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Decentral Peripherie: Backup system Including Im153-2

Hello Friends,
Can someone tell me exact difference in the functionalities of IM 153-2 and IM 153-3.?
I need to develop an application with Redundant IMs.
Hence,2 master cards are used in 2 different controllers. In our case, CP5613A2 card is being used as the Master.
Which IM should we use so that the application supports "Module Exchange In Operation" with Redundancy. This means, that we should be able to Remove and plug back a module with Slave in Operation without affecting the mastership of IMs.

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