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BS EN IEC 61784-3-13:2021

BS EN IEC 61784-3-13:2021

$215.11

Industrial communication networks. Profiles – Functional safety fieldbuses. Additional specifications for CPF 13

Published By Publication Date Number of Pages
BSI 2021 212
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PDF Pages PDF Title
2 undefined
5 Annex ZA(normative)Normative references to international publicationswith their corresponding European publications
7 English
CONTENTS
19 FOREWORD
21 0 Introduction
0.1 General
Figure 1 – Relationships of IEC 617843 with other standards (machinery)
22 Figures
Figure 2 – Relationships of IEC 617843 with other standards (process)
23 0.2 Patent declaration
24 1 Scope
2 Normative references
25 3 Terms, definitions, symbols, abbreviated terms and conventions
3.1 Terms and definitions
3.1.1 Common terms and definitions
30 3.1.2 CPF 13: Additional terms and definitions
32 3.2 Symbols and abbreviated terms
3.2.1 Common symbols and abbreviated terms
3.2.2 CPF 13: Additional symbols and abbreviated terms
33 3.3 Conventions
3.3.1 Hexadecimal values
3.3.2 Binary values
3.3.3 Wildcard digits
34 3.3.4 Diagrams
4 Overview of FSCP 13/1 (openSAFETY™)
4.1 Functional Safety Communication Profile 13/1
4.2 Technical overview
35 5 General
5.1 External documents providing specifications for the profile
5.2 Safety functional requirements
Figure 3 – Producer consumer example
Figure 4 – Client server example
36 5.3 Safety measures
Tables
Table 1 – Communication errors and detection measures (cyclic)
37 5.4 Safety communication layer structure
Table 2 – Communication errors and detection measures (acyclic)
38 Figure 5 – Communication layer structure
39 5.5 Relationships with FAL (and DLL, PhL)
5.5.1 General
5.5.2 Data types
6 Safety communication layer services
6.1 Modelling
6.1.1 Reference model
Figure 6 – Safety communication channel
40 6.1.2 Communication model
Figure 7 – Characteristic producer / consumer communication
41 6.1.3 Device roles and topology
Figure 8 – Extended producer / consumer communication
Figure 9 – Client Server communication
42 Figure 10 – Topology overview
Table 3 – Device roles
43 Figure 11 – Safety Domain protection (example)
44 Figure 12 – Safety Domain separation (example)
45 6.2 Life cycle model
6.2.1 General
6.2.2 Concept, planning and implementation
46 6.2.3 Commissioning
48 6.2.4 Operation terms
Figure 13 – Data flow example
49 6.2.5 Maintenance terms
6.3 Non safety communication layer
6.3.1 General
6.3.2 Requirements for data transport
50 Figure 14 – Communication model
51 Figure 15 – SPDO transport
52 Figure 16 – SSDO transport
53 6.3.3 Domain protection and separation
7 Safety communication layer protocol
7.1 Safety PDU format
7.1.1 Structure of Safety PDUs
Figure 17 – Diagnostic data representation
54 Figure 18 – Safety PDUs inside a CP 13/1 PDU
Figure 19 – Basic Safety PDU for n = 0 – 8 octet payload data
Figure 20 – Basic Safety PDU from 9 octet payload data
55 Figure 21 – Slim Safety PDU for n = 0 – 8 octet payload data
Table 4 – Basic Safety PDU format
56 Figure 22 – Slim Safety PDU from 9 octet payload data
Table 5 – Slim Safety PDU format
57 Figure 23 – Safety PDU with 40 bit counter for n = 0 – 8 octet payload data
Figure 24 – Safety PDU with 40 bit counter from 9 octet payload data
58 7.1.2 Address field (ADR)
7.1.3 PDU identification field (ID)
Table 6 – Safety PDU with 40 bit counter
59 Table 7 – PDU identification field (ID)
Table 8 – Used ID field combinations
Table 9 – Request / response identification
60 7.1.4 Length field (LE)
7.1.5 Consecutive Time field (CT)
7.1.6 Payload data field (DB0 to DBn)
7.1.7 Cyclic Redundancy Check field (CRC-8 / CRC-16)
