Bosch Rexroth IndraControl S20 User manual

The Drive & Control Company
Application Description
R911369164
Edition 02
IndraControl
S20 Module
With Safe Digital Outputs S20-PSDO-8/3

Bosch Rexroth AG DOK-CONTRL-S20*PSDO*8*-AP02-EN-P
IndraControl S20 Module With Safe Digital Outputs S20-PSDO-8/3
Title IndraControl
S20 Module
With Safe Digital Outputs S20-PSDO-8/3
Type of Documentation Application Description
Document Typecode DOK-CONTRL-S20*PSDO*8*-AP02-EN-P
Internal File Reference 106500_en_01, R911369164_02.pdf
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
01 2015-05 First Edition
02 2016-06 Revision of the diagnostics
(Chapter Errors: messages and removal)

Table of contents
Page
DOK-CONTRL-S20*PSDO*8*-AP02-EN-P Bosch Rexroth AG I/82
IndraControl S20 Module With Safe Digital Outputs S20-PSDO-8/3
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 ........................................................................................................................................8
2.3 Safety of the machine or system ..............................................................................................................9
2.4 Directives and standards..........................................................................................................................9
2.5 Intended use ............................................................................................................................................9
2.6 Documentation.......................................................................................................................................10
2.7 Abbreviations used ................................................................................................................................10
2.8 Safety hotline .........................................................................................................................................10
3 Product description .................................................................................................. 11
3.1 Short description of the module..............................................................................................................11
3.2 Structure of the module ..........................................................................................................................12
3.3 Housing dimensions...............................................................................................................................12
3.4 Safe digital outputs.................................................................................................................................13
3.5 Connection options for actuators depending on the parameterization....................................................14
3.6 Local diagnostics and status indicators .................................................................................................15
3.7 Safe state ...............................................................................................................................................16
3.7.1 Operating state ...................................................................................................................................16
3.7.2 Error detection in I/O devices .............................................................................................................16
3.7.3 Device errors ......................................................................................................................................17
3.7.4 Parameterization errors ......................................................................................................................17
3.8 Enabling safe outputs for PROFIsafe .....................................................................................................18
3.9 Programming data/configuration data ....................................................................................................18
4 Local bus integration ................................................................................................ 19
4.1 Supply voltage of the module logic.........................................................................................................19
4.2 Supply voltage UO..................................................................................................................................19
4.3 DC distribution network according to IEC 61326-3-1..............................................................................20
4.4 Terminal point assignment .....................................................................................................................21
Table of contents

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5Assembly,removal,andelectrical installation .......................................................23
5.1 Assembly and removal .......................................................................................................................... 23
5.1.1 Unpacking the module ....................................................................................................................... 23
5.1.2 Preparation and assembly ................................................................................................................. 23
5.1.3 Setting the DIP switch ....................................................................................................................... 24
5.1.4 Mounting and removing the module .................................................................................................. 25
5.2 Electrical installation.............................................................................................................................. 27
5.2.1 Electrical installation of the IndraControl S20 station ......................................................................... 27
5.2.2 Electrical installation of the module ................................................................................................... 27
6 Parameterization of the module ...............................................................................29
6.1 Setting the F-Parameters and i-Parameters .......................................................................................... 29
6.2 Parameterization of the safe outputs ..................................................................................................... 30
6.3 Behavior of the outputs in the event of enabled switch-off delay for stop category 1............................. 31
7 Connection examples for safe outputs ...................................................................33
7.1 Explanation of the examples ................................................................................................................. 33
7.2 Notes on the protective circuit of external relays/contactors (freewheeling circuit) ............................... 34
7.3 Measures to achieve a specific safety integrity level ............................................................................. 35
7.4 Single-channel assignment of safe outputs........................................................................................... 36
7.5 Two-channel assignment of safe outputs .............................................................................................. 38
8 Startup and validation ...............................................................................................41
8.1 Initial startup .......................................................................................................................................... 41
8.2 Restart after replacing a module ........................................................................................................... 42
8.2.1 Replacing a module ........................................................................................................................... 42
8.2.2 Restart ............................................................................................................................................... 42
8.3 Validation .............................................................................................................................................. 42
9 Errors: messages and removal ................................................................................43
9.1 Reading diagnostic messages .............................................................................................................. 43
9.1.1 DiagState object 0x0018 ................................................................................................................... 45
9.1.2 DiagStateChannelNo object 0x0033 ................................................................................................. 46
9.1.3 DiagStateAddValue object 0x0034 .................................................................................................... 46
9.1.4 ResetDiag object 0x0019 .................................................................................................................. 46
9.1.5 Examples for reading a diagnostic message ..................................................................................... 47
9.2 Error codes............................................................................................................................................ 48
9.2.1 Safe digital output errors ................................................................................................................... 49
9.2.2 Supply voltage errors ........................................................................................................................ 50
9.2.3 Parameterization errors ..................................................................................................................... 51
9.2.4 General errors ................................................................................................................................... 52
9.3 PROFIsafe errors .................................................................................................................................. 53
9.4 Acknowledging an error for PROFIsafe ................................................................................................. 53

