IEC 61784-3-3:2010
(Main)Industrial communication networks - Profiles - Part 3-3: Functional safety fieldbuses - Additional specifications for CPF 3
Industrial communication networks - Profiles - Part 3-3: Functional safety fieldbuses - Additional specifications for CPF 3
IEC 61784-3-3:2010 specifies a safety communication layer (services and protocol) based on CPF 3 of IEC 61784-1, IEC 61784-2 (CP 3/1, CP 3/2, CP 3/4, CP 3/5 and CP 3/6) and IEC 61158 Types 3 and 10. It identifies the principles for functional safety communications defined in IEC 61784-3 that are relevant for this safety communication layer. This second edition cancels and replaces the first edition published in 2007. This edition constitutes a technical revision. The main changes with respect to the previous edition are:
- updates in relation with changes in IEC 61784-3;
- introduction of a secondary watchdog timer