应用示例：双手控制 双手控制（类别 4，PL e）用作编程示例 CODESYS Safety for EtherCAT Safety Module 并以 FBD 实现形式进行说明。 每个双手按钮均由输入模块（例如：EL1904）安全输入上的常闭和常开触点组合而成。输入测试处于活动状态，信号也会被检查是否存在差异（200 毫秒）。此外，两个按钮的同步操作以 500 毫秒的监控时间激活。 反馈回路通过

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