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10 Maintenance, repair, decommissioning and disposal .......................................... 55
10.1 Maintenance ..........................................................................................................................................55
10.2 Repair ....................................................................................................................................................55
10.3 Decommissioning and disposal..............................................................................................................55
11 Technical data and ordering data ........................................................................... 57
11.1 PROFIsafe system data .........................................................................................................................57
11.2 S20-PSDO-8/3 .......................................................................................................................................57
11.3 Conformance with EMC directive ...........................................................................................................62
11.4 Ordering data .........................................................................................................................................62
11.4.1 Ordering data: module .......................................................................................................................62
11.4.2 Ordering data: documentation ............................................................................................................62
12 PROFIsafe glossary .................................................................................................. 63
13 F-Parameters and i-Parameters ............................................................................... 65
13.1 F-Parameters .........................................................................................................................................65
13.2 i-Parameters...........................................................................................................................................66
13.3 Diagnostic messages for parameter errors for PROFIsafe .....................................................................67
14 Checklists .................................................................................................................. 69
14.1 Planning ..........................................................................................................................................70
14.2 Assembly and electrical installation ..................................................................................................71
14.3 Startup and parameterization .............................................................................................................72
14.4 Validation .............................................................................................................................................73
15 Disposal .....................................................................................................................75
15.1 General information................................................................................................................................75
15.2 Return ....................................................................................................................................................75
15.3 Packaging ..............................................................................................................................................75
15.4 Batteries and accumulators....................................................................................................................75
16 Service and support ................................................................................................. 77
17 Index ........................................................................................................................... 79

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Use of the safety instructions
DOK-CONTRL-S20*PSDO*8*-AP02-EN-P Bosch Rexroth AG 5/82
IndraControl S20 Module With Safe Digital Outputs S20-PSDO-8/3
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 in-
jury 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.
CAUTION
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
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1.3 Symbols used
Hints are represented as follows:
Tipps werden wie folgt dargestellt:
1.4 Signal graphic explanation on the device
This is an information.
This is a tip.
Prior to the installation and commissioning of the device,
refer to the device documentation.

