EN 61784-3-13:2017

2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.Industrijska komunikacijska omrežja - Profili - 3-13. del: Funkcijska varnost procesnih vodil - Dodatne specifikacije za CPF 13 (IEC 61784-3-13:2016)Industrielle Kommunikationsnetze - Profile - Teil 3-13: Funktional sichere Übertragung bei Feldbussen - Zusätzliche Festlegungen für die Kommunikationsprofilfamilie 13 (IEC 61784-3-13:2016)Réseaux de communication industriels - Profils - Partie 3-13: Bus de terrain de sécurité fonctionnelle - Spécifications complémentaires pour CPF 13 (IEC 61784-3-13:2016)Industrial communication networks - Profiles - Part 3-13: Functional safety fieldbuses - Additional specifications for CPF 13 (IEC 61784-3-13:2016)35.100.05UHãLWYHMultilayer applications25.040.40Merjenje in krmiljenje industrijskih postopkovIndustrial process measurement and controlICS:Ta slovenski standard je istoveten z:EN 61784-3-13:2017SIST EN 61784-3-13:2018en,fr,de01-februar-2018SIST EN 61784-3-13:2018SLOVENSKI
STANDARDSIST EN 61784-3-13:20101DGRPHãþD

EUROPEAN STANDARD NORME EUROPÉENNE EUROPÄISCHE NORM
EN 61784-3-13
December 2017 ICS 25.040.40; 35.100.05
Supersedes
EN 61784-3-13:2010
English Version
Industrial communication networks - Profiles - Part 3-13: Functional safety fieldbuses - Additional specifications for CPF 13 (IEC 61784-3-13:2016)
Réseaux de communication industriels - Profils - Partie 3-13: Bus de terrain de sécurité fonctionnelle - Spécifications complémentaires pour CPF 13 (IEC 61784-3-13:2016)
Industrielle Kommunikationsnetze - Profile - Teil 3-13: Funktional sichere Übertragung bei Feldbussen - Zusätzliche Festlegungen für die Kommunikationsprofilfamilie 13 (IEC 61784-3-13:2016) This European Standard was approved by CENELEC on 2016-08-19. CENELEC members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the CEN-CENELEC Management Centre or to any CENELEC member.
This European Standard exists in three official versions (English, French, German). A version in any other language made by translation under the responsibility of a CENELEC member into its own language and notified to the CEN-CENELEC Management Centre has the same status as the official versions. CENELEC members are the national electrotechnical committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, the Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, the Netherlands, Norway, Poland, Portugal, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and the United Kingdom. European Committee for Electrotechnical Standardization
Comité Européen de Normalisation Electrotechnique Europäisches Komitee für Elektrotechnische Normung CEN-CENELEC Management Centre: Rue de la Science 23,
B-1040 Brussels © 2017 CENELEC All rights of exploitation in any form and by any means reserved worldwide for CENELEC Members.
Ref. No. EN 61784-3-13:2017 E SIST EN 61784-3-13:2018

European foreword The text of document 65C/851/FDIS, future edition 2 of IEC 61784-3-13:2016, prepared by SC 65C "Industrial networks", of IEC/TC 65 "Industrial-process measurement, control and automation" was submitted to the IEC-CENELEC parallel vote and approved by CENELEC as EN 61784-3-13:2017.
The following dates are fixed:
• latest date by which this document has to be implemented at national level by publication of an identical national standard or by endorsement (dop) 2018-06-01 • latest date by which the national standards conflicting with this document have to be withdrawn (dow) 2020-12-01 This document supersedes EN 61784-3-13:2010.
Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights. CENELEC shall not be held responsible for identifying any or all such patent rights.