Table 10 – Type of CRC depending on LE
61 7.1.8 Time Request Address field (TADR)
7.1.9 Time Request Distinctive Number field (TR)
7.1.10 UDID of SCM coding (UDID of SCM)
Table 11 – CRC polynoms for SPDUs
62 7.2 Safety Process Data Object (SPDO)
7.2.1 General
7.2.2 SPDO telegram types
7.2.3 Data Only telegram
Table 12 – SPDO telegram types (ID field, bits 2, 3 and 4)
63 7.2.4 Data with Time Request telegram
Figure 25 – SPDO_Data_Only telegram
Figure 26 – SPDO_Data_with_Time_Request telegram
Table 13 – Fields of SPDO_Data_Only telegram
64 7.2.5 Data with Time Response telegram
Figure 27 – SPDO_Data_with_Time_Response telegram
Table 14 – Fields of SPDO_Data_with_Time_Request telegram
Table 15 – Fields of SPDO_Data_with_Time_Response telegram
65 7.3 Safety Service Data Object (SSDO)
7.3.1 General
7.3.2 SSDO telegram types
Table 16 – SSDO telegram types (ID field, bits 2, 3 and 4)
66 7.3.3 SSDO services and protocols
Table 17 – SOD Access Command (SACmd) – bit coding
67 7.3.4 SSDO Download Initiate
Figure 28 – SSDO download protocols
Figure 29 – SSDO upload protocols
68 Figure 30 – SSDO Download Initiate protocol
Table 18 – Fields of Download Initiate SSDO_Service_Request telegram
Table 19 – Fields of Download Initiate SSDO_Service_Response telegram
69 7.3.5 SSDO Download Segment
7.3.6 SSDO Download Initiate with Preload
Figure 31 – SSDO Download Segment protocol
Table 20 – Fields of Download Segment SSDO_Service_Request telegram
Table 21 – Fields of Download Segment SSDO_Service_Response telegram
70 Figure 32 – SSDO Download Initiate protocol with Preload
Table 22 – Fields of Download Initiate SSDO_Service_Request telegram with Preload
Table 23 – Fields of Download Initiate SSDO_Service_Response telegram with Preload
71 7.3.7 SSDO Download Segment with Preload
Figure 33 – SSDO Download Segment protocol with Preload
Table 24 – Fields of Download Segment SSDO_Service_Request telegram with Preload
72 7.3.8 SSDO Upload Initiate
Figure 34 – SSDO Upload Initiate protocol
Table 25 – Fields of Download Segment SSDO_Service_Response telegram with Preload
Table 26 – Fields of Upload Initiate SSDO_Service_Request telegram
73 7.3.9 SSDO Upload Segment
Figure 35 – SSDO Upload Segment protocol
Table 27 – Fields of Upload Initiate SSDO_Service_Response telegram
74 7.3.10 SSDO Upload Initiate with Preload
Figure 36 – SSDO Upload Initiate protocol with Preload
Table 28 – Fields of Upload Segment SSDO_Service_Request telegram
Table 29 – Fields of Upload Segment SSDO_Service_Response telegram
75 7.3.11 SSDO Upload Segment with Preload
Table 30 – Fields of Upload Initiate SSDO_Service_Request telegram with Preload
Table 31 – Fields of Upload Initiate SSDO_Service_Response telegram with Preload
76 7.3.12 SSDO Abort
Figure 37 – SSDO Upload Segment protocol with Preload
Table 32 – Fields of Upload Segment SSDO_Service_Request telegram with PreLoad
Table 33 – Fields of Upload Segment SSDO_Service_Response telegram with Preload
77 Figure 38 – SSDO Abort protocol
Table 34 – Fields of SSDO Abort telegram
Table 35 – SSDO Abort codes
78 7.3.13 SSDO Preload
Table 36 – TR field usage for SSDO Preload
79 7.4 Safety Network Management (SNMT)
7.4.1 General
7.4.2 SNMT telegram types
Table 37 – Bit fields inside TR field for SSDO Preload
Table 38 – SNMT telegram types (ID field, bits 2, 3 and 4)
80 7.4.3 SNMT services and protocols
Figure 39 – UDID Request / Response protocol
Table 39 – Fields of SNMT_Request_UDID telegram
81 Figure 40 – SADR Assignment protocol
Table 40 – Fields of SNMT_Response_UDID telegram
82 Figure 41 – Reset Node Guarding Time protocol
Table 41 – Fields of SNMT_Assign_SADR telegram
Table 42 – Fields of SNMT_SADR_ Assigned telegram
83 Table 43 – Fields of SNMT_SN_reset_guarding_SCM telegram