For your safety
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IndraControl S20 Module With Safe Digital Outputs S20-PSDO-8/3
2Foryoursafety
Purpose of this application description
This application description provides information about how the module works, its
operating and connection elements, and its parameter settings.
Validity of this application description
This application description is valid for the S20-PSDO-8/3 module in the version
indicated on the inner cover page, as well as for the same or later versions if re-
placed with the devices of the same type.
2.1 General safety notes
Qualified personnel In terms of this application description, qualified personnel are persons who, be-
cause of their education, experience and instruction, and their knowledge of rele-
vant standards, regulations, accident prevention, and service conditions, have
been authorized to carry out any required operations, and who are able to recog-
nize and avoid any possible dangers.
Furthermore, knowledge of the following topics and products is required:
• Non-safety-related target system (e.g., PROFIBUS, PROFINET)
•PROFIsafe
• Components used
• IndraControl S20 product range
• Operation of the software tools
• Safety regulations in the field of application
In the context of the use of the PROFIsafe system, the following operations must
only be carried out by qualified personnel:
• Planning
• Configuration, parameterization, programming
• Installation, startup, servicing
• Maintenance, decommissioning
Documentation Observe all information in this application description and accompanying docu-
ments: see “Documentation” on page 10.
Safety of personnel
and equipment
The safety of personnel and equipment can only be assured if the module is used
correctly: see “Intended use” on page 9.
Error detection Depending on the wiring and the parameterization, the module detects errors
within the safety equipment.
Risk of injury
Depending on the application, inappropriate use of the module may result in seri-
ous injury.
•Observe all the safety notes and warning instructions provided in this chapter
and elsewhere in this application description.
WARNING

For your safety
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Do not carry out any
repairs or modifications
It is prohibited for the user to carry out repair work or make modifications to the
module. The housing must not be opened. The module is protected against tam-
pering by means of security labels. The security label is damaged in the event of
unauthorized repairs or opening of the housing. In this case, the correct operation
of the safety module can no longer be ensured.
In the event of an error, send the module to Bosch Rexroth or contact
Bosch Rexroth immediately and engage a service engineer.
Mismatching and polarity
reversal of connections
Take care to avoid the mismatching, polarity reversal or tampering of connections.
For increased protection against mismatching, connectors and slot markings are
color coded.
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).
Measures required:
• Using power supply units with safe isolation (PELV)
• Decoupling circuits, which are not PELV systems, using optocouplers, re-
lays, 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). These power supply units prevent short circuits be-
tween the primary and secondary side.
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 equipment, please take into consideration the dirt and surge
voltages which may occur during operation.
The module is designed for overvoltage category II (according to
DIN EN 60664-1). If you expect surge voltages in the system, which exceed the
values defined in overvoltage category II, implement additional measures for volt-
age limitation.
Loss of safety function/hazardous shock cur-
rents
Incorrect installation can result in the loss of the safety function as well as hazard-
ous shock currents.
•Observe the notes on electrical safety.
•Plan the modules used and their installation in the system according to the
specific requirements.
•Recheck plants and systems retrofitted with PROFIsafe.
WARNING

For your safety
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2.3 Safety of the machine or system
The machine/system manufacturer and the operator are responsible for the safety
of the machine or system and the application in which the machine or system is
used.
Draw up and implement
a safety concept
In order to use the module, a safety concept is required for your machine or sys-
tem. This includes a hazard and risk analysis as well as a test report (checklist) for
validating the safety function: see “Directives and standards” on page 9, see
“Checklists” on page 69.
The target safety integrity level (SIL according to IEC 61508, SILCL according to
EN 62061 or performance level and category according to EN ISO 13849-1) is as-
certained on the basis of the risk analysis. The safety integrity level ascertained
determines how to connect and parameterize the module within the safety func-
tion.
Validate 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 modules are connected to the correct sensors and actuators.
• The safe input and output channels have been parameterized correctly.
• The variables have been linked to the safe sensors and actuators correctly
(single-channel or two-channel).
2.4 Directives and standards
The standards to which the module conforms are listed in the certificate issued by
the approval body and in the EC declaration of conformity: see www.boschrex-
roth.com/electrics.
2.5 Intended use
The S20-PSDO-8/3 module is designed exclusively for use in a PROFIsafe sys-
tem. It can only perform its tasks in the system if it is used according to the speci-
fications in this document.
Only use the module according to the defined technical data and ambient condi-
tions: see “Technical data and ordering data” on page 57.
The module is designed for connecting single-channel or two-channel actuators,
which can be used in association with safety technology.
Examples of use for the module:
• 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
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2.6 Documentation
Currentness and availability
of documentation
Always use the latest documentation. Changes or additions can be found on the
Internet: see www.boschrexroth.com/electrics.
PROFIsafe
application descriptions
Application descriptions:
• For the safe controller used
• For the failsafe PROFIsafe I/O modules used
• For PROFIsafe system function blocks
Observe the information on PROFIBUS, PROFINET and PROFIsafe which is
available on the Internet: see www.profisafe.net.
Documentation for the
IndraControl S20
product range
IndraControl S20: System and Installation application description
DOK-CONTRL-S20*SYS*INS-AP..-EN-P
Documentation for the bus coupler used
2.7 Abbreviations used
2.8 Safety hotline
Should you have any technical questions, please contact our 24-hour hotline.
Phone: [phone], e-mail: [e-mail]
Abbreviation Meaning Standard Example
SIL Safety integrity level IEC 61508 SIL 2, SIL 3
SILCL SIL claim limit EN 62061 SILCL 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 for safety requirements
Abbreviation Meaning
PELV Protective extra-low voltage according to EN 50178/VDE 0160
EUC Equipment under control
Fig. 2-2 General abbreviations
Explanations of terms and abbreviations used in the context of
PROFIsafe: see “PROFIsafe glossary” on page 63.