Endorsement notice The text of the International Standard IEC 61784-3-13:2016 was approved by CENELEC as a European Standard without any modification. In the official version, for Bibliography, the following notes have to be added for the standards indicated: IEC 60204-1 NOTE
Harmonized as EN 60204-1 IEC 61000-6-7 NOTE
Harmonized as EN 61000-6-7 IEC 61131-2 NOTE
Harmonized as EN 61131-2 IEC 61131-6 NOTE
Harmonized as EN 61131-6 IEC 61158 (all parts) NOTE
Harmonized as EN 61158 (all parts) IEC 61326-3-1 NOTE
Harmonized as EN 61326-3-1 IEC 61326-3-2 NOTE
Harmonized as EN 61326-3-2 IEC 61496 (all parts) NOTE
Harmonized as EN 61496 (all parts) IEC 61508-1:2010 NOTE
Harmonized as EN 61508-1:2010 (not modified). IEC 61508-4:2010 NOTE
Harmonized as EN 61508-4:2010 (not modified). IEC 61508-5:2010 NOTE
Harmonized as EN 61508-5:2010 (not modified). IEC 61511 (all parts) NOTE
Harmonized as EN 61511 (all parts) IEC 61784-1 NOTE
Harmonized as EN 61784-1 IEC 61784-5 (all parts) NOTE
Harmonized as EN 61784-5 (all parts) IEC 61800-5-2 NOTE
Harmonized as EN 61800-5-2 IEC 62061 NOTE
Harmonized as EN 62061 IEC 62443 (all parts) NOTE
Harmonized as prEN 62443 (all parts) IEC/TR 62685 NOTE
Harmonized as CLC/TR 62685 ISO 10218-1 NOTE
Harmonized as EN ISO 10218-1 ISO 12100 NOTE
Harmonized as EN ISO 12100 ISO 13849-1 NOTE
Harmonized as EN ISO 13849-1 ISO 13849-2 NOTE
Harmonized as EN ISO 13849-2 SIST EN 61784-3-13:2018

3 Annex ZA (normative)
Normative references to international publications with their corresponding European publications
The following documents are referred to in the text in such a way that some or all of their content constitutes requirements of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies.
NOTE 1 When an International Publication has been modified by common modifications, indicated by (mod), the relevant EN/HD applies.
NOTE 2 Up-to-date information on the latest versions of the European Standards listed in this annex is available here: www.cenelec.eu.
Publication Year Title EN/HD Year IEC 61131-3 -
Programmable controllers - Part 3: Programming languages EN 61131-3 -
IEC 61158-3-13 -
Industrial communication networks - Fieldbus specifications - Part 3-13: Data link layer service definition - Type 13 elements EN 61158-3-13 -
IEC 61158-4-13 -
Industrial communication networks - Fieldbus specifications - Part 4-13: Data-link layer protocol specification - Type 13 elements EN 61158-4-13 -
IEC 61158-5-13 -
Industrial communication networks - Fieldbus specifications - Part 5-13: Application layer service definition - Type 13 elements EN 61158-5-13 -
IEC 61158-6-13 -
Industrial communication networks - Fieldbus specifications - Part 6-13: Application layer protocol specification - Type 13 elements EN 61158-6-13 -
IEC 61508 series
Functional safety of electrical/electronic/programmable electronic safety-related systems -- Part 1: General requirements EN 61508 series
IEC 61784-2 -
Industrial communication networks - Profiles - Part 2: Additional fieldbus profiles for real-time networks based on ISO/IEC 8802-3 EN 61784-2 -
IEC 61784-3 -
Industrial communication networks - Profiles - Part 3: Functional safety fieldbuses - General rules and profile definitions EN 61784-3 -
IEC 61784-5-13 -
Industrial communication networks - Profiles -- Part 5-13: Installation of fieldbuses - Installation profiles for CPF 13 EN 61784-5-13 -
IEC 61918 -
Industrial communication networks - Installation of communication networks in industrial premises EN 61918 -
ISO/IEC 19501 -
Information technology - Open Distributed Processing - Unified Modeling Language (UML) Version 1.4.2 - -
IEC 61784-3-13 Edition 2.0 2016-07 INTERNATIONAL STANDARD NORME INTERNATIONALE Industrial communication networks – Profiles –