Table 44 – SNMT request telegram types
Table 45 – SNMT response telegram types
84 Figure 42 – SN set to Pre-Operational protocol
Table 46 – Fields of SNMT_SN_set_to_PRE_OP telegram
Table 47 – Fields of SNMT_SN_status_PRE_OP telegram
85 Figure 43 – SN set to Operational protocol
Table 48 – Fields of SNMT_SN_set_to_OP telegram
Table 49 – Fields of SNMT_SN_status_OP telegram
86 Table 50 – Fields of SNMT_SN_busy telegram
Table 51 – Fields of SNMT_SN_FAIL telegram
Table 52 – SNMT_SN_FAIL Error Group values
Table 53 – SNMT_SN_FAIL Error Code values
87 Figure 44 – SN Acknowledge protocol
Table 54 – SNMT_SN_FAIL Error Code values in case of Error Group Code 5
Table 55 – Fields of SNMT_SN_ACK telegram
88 Figure 45 – SN set to stop protocol
Figure 46 – SCM set to Operational protocol
Table 56 – Fields of SNMT_SCM_set_to_STOP telegram
89 Figure 47 – Node Guarding protocol
Table 57 – Fields of SNMT_SCM_set_to_OP telegram
Table 58 – Fields of SNMT_SCM_guard_SN telegram
90 Figure 48 – Additional SADR Assignment protocol
Table 59 – Fields of SNMT_SN_status_OP/SNMT_SN_status_OP telegrams
91 Table 60 – Fields of SNMT_assign_additional_SADR telegram
Table 61 – Fields of SNMT_assigned_additional_SADR telegram
92 Figure 49 – UDID of SCM Assignment protocol
Table 62 – Fields of SNMT_assign_UDID_of_SCM telegram
Table 63 – Fields of SNMT_assigned_UDID_of_SCM telegram
93 Figure 50 – Init CT value assignment protocol
Table 64 – Fields of SNMT_assign_Init_CT telegram
Table 65 – Fields of SNMT_assigned_Init_CT telegram
94 7.5 Safety Object dictionary (SOD)
7.5.1 General
7.5.2 Object dictionary entry definition
Table 66 – Object type definition
96 Table 67 – Access attributes for data objects
Table 68 – SPDO mapping attributes for data objects
Table 69 – Basic data type object definition example
97 Table 70 – Compound data type object definition example
Table 71 – Sub index interpretation
98 Table 72 – NumberOfEntries sub index specification
Table 73 – RECORD type object sub index specification
99 7.5.3 Data type entry specification
Table 74 – ARRAY type object sub index specification
Table 75 – StructureOfObject encoding
100 Table 76 – Object dictionary data types
101 7.5.4 Object description
Table 77 – 0021h Compound data type description example
Table 78 – 0021h Compound sub index descriptions example
102 Table 79 – Standard objects
Table 80 – Common communication objects
Table 81 – Receive SPDO communication objects
103 Table 82 – Receive SPDO mapping objects
Table 83 – Transmit SPDO communication objects
Table 84 – User parameter (writeable at any time)
Table 85 – Transmit SPDO mapping objects
104 Table 86 – SADR DVI list
Table 87 – Additional SADR list
Table 88 – SADR UDID list
Table 89 – Additional parameter list
105 Table 90 – Object 1001h Error Register
Table 91 – Object 1001h Error Register value interpretation
Table 92 – Object 1002h Manufacturer status register
106 Table 93 – Object 1003h Pre defined error field
Table 94 – Object 1003h sub index 00h
Table 95 – Object 1003h sub index 01h
107 Table 96 – Object 1003h sub index 02h to FEh
Table 97 – Object 1003h Error statistics
Table 98 – Object 1004h sub index 00h
108 Table 99 – Object 1004h sub index 01h
Table 100 – Object 1004h sub index 02h
Table 101 – Object 1004h sub index 03h
109 Table 102 – Object 1004h sub index 04h
Table 103 – Object 1004h sub index 05h
Table 104 – Object 1004h sub index 06h
110 Table 105 – Object 1004h sub index 07h
Table 106 – Object 1004h sub index 08h
Table 107 – Object 1004h sub index 09h
111 Table 108 – Object 1004h sub index 0Ah
Table 109 – Object 1004h sub index 0Bh
Table 110 – Object 1004h sub index 0Ch
112 Table 111 – Object 1004h sub index 0Dh
Table 112 – Object 1004h sub index 0Eh