Product description
DOK-CONTRL-S20*PSDO*8*-AP02-EN-P Bosch Rexroth AG 11/82
IndraControl S20 Module With Safe Digital Outputs S20-PSDO-8/3
3 Product description
3.1 Short description of the module
The S20-PSDO-8/3 module is an output module for use in an IndraControl S20
station at any point in a PROFIsafe system.
The PROFIsafe address is set via a DIP switch.
The module has four safe positive switching digital outputs for two-channel assign-
ment or eight safe positive switching digital outputs for single-channel assignment.
The outputs can be parameterized according to the specific application and en-
able the integration of actuators in the safe PROFIsafe system.
In the PROFIsafe system, the module can be used to achieve safety functions with
the following requirements depending on the operating conditions:
• Up to SIL 3 according to IEC 61508
• Up to SILCL 3 according to EN 62061
• Up to Cat. 4/PL e according to EN ISO 13849-1
The safe controller and the module exchange output data via safe messages.

Product description
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3.2 Structure of the module
Fig. 3-1 Structure of the module
1Bus base module
2Electronics module
3Connector for connecting the supply voltage
4Function identification
5I/O connector
6Diagnostics and status indicators
7DIP switch
3.3 Housing dimensions
Fig. 3-2 Housing dimensions (in mm)
More detailed information on setting the switch: see “Setting the DIP
switch” on page 24.
1
4
2
3
65
7
53,6 54
122,4 126,1

Product description
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IndraControl S20 Module With Safe Digital Outputs S20-PSDO-8/3
3.4 Safe digital outputs
The module has safe digital outputs, which can be used as follows:
• For two-channel assignment: four two-channel outputs
• For single-channel assignment: eight single-channel outputs
Technical data for the safe outputs: see “Safe digital outputs” on page 60.
Parameterization The safe digital outputs of a module can be parameterized in pairs. This means
that the outputs can be adapted to various operating conditions and different
safety integrity levels can be implemented (SIL, SILCL, 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, how-
ever, error detection is then reduced.
Information on the parameterization of the outputs: see “Parameterization of the
module” on page 29.
Diagnostics Diagnostics are provided via both the local diagnostics indicators and the diagnos-
tic messages which are transmitted to the controller.
Information on the diagnostic messages of the outputs: see “Errors: messages and
removal” on page 43.
Requirements for
actuators/controlled devices
Functional safety places requirements on the design of actuators/controlled de-
vices.
•Use suitable actuators/controlled devices which are described in the applica-
ble safety standards, for example.
The module’s ability to detect errors depends on the parameterization.
•Adapt the module parameterization to the relevant actuator/controlled device:
see “Parameterization of the module” on page 29.
If the outputs are parameterized with test pulses, the output circuits are tested by
test pulses at regular intervals. These test pulses are visible at the output and can
trigger undesirable reactions with quick responding actuators. The test pulses are
either light pulses (brief activation) which can be disabled or dark pulses (brief de-
activation) which cannot be disabled.
The safety integrity level (SIL, SILCL, 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 33.
Loss of safety function
Using diagnostic data for safety-related functions can result in the loss of the safety
function as diagnostic data is not safety-related.
•Do not use the diagnostic data for safety-related functions or actions.
WARNING

