openSAFETY is simply implemented on top of POWERLINK as well, with no impact at all on that base protocol. POWERLINK provides full-fledged cross-traffic. openSAFETY uses this function to achieve extremely brief safe reaction times. All communication for initializing and parameterizing the system goes through POWERLINK’s asynchronous communication channel.
All of openSAFETY’s mechanisms, functions, and potential options are described in the openSAFETY over POWERLINK specification.