1 Introduction .................................................................................... 5
1.1 Introduction ............................................................................. 5
1.1.1 Terms, definitions, acronyms ................................................... 5
1.1.2 References ............................................................................... 5
1.1.3 History ...................................................................................... 6
1.2 Installation of the CIP Safety on EtherNet/IP Software ......... 8
2 Software Concept .......................................................................... 9
2.1 Hardware-Interfaces ............................................................. 11
2.2 Software interfaces ............................................................... 11
2.2.1 SWIF_APL ............................................................................. 11
2.2.2 SWIF_CSAL ........................................................................... 11
2.2.3 Other software interfaces ....................................................... 11
3 Specifics of CIP Safety on EtherNet/IP ....................................... 12
3.1 I/O connections ..................................................................... 12
3.2 Quality of Service ................................................................. 12
3.3 Duplicate IP Detection .......................................................... 12
4 General description of CSAL functionality ................................ 13
4.1 Identity Object ....................................................................... 13
4.2 TCP/IP Interface Object ........................................................ 13
4.2.1 Safety Network Number ......................................................... 13
4.2.2 Changing the IP address ....................................................... 14
4.3 Message Routing .................................................................. 15
4.4 I/O Connections .................................................................... 15
4.4.1 Target ..................................................................................... 15
4.4.1.1 Opening an I/O connection ...................................... 15
4.4.1.2 Closing I/O connections ........................................... 16
4.4.2 Originator ............................................................................... 16
4.4.2.1 Opening an I/O connection ...................................... 16
4.4.2.2 Closing I/O connections ........................................... 16
4.4.3 Common (Target and Originator) ........................................... 16
4.4.4 I/O data exchange .................................................................. 17
4.4.4.1 Transmission of I/O data .......................................... 17
4.4.4.2 Receiving I/O data .................................................... 17
4.5 General Control commands ................................................. 17
4.5.1 Stack termination ................................................................... 17
