Restart of a Safety I/O-modul after power interruption

Question:

How can I restart the safe communication with a Safety I/O-module after the module's power supply was briefly interrupted?

Answer:

Two steps are required to activate the safe inputs and outputs:

1. The module must be switched from the EtherCAT state OPERATIONAL to SAFE-OPERATIONAL and back to OPERATIONAL again.
   This can be done e.g. with the help of the FB L_ETC_SetSlaveState.
2. The module must then be restarted at the associated FSoE master FB by a rising edge at the "Reset" input.
   

Alternatively the input "AutoReset" can be connected to TRUE. In this case the module is immediately ready for operation again.