
diagnostic messages, which are transmitted to the safe controller (PROFIsafe).
For information about the diagnostic messages of the outputs, please refer to
Chapter “Safe Digital Output Errors” on page 57.
• Four two-channel outputs
• Eight single-channel outputs
The safety integrity level (SIL, SIL CL, Cat., PL) and error detection
that can be achieved depend on the parameterization, the structure of
the actuator, and the cable installation (see “Connection Examples for
Safe Outputs” on page 41).
Diagnostic data is not safety-related
Do not use the diagnostic data to execute safety-related functions or actions.
CAUTION