Part 3-13: Functional safety fieldbuses – Additional specifications for CPF 13
Réseaux de communication industriels – Profils –
Partie 3-13: Bus de terrain de sécurité fonctionnelle – Spécifications supplémentaires pour CPF 13
INTERNATIONAL ELECTROTECHNICAL COMMISSION COMMISSION ELECTROTECHNIQUE INTERNATIONALE
ICS 25.040.40, 35.100.05
ISBN 978-2-8322-3492-1
– 2 – IEC 61784-3-13:2016  IEC 2016 CONTENTS FOREWORD . 13 0 Introduction . 15 0.1 General . 15 0.2 Patent declaration . 17 1 Scope . 19 2 Normative references. 19 3 Terms, definitions, symbols, abbreviated terms and conventions. 20 3.1 Terms and definitions . 20 3.1.1 Common terms and definitions . 20 3.1.2 CPF 13: Additional terms and definitions . 25 3.2 Symbols and abbreviated terms . 26 3.2.1 Common symbols and abbreviated terms . 26 3.2.2 CPF 13: Additional symbols and abbreviated terms . 27 3.3 Conventions . 28 3.3.1 Hexadecimal values . 28 3.3.2 Binary values . 28 3.3.3 Wildcard digits . 28 3.3.4 Diagrams . 28 4 Overview of FSCP 13/1 (openSAFETY™). 28 4.1 Functional Safety Communication Profile 13/1 . 28 4.2 Technical overview . 29 5 General . 29 5.1 External documents providing specifications for the profile . 29 5.2 Safety functional requirements . 30 5.3 Safety measures . 30 5.4 Safety communication layer structure . 31 5.5 Relationships with FAL (and DLL, PhL) . 33 5.5.1 General . 33 5.5.2 Data types . 33 6 Safety communication layer services . 33 6.1 Modelling . 33 6.1.1 Reference model . 33 6.1.2 Communication model . 34 6.1.3 Device roles and topology . 35 6.2 Life cycle model . 39 6.2.1 General . 39 6.2.2 Concept, planning and implementation . 39 6.2.3 Commissioning . 40 6.2.4 Operation terms . 41 6.2.5 Maintenance terms . 43 6.3 Non safety communication layer . 43 6.3.1 General . 43 6.3.2 Requirements for data transport . 43 6.3.3 Domain protection and separation . 46 7 Safety communication layer protocol . 47 SIST EN 61784-3-13:2018

IEC 61784-3-13:2016  IEC 2016 – 3 – 7.1 Safety PDU format . 47 7.1.1 Structure of Safety PDUs . 47 7.1.2 Address field (ADR) . 50 7.1.3 PDU identification field (ID) . 50 7.1.4 Length field (LE) . 51 7.1.5 Consecutive Time field (CT) . 51 7.1.6 Payload data field (DB0 to DBn) . 52 7.1.7 Cyclic Redundancy Check field (CRC-8 / CRC-16) . 52 7.1.8 Time Request Address field (TADR) . 52 7.1.9 Time Request Distinctive Number field (TR) . 52 7.1.10 UDID of SCM coding (UDID of SCM) . 52 7.2 Safety Process Data Object (SPDO) . 53 7.2.1 General . 53 7.2.2 SPDO telegram types . 53 7.2.3 Data Only telegram . 53 7.2.4 Data with Time Request telegram . 54 7.2.5 Data with Time Response telegram . 55 7.3 Safety Service Data Object (SSDO) . 56 7.3.1 General . 56 7.3.2 SSDO telegram types . 56 7.3.3 SSDO services and protocols . 57 7.3.4 SSDO Download Initiate . 59 7.3.5 SSDO Download Segment . 60 7.3.6 SSDO Block Download Initiate. 61 7.3.7 SSDO Block Download Segment . 62 7.3.8 SSDO Upload Initiate . 64 7.3.9 SSDO Upload Segment . 65 7.3.10 SSDO Block Upload Initiate . 66 7.3.11 SSDO Block Upload Segment . 67 7.3.12 SSDO Abort . 67 7.4 Safety Network Management (SNMT) . 69 7.4.1 General . 69 7.4.2 SNMT telegram types . 69 7.4.3 SNMT services and protocols . 69 7.5 Safety Object dictionary (SOD) . 81 7.5.1 General . 81 7.5.2 Object dictionary entry definition . 81 7.5.3 Data type entry specification . 87 7.5.4 Object description . 88 7.6 Safety related PDO mapping . 123 7.6.1 General . 123 7.6.2 Transmit SPDOs . 124 7.6.3 Receive SPDOs . 124 7.6.4 SPDO mapping parameter . 124 7.6.5 SPDO mapping example . 125 7.6.6 SPDO error handling . 127 7.7 State and sequence diagrams . 127 7.7.1 Safety Process Data Object (SPDO) . 127 7.7.2 Time synchronization and validation . 132 SIST EN 61784-3-13:2018