Table 113 – Object 100Ch Life Guarding
113 Table 114 – Object 100Ch sub index 00h
Table 115 – Object 100Ch sub index 01h
Table 116 – Object 100Ch sub index 02h
114 Table 117 – Object 100Dh Refresh Interval of Reset Guarding
Table 118 – Object 100Eh Number of Retries for Reset Guarding
115 Table 119 – Object 1018h Device Vendor Information
Table 120 – Object 1018h sub index 00h
Table 121 – Object 1018h sub index 01h
116 Table 122 – Object 1018h sub index 02h
Table 123 – Object 1018h sub index 03h
Table 124 – Object 1018h sub index 04h
117 Table 125 – Object 1018h sub index 05h
Table 126 – Object 1018h sub index 06h
Table 127 – Object 1018h sub index 07h
118 Table 128 – Object 1018h sub index 08h
Table 129 – Object 1018h sub index 09h
Table 130 – Structure of Revision Number
119 Table 131 – Structure of parameter checksum domain
Table 132 – CRC polynom for parameter checksum
Table 133 – Structure of Stack Version
120 Table 134 – Object 1019h Unique Device ID
Table 135 – Object 101Ah Parameter Download
121 Table 136 – Format of Parameter Download
Table 137 – Format of additional parameter header
Table 138 – Object 101Bh SCM Parameters
122 Table 139 – Object 101Bh sub index 00h
Table 140 – Object 101Bh sub index 01h
Table 141 – Object 1200h Common Communication Parameter
123 Table 142 – Object 1200h sub index 00h
Table 143 – Object 1200h sub index 01h
Table 144 – Object 1200h sub index 02h
124 Table 145 – Object 1200h sub index 03h
Table 146 – Object 1200h sub index 04h
125 Table 147 – Object 1201h SSDO Communication Parameter
Table 148 – Object 1201h sub index 00h
Table 149 – Object 1201h sub index 01h
126 Table 150 – Object 1201h sub index 02h
Table 151 – Object 1202h SNMT Communication Parameter
Table 152 – Object 1202h sub index 00h
127 Table 153 – Object 1202h sub index 01h
Table 154 – Object 1202h sub index 02h
Table 155 – Object 1400h – 17FEh RxSPDO Communication Parameter
128 Table 156 – Object 1400h – 17FEh sub index 00h
Table 157 – Object 1400h – 17FEh sub index 01h
Table 158 – Object 1400h – 17FEh sub index 02h
129 Table 159 – Object 1400h – 17FEh sub index 03h
Table 160 – Object 1400h – 17FEh sub index 04h
Table 161 – Object 1400h – 17FEh sub index 05h
130 Table 162 – Object 1400h – 17FEh sub index 06h
Table 163 – Object 1400h – 17FEh sub index 07h
Table 164 – Object 1400h – 17FEh sub index 08h
131 Table 165 – Object 1400h – 17FEh sub index 09h
Table 166 – Object 1400h – 17FEh sub index 0Ah
Table 167 – Object 1400h – 17FEh sub index 0Bh
132 Table 168 – Object 1400h – 17FEh sub index 0Ch
Table 169 – Object 1800h – 1BFEh RxSPDO communication parameter
Table 170 – Object 1800h – 1BFEh sub index 00h
133 Table 171 – Object 1800h – 1BFEh sub index 01h
Table 172 – Object 1800h – 1BFEh sub index 02h – FEh
Table 173 – 1Object C00h – 1FFEh TxSPDO communication parameter
134 Table 174 – Object 1C00h – 1FFEh sub index 00h
Table 175 – Object 1C00h – 1FFEh sub index 01h
Table 176 – Object 1C00h – 1FFEh sub index 02h
135 Table 177 – Object 1C00h – 1FFEh sub index 03h
Table 178 – Object C000h – C3FEh TxSPDO mapping parameter
Table 179 – Object C000h – C3FEh sub index 00h
136 Table 180 – Object C000h – C3FEh sub index 01h
Table 181 – Object C000h – C3FEh sub index 02h – FEh
Table 182 – Object C400h – C7FEh SADR-DVI list
137 Table 183 – Object C400h – C7FEh sub index 00h
Table 184 – Object C400h – C7FEh sub index 01h
Table 185 – Object C400h – C7FEh sub index 02h
138 Table 186 – Object C400h – C7FEh sub index 03h
Table 187 – Object C400h – C7FEh sub index 04h
Table 188 – Object C400h – C4FEh sub index 05h
139 Table 189 – Object C400h – C7FEh sub index 06h
Table 190 – Object C400h – C7FEh sub index 07h
Table 191 – Object C400h – C7FEh sub index 08h
140 Table 192 – Object C400h – C7FEh sub index 09h
