IEC 61784-3-13:2016

IEC 61784-3-13 ®
Edition 2.0 2016-07
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
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
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IEC 61784-3-13 ®
Edition 2.0 2016-07
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
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

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

– 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

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

– 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

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

– 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 1001h Error Register . 92

Table 83 – Object 1001h Error Register value interpretation . 92
Table 84 – Object 1002h Manufacturer status register . 92
Table 85 – Object 1003h Pre defined error field . 93
Table 86 – Object 1003h sub index 00h . 93
Table 87 – Object 1003h sub index 01h . 93
Table 88 – Object 1003h sub index 02h to FEh . 94
Table 89 – Object 100Ch Life Guarding . 94
Table 90 – Object 100Ch sub index 00h . 94
Table 91 – Object 100Ch sub index 01h . 95
Table 92 – Object 100Ch sub index 02h . 95
Table 93 – O
...