– 4 – IEC 61784-3-13:2016  IEC 2016 7.7.3 Safety Service Data Object (SSDO) . 141 7.7.4 SOD access . 143 7.7.5 Safety Network Management Object (SNMT) . 153 7.7.6 SN power up . 155 7.7.7 SN power down . 159 7.7.8 SN recovery after Restart / Error . 159 7.7.9 SCM power up . 159 7.7.10 Address verification . 162 7.7.11 Commissioning mode . 164 7.7.12 Handle single UDID mismatch . 164 7.7.13 Activate SN . 168 7.7.14 Device exchange . 169 8 Safety communication layer management . 169 8.1 General . 169 8.2 Goals of parameterization . 169 8.3 Initial configuration of a device . 169 8.3.1 General . 169 8.3.2 SD setup by only configuring the SCM . 170 8.3.3 SD setup configuring each SN . 170 8.4 Avoiding of parameterizing the wrong device . 170 8.5 Parameter check mechanism . 170 9 System requirements . 171 9.1 Indicators and switches . 171 9.2 Installation guidelines . 171 9.3 Safety function response time . 171 9.4 Duration of demands . 172 9.5 Constraints for calculation of system characteristics . 172 9.5.1 General . 172 9.5.2 Number of sinks limit . 172 9.5.3 Message rate limit . 172 9.5.4 Message payload limit . 172 9.5.5 Bit error rate considerations . 173 9.5.6 Residual error rate . 173 9.6 Maintenance . 174 9.6.1 Diagnostic information . 174 9.6.2 Replacement of safety related devices . 174 9.6.3 Modification . 175 9.6.4 Machine part changing . 175 9.6.5 Firmware update of safety related nodes . 175 9.6.6 Machine check due to service interval . 175 9.7 Safety manual . 175 10 Assessment . 175 10.1 General . 175 10.2 CP 13/1 assessment . 176 10.3 FSCP 13/1 conformance test . 176 10.4 Approval of functional safety by competent assessment body . 176 Annex A (informative)
Additional information for functional safety communication profiles of CPF 13 . 177 A.1 Hash function calculation . 177 SIST EN 61784-3-13:2018

IEC 61784-3-13:2016  IEC 2016 – 5 – A.2 … . 180 Annex B (informative)
Information for assessment of the functional safety communication profiles of CPF 13 . 181 Bibliography . 182
Figure 1 – Relationships of IEC 61784-3 with other standards (machinery) . 15 Figure 2 – Relationships of IEC 61784-3 with other standards (process) . 16 Figure 3 – Producer consumer example . 29 Figure 4 – Client server example . 29 Figure 5 – Communication layer structure . 32 Figure 6 – Safety communication channel . 33 Figure 7 – Characteristic producer / consumer communication . 34 Figure 8 – Extended producer / consumer communication . 35 Figure 9 – Client Server communication . 35 Figure 10 – Topology overview . 36 Figure 11 – Safety Domain protection (example). 37 Figure 12 – Safety Domain separation (example) . 38 Figure 13 – Data flow example . 42 Figure 14 – Communication model . 43 Figure 15 – SPDO transport . 44 Figure 16 – SSDO transport . 45 Figure 17 – Diagnostic data representation. 46 Figure 18 – Safety PDUs inside a CP 13/1 PDU . 47 Figure 19 – Basic Safety PDU for n = 0 – 8 octet payload data . 47 Figure 20 – Basic Safety PDU from 9 octet payload data . 48 Figure 21 – Slim Safety PDU for n = 0 – 8 octet payload data . 49 Figure 22 – Slim Safety PDU from 9 octet payload data . 49 Figure 23 – SPDO_Data_Only telegram . 54 Figure 24 – SPDO_Data_with_Time_Request telegram . 54 Figure 25 – SPDO_Data_with_Time_Response telegram . 55 Figure 26 – SSDO download protocols . 58 Figure 27 – SSDO upload protocols . 59 Figure 28 – SSDO Download Initiate protocol . 59 Figure 29 – SSDO Download Segment protocol . 60 Figure 30 – SSDO Block Download Initiate protocol . 61 Figure 31 – SSDO Block Download Segment protocol . 63 Figure 32 – SSDO Upload Initiate protocol . 64 Figure 33 – SSDO Upload Segment protocol . 65 Figure 34 – SSDO Block Upload Initiate protocol . 66 Figure 35 – SSDO Block Upload Segment protocol . 67 Figure 36 – SSDO Abort protocol . 67 Figure 37 – UDID Request / Response protocol . 70 Figure 38 – SADR Assignment protocol . 71 Figure 39 – Reset Node Guarding Time protocol . 72 SIST EN 61784-3-13:2018