Table 193 – Object C400h – C7FEh sub index 0Ah
Table 194 – Object C400h – C7FEh sub index 0Bh
141 Table 195 – Object C400h – C7FEh sub index 0Ch
Table 196 – Bit field of optional features
Table 197 – Object C400h – C7FEh sub index 0Dh
Table 198 – Object C400h – C7FEh sub index 0Eh
142 Table 199 – Object C400h – C7FEh sub index 0Fh
Table 200 – Object C801h – CBFFh Additional SADR list
Table 201 – Object C801h – CBFFh sub index 00h
143 Table 202 – Object C801h – CBFFh sub index 01h
Table 203 – Object C801h – CBFFh sub index 02h
144 Table 204 – Object Additional SADR List Example
Table 205 – Object CC01h – CFFFh SADR-UDID list
Table 206 – Object CC01h – CFFFh sub index 00h
145 Table 207 – Object CC01h – CFFFh sub index 01h – FEh
Table 208 – SADR-UDID List Example
Table 209 – Object E400h – E7FEh SSCM additional parameter list
146 7.6 Safety related PDO mapping
7.6.1 General
Table 210 – Object E400h – E7FEh sub index 00h
Table 211 – Object E400h – E7FEh sub index 01h – 10h
147 7.6.2 Transmit SPDOs
7.6.3 Receive SPDOs
7.6.4 SPDO mapping parameter
Table 212 – Structure of SPDO mapping entry
148 7.6.5 SPDO mapping example
Figure 51 – SPDO mapping example
Table 213 – Mapping example table 1
Table 214 – Mapping example table 2
149 Table 215 – Mapping example table 3
Table 216 – Mapping example table 4
Table 217 – Mapping example table 5
Table 218 – Mapping example table 6
150 7.6.6 SDPO Feature Set
Table 219 – Mapping example table 7
Table 220 – SPDO telegram features (TR field, bits 2-7)
151 7.6.7 SPDO error handling
7.7 State and sequence diagrams
7.7.1 Safety Process Data Object (SPDO)
Figure 52 – State diagram TxSPDO
152 Figure 53 – SPDO communication producer
Table 221 – SPDO communication producer item description
Table 222 – SPDO communication producer state description
153 Figure 54 – State diagram RxSPDO
Figure 55 – SPDO communication consumer
Table 223 – SPDO communication consumer item description
154 Figure 56 – State diagram process data
Table 224 – SPDO communication consumer state description
155 7.7.2 Time synchronization and validation
Figure 57 – Time synchronization and validation
Table 225 – SPDO communication consumer telegram validation item description
Table 226 – SPDO communication consumer telegram validation state description
156 Figure 58 – Time synchronization detail
157 Table 227 – Time synchronization item description
158 Figure 59 – Calculation of propagation delay
Figure 60 – Time validation, propagation delay explanation limits
159 Table 228 – Time validation item description
160 Figure 61 – Time synchronization on a nonsafe network
Figure 62 – Explanation of time synchronization
161 Figure 63 – Time synchronization failure
Table 229 – Extended time synchronization item description
162 Figure 64 – State diagram time synchronization producer
Table 230 – Time synchronization producer item description
163 Figure 65 – State diagram time synchronization consumer
Table 231 – Time synchronization producer state description
164 Table 232 – Time synchronization consumer item description
Table 233 – Time synchronization consumer state description
165 7.7.3 Safety Service Data Object (SSDO)
Figure 66 – State diagram SSDO client
166 Figure 67 – State diagram SSDO server
Table 234 – SSDO client item description
Table 235 – SSDO client state description
Table 236 – SSDO server state description
167 7.7.4 SOD access
Figure 68 – Expedited SOD access
Table 237 – SOD access item description
168 Figure 69 – State diagram segmented SOD download access client
169 Figure 70 – Segmented SOD download access
Table 238 – Segmented SOD access client item description
Table 239 – Segmented SOD download access client state description
