Beckhoff PLC and CP1616 card - PROFIsafe

These are some notes about getting a Beckhoff PLC to communicate with the CP1616 board by PROFIsafe:

1. Use TIA Portal V15.1 so that it downloads a 3 byte CRC configuration to the CP1616. TIA portal V18 and V20 both only downloaded 4 byte CRC configurations to the CP1616.
2. Configure 3 byte CRC in the robot configuration.
3. Once you download the GSDML file from TIA Portal, go inside the file and change the  F_Block_ID to be “Changeable” instead of hard coded to 1. This would allow the Beckhoff PLC to connect is it always set this ID value to 0 in their program.

A working GSDML file is attached to this article.