– 6 – IEC 61784-3-13:2016  IEC 2016 Figure 40 – SN set to Pre-Operational protocol . 73 Figure 41 – SN set to Operational protocol . 74 Figure 42 – SN Acknowledge protocol . 76 Figure 43 – SN set to stop protocol . 77 Figure 44 – SCM set to Operational protocol . 77 Figure 45 – Node Guarding protocol . 78 Figure 46 – Additional SADR Assignment protocol . 79 Figure 47 – UDID of SCM Assignment protocol . 80 Figure 48 – SPDO mapping example . 125 Figure 49 – State diagram TxSPDO . 128 Figure 50 – SPDO communication producer . 128 Figure 51 – State diagram RxSPDO . 129 Figure 52 – SPDO communication consumer . 130 Figure 53 – State diagram process data . 131 Figure 54 – Time synchronization and validation . 132 Figure 55 – Time synchronization detail . 133 Figure 56 – Calculation of propagation delay . 134 Figure 57 – Time validation, propagation delay explanation limits . 135 Figure 58 – Time synchronization on a nonsafe network . 136 Figure 59 – Explanation of time synchronization . 137 Figure 60 – Time synchronization failure . 137 Figure 61 – State diagram time synchronization producer . 139 Figure 62 – State diagram time synchronization consumer . 140 Figure 63 – State diagram SSDO client . 142 Figure 64 – State diagram SSDO server . 143 Figure 65 – Expedited SOD access . 144 Figure 66 – State diagram segmented SOD download access client . 145 Figure 67 – Segmented SOD download access . 146 Figure 68 – State diagram segmented SOD download access server . 147 Figure 69 – State diagram SOD block download access client . 149 Figure 70 – SOD block download access . 150 Figure 71 – State diagram SOD block download access server . 152 Figure 72 – State diagram SNMT master . 154 Figure 73 – State diagram SNMT slave . 155 Figure 74 – State diagram SN power up . 156 Figure 75 – State diagram SN Pre-Operational . 157 Figure 76 – State diagram SN Operational . 158 Figure 77 – Life Guarding telegram . 159 Figure 78 – State diagram SCM power up . 160 Figure 79 – State diagram SCM Operational . 161 Figure 80 – State diagram SCM address verification . 163 Figure 81 – State diagram SCM handle single UDID mismatch . 165 Figure 82 – State diagram SCM verify parameters . 167 SIST EN 61784-3-13:2018

IEC 61784-3-13:2016  IEC 2016 – 7 – Figure 83 – State diagram activate SN . 168 Figure 84 – Safety function response time . 171 Figure 85 – Assessment flow of devices . 176
Table 1 – Communication errors and detection measures (cyclic) . 30 Table 2 – Communication errors and detection measures (acyclic) . 31 Table 3 – Device roles . 36 Table 4 – Basic Safety PDU format . 48 Table 5 – Slim Safety PDU format . 49 Table 6 – PDU identification field (ID) . 50 Table 7 – Used ID field combinations . 51 Table 8 – Request / response identification . 51 Table 9 – Type of CRC depending on LE . 51 Table 10 – CRC polynoms for SPDUs . 52 Table 11 – SPDO telegram types (ID field, bits 2, 3 and 4) . 53 Table 12 – Fields of SPDO_Data_Only telegram . 54 Table 13 – Fields of SPDO_Data_with_Time_Request telegram . 55 Table 14 – Fields of SPDO_Data_with_Time_Response telegram . 55 Table 15 – SSDO telegram types (ID field, bits 2, 3 and 4) . 56 Table 16 – SOD Access Command (SACmd) – bit coding . 57 Table 17 – Fields of Download Initiate SSDO_Service_Request telegram . 60 Table 18 – Fields of Download Initiate SSDO_Service_Response telegram . 