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 to the CP1616 because when you upload the GSDML file the software always sets the F_Block_ID value to 0 in your PLC configuration.

A working GSDML file is attached to this article.