Product description
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Disabling the test pulses affects the error detection of the module.
•Observe the achievable safety integrity: see “Connection examples for safe
outputs” on page 33.
•Observe the notes on the safe assignment of outputs: see “Single-channel as-
signment of safe outputs” on page 36, see “Two-channel assignment of safe
outputs” on page 38.
3.5 Connection options for actuators depending on the
parameterization
Actuators that meet various safety requirements depending on the parameteriza-
tion can be connected to the outputs.
The maximum achievable SIL/SILCL/Cat./PL is specified in the table.
In order to meet the safety requirements:
•Observe the information in the connection examples: see “Connection exam-
ples for safe outputs” on page 33.
•Observe the requirements of the standards with regard to the external wiring
and the actuators to be used to achieve a SIL/SILCL/Cat./PL: see “Measures
to achieve a specific safety integrity level” on page 35.
Unintentional machine startup
Reactions from test pulses can cause unintentional machine startup.
•If the process does not tolerate this behavior, the following measures must be
taken:
– Use actuators with sufficient inertia.
– Make sure that the load is not so dynamic that it causes hazardous
states within 1 ms.
Quick actuators which respond to pulses less than 1 ms in a safety-critical way are
generally not permitted.
WARNING
Output OUT0 to OUT3
“Output” parameterization Single-channel Two-channel
Test pulses Any ON/OFF*
Achievable safety integrity SIL 2/SILCL 2/Cat. 3/PL d SIL 3/SILCL 3/Cat. 4/PL e
For connection example, see page 36 38
* If the test pulses are disabled, a cross-circuit between the outputs is only detected
if the output is enabled.
To achieve Cat. 3, two-channel actuators are usually used.

Product description
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IndraControl S20 Module With Safe Digital Outputs S20-PSDO-8/3
3.6 Local diagnostics and status indicators
Fig. 3-3 Local diagnostics and status indicators
D
Uo
FS P
10 12 14 1611 13 15 17
00 02 04 0601 03 05 07
Desig-
nation
Color State Description
DRed/
yellow/
green
Diagnostics for local bus communication
OFF Devices are in the (power) reset state.
Flashing red Device is operating, but is not connected to the previous device.
Red ON The device is ready for operation, but has lost the connection to the bus head.
Yellow ON The device is ready for operation, but has still not detected a valid cycle after
power-on.
Flashing
yellow
The device is not (yet) part of the active configuration.
Green/yellow
alternating
The device is ready for operation, communication within the station is OK.
Output data cannot be output and/or input data cannot be read.
There is a fault on the I/O side of the module.
Flashing green The device is ready for operation, communication within the station is OK.
The data is not valid. Valid data from the controller/higher-level network is not
available.
There is no fault in the module.
Green ON The device is ready for operation, communication within the station is OK.
All data is valid. There are no faults.
UO Green Diagnostics for digital output supply
Green ON Supply for the digital outputs is present and is > around 17 V DC.
Flashing green Supply for the digital outputs is not present or is < around 17 V DC.
FS Red Diagnostics for failure state
OFF The safety application has valid F-Parameters and i-Parameters.
(Only applies if UO is on at the same time.)
Red ON Hardware fault. Communication to the higher-level safe controller is disabled.
Flashing red Module not parameterized or parameterization was not accepted.
P Green Diagnostics for safe communication protocol
OFF No safe communication
Green ON Safe communication is running without errors.
Flashing green Safe communication is running. The controller is requesting “operator acknowl-
edgment”.
00-07 Green Status of each output from 0 - 7
OFF Output at logic “0”
Green ON Output at logic “1”