60 Table 19 – Fields of Download Segment SSDO_Service_Request telegram . 61 Table 20 – Fields of Download Segment SSDO_Service_Response telegram . 61 Table 21 – Fields of Block Download Initiate SSDO_Service_Request telegram . 62 Table 22 – Fields of Block Download Initiate SSDO_Service_Response telegram . 62 Table 23 – Fields of Block Download Segment SSDO_Service_Request telegram . 63 Table 24 – Fields of Block Download Segment SSDO_Service_Response telegram . 63 Table 25 – Fields of Upload Initiate SSDO_Service_Request telegram . 64 Table 26 – Fields of Upload Initiate SSDO_Service_Response telegram . 64 Table 27 – Fields of Upload Segment SSDO_Service_Request telegram . 65 Table 28 – Fields of Upload Segment SSDO_Service_Response telegram . 65 Table 29 – Fields of Block Upload Initiate SSDO_Service_Request telegram . 66 Table 30 – Fields of Block Upload Initiate SSDO_Service_Response telegram . 66 Table 31 – Fields of Block Upload Segment SSDO_Service_Response telegram . 67 Table 32 – Fields of SSDO Abort telegram . 68 Table 33 – SSDO Abort codes . 68 Table 34 – SNMT telegram types (ID field, bits 2, 3 and 4) . 69 Table 35 – Fields of SNMT_Request_UDID telegram . 70 Table 36 – Fields of SNMT_Response_UDID telegram . 70 Table 37 – Fields of SNMT_Assign_SADR telegram . 71 Table 38 – Fields of SNMT_SADR_ Assigned telegram. 71 Table 39 – Fields of SNMT_SN_reset_guarding_SCM telegram . 72 SIST EN 61784-3-13:2018

– 8 – IEC 61784-3-13:2016  IEC 2016 Table 40 – SNMT request telegram types . 72 Table 41 – SNMT response telegram types . 73 Table 42 – Fields of SNMT_SN_set_to_PRE_OP telegram . 73 Table 43 – Fields of SNMT_SN_status_PRE_OP telegram . 74 Table 44 – Fields of SNMT_SN_set_to_OP telegram . 74 Table 45 – Fields of SNMT_SN_status_OP telegram . 75 Table 46 – Fields of SNMT_SN_busy telegram . 75 Table 47 – Fields of SNMT_SN_FAIL telegram . 75 Table 48 – SNMT_SN_FAIL Error Group values . 76 Table 49 – SNMT_SN_FAIL Error Code values . 76 Table 50 – Fields of SNMT_SN_ACK telegram . 76 Table 51 – Fields of SNMT_SCM_set_to_STOP telegram . 77 Table 52 – Fields of SNMT_SCM_set_to_OP telegram . 78 Table 53 – Fields of SNMT_SCM_guard_SN telegram . 78 Table 54 – Fields of SNMT_SN_status_OP/SNMT_SN_status_OP telegrams . 79 Table 55 – Fields of SNMT_assign_additional_SADR telegram . 79 Table 56 – Fields of SNMT_assigned_additional_SADR telegram . 80 Table 57 – Fields of SNMT_assign_UDID_of_SCM telegram . 80 Table 58 – Fields of SNMT_assigned_UDID_of_SCM telegram . 81 Table 59 – Object type definition . 82 Table 60 – Access attributes for data objects . 83 Table 61 – SPDO mapping attributes for data objects . 84 Table 62 – Basic data type object definition example . 84 Table 63 – Compound data type object definition example . 84 Table 64 – Sub index interpretation . 85 Table 65 – NumberOfEntries sub index specification . 85 Table 66 – RECORD type object sub index specification . 85 Table 67 – ARRAY type object sub index specification . 86 Table 68 – StructureOfObject encoding . 86 Table 69 – Object dictionary data types . 87 Table 70 – 0021h Compound data type description example . 88 Table 71 – 0021h Compound sub index descriptions example . 88 Table 72 – Standard objects. 89 Table 73 – Common communication objects . 89 Table 74 – Receive SPDO communication objects . 89 Table 75 – Receive SPDO mapping objects . 90 Table 76 – Transmit SPDO communication objects . 90 Table 77 – User parameter (writeable at any time) . 90 Table 78 – Transmit SPDO mapping objects . 90 Table 79 – SADR DVI list . 91 Table 80 – Additional SADR list . 91 Table 81 – SADR UDID list . 91 Table 82 – Object
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