170 Figure 71 – State diagram segmented SOD download access server
171 Table 240 – Segmented SOD access server item description
Table 241 – Segmented SOD access server state description
172 Figure 72 – State diagram SOD preload download access client
173 Figure 73 – SOD preload download access
Table 242 – SOD preload download access client item description
174 Table 243 – SOD preload download access client state description
175 Figure 74 – State diagram SOD preload download access server
176 7.7.5 Safety Network Management Object (SNMT)
Table 244 – SOD preload download access server item description
Table 245 – SOD preload download access server state description
177 Figure 75 – State diagram SNMT master
Table 246 – SNMT master item description
Table 247 – SNMT master state description
178 7.7.6 SN power up
Figure 76 – State diagram SNMT slave
Table 248 – SNMT slave state description
179 Figure 77 – State diagram SN power up
Table 249 – SN power up state description
Table 250 – State and communication object relation
181 Figure 78 – State diagram SN Pre-Operational
182 Table 251 – SN Pre-Operational state item description
Table 252 – SN Pre-Operational state description
183 Figure 79 – State diagram SN additional paramters
184 Figure 80 – State diagram SN Operational
Table 253 – SN additional parameter state description
185 7.7.7 SN power down
7.7.8 SN recovery after Restart / Error
7.7.9 SCM power up
Figure 81 – Life Guarding telegram
Table 254 – SN Operational state item description
Table 255 – SN Operational state description
186 Figure 82 – State diagram SCM power up
Table 256 – SCM power up state description
Table 257 – State and communication object relation
187 Figure 83 – State diagram SCM Operational
188 7.7.10 Address verification
Table 258 – SCM Operational state item description
Table 259 – SCM Operational state description
189 Figure 84 – State diagram SCM address verification
190 7.7.11 Commissioning mode
7.7.12 Handle single UDID mismatch
Table 260 – Address verification item description
Table 261 – Address verification state description
191 Figure 85 – State diagram SCM handle single UDID mismatch
192 Table 262 – SCM handle single UDID mismatch state description
193 Figure 86 – State diagram SCM verify parameters
194 7.7.13 Activate SN
Table 263 – SCM verify parameters state description
195 7.7.14 Device exchange
8 Safety communication layer management
8.1 General
Figure 87 – State diagram activate SN
Table 264 – Activate SN state description
196 8.2 Configuration of a Safety Domain
8.3 Parameter check mechanism
9 System requirements
9.1 Indicators and switches
197 9.2 Installation guidelines
9.3 Safety function response time
Figure 88 – Safety function response time
198 9.4 Duration of demands
9.5 Constraints for calculation of system characteristics
9.5.1 General
9.5.2 Number of sinks limit
9.5.3 Message rate limit
9.5.4 Message payload limit
199 9.5.5 Bit error rate considerations
9.5.6 Residual error rate
Table 265 – Residual error rate
200 9.6 Maintenance
9.6.1 Diagnostic information
9.6.2 Replacement of safety related devices
201 9.6.3 Modification
9.6.4 Machine part changing
9.6.5 Firmware update of safety related nodes
9.6.6 Machine check due to service interval
9.7 Safety manual
10 Assessment
10.1 General
202 10.2 CP 13/1 assessment
10.3 FSCP 13/1 conformance test
10.4 Approval of functional safety by competent assessment body
Figure 89 – Assessment flow of devices
203 Annex A (informative) Additional information for functional safety communication profiles of CPF 13
207 Annex B (informative) Information for assessment of the functional safety communication profiles of CPF 13
208 Bibliography

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