Product description
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Fig. 3-4 Overview of diagnostics LEDs
3.7 Safe state
The module is in the safe state when power is disconnected from the output termi-
nal blocks: see “Safe digital outputs” on page 13.
The safe state can be entered in the following cases:
1. Operating state
2. Error detection in I/O devices
3. Device errors
4. Parameterization errors
5. Error detection during safe communication
3.7.1 Operating state
In the operating state, the outputs can enter states “1” or “0”. State “0” is the safe
state.
3.7.2 Error detection in I/O devices
Outputs If an error is detected at an output, this output is disabled (“0” = safe state).
Depending on the parameterization, the following errors can be detected at out-
puts:
• Short circuit
• Cross-circuit
•Overload
The diagnostic message is transmitted to the controller: see “Errors: messages
and removal” on page 43. Information on which errors are detected and when: see
“Connection examples for safe outputs” on page 33.
10-17 Red Diagnostics for each output from 0 - 7
OFF No error present at the output
Red ON Error at the output (e.g., short circuit)
Desig-
nation
Color State Description
The safe state for the F-Output data is “0”.
Passivation results in a change to the safe state: see “Passivation” on
page 64.
Operating time in the error state:
If an error state is entered on the modules, this error must be as-
sessed, acknowledged or removed by the user within 72 hours. This
action ensures the safe operating state of the module.
In the error state, internal module tests are no longer run and it is pos-
sible that the safe state may be exited due to an accumulation of er-
rors.
If an error occurs on a channel of an output parameterized as “two-
channel”, the other corresponding channel also enters the safe state.

Product description
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IndraControl S20 Module With Safe Digital Outputs S20-PSDO-8/3
3.7.3 Device errors
Outputs If a hardware fault in the internal circuit is detected at an output, all module outputs
are disabled (“0” = OFF = safe state).
The diagnostic message is transmitted to the controller: see “Errors: messages
and removal” on page 43.
Serious errors All serious errors that can result in the loss of or adversely affect the safety function
cause the entire module to enter the safe state. The FS LED on the module is per-
manently on.
The following serious errors result in the safe state:
• Serious hardware faults in the internal circuit
• User errors
• Module overload
• Module overheating
The diagnostic message is transmitted to the controller: see “Errors: messages
and removal” on page 43.
3.7.4 Parameterization errors
Parameterization errors are indicated in the following states:
• Faulty parameterization
The module switches to the safe state following parameterization errors. The
FS LED on the module flashes.
In the event of faulty parameterization, a diagnostic message is transmitted to the
controller: see “Parameterization errors” on page 51.
Loss of safety function
Sequential errors can result in the loss of the safety function.
•In the event of a device error, the module should be disconnected completely
from the power supply and replaced so as to prevent sequential errors.
WARNING
Exception:
If an output is operated in stop category 1 and this output is within the
switch-off delay time, faulty parameterization results in the module
switching to the safe state only once the switch-off delay time has
elapsed.

Product description
18/82 Bosch Rexroth AG DOK-CONTRL-S20*PSDO*8*-AP02-EN-P
IndraControl S20 Module With Safe Digital Outputs S20-PSDO-8/3
3.8 Enabling safe outputs for PROFIsafe
A “1” is only forwarded by the PST (PROFIsafe driver for F-Slaves) to the output
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 con-
secutive number).
3.9 Programming data/configuration data
Bosch Rexroth provides device description files for various control systems.
The programming data/configuration data is defined in the device de-
scription (FDCML, GSD, GSDML, etc.) according to the bus or net-
work used.