we're facing very strange problems with the PROFIsafe configuration for one of our Fanuc robots.
Configuration is done according the Fanuc manuals B-83184EN/12 and B-82864EN/06.
Profinet is working without any problems.
On the plc side they are no PROFIsafe errors, on the robot side the PROFISafe status is "Running", iPar_CRC is received and matched, but the controller is showing "SRVO-419 DCS PROFIsafe comm. error 1,1.". Syncronisation of the safe inputs/outputs is also not working.
The CP1604 is configured with TIA Portal, with PROFIsafe norm v2.4 (3 Byte CRC) enabled.
We tried v2.6.1(4 Byte CRC) also, but in that case we had lot more errors on the robot side.
Software: V9.30P / 7DF3
CP1604: Firmware 2.7.2 from Fanuc
GSD: Created with TIA Portal v16
I have attached some screenshots from our setup on the robot and plc.
Any advice will be very helpful, our local Fanuc support couldn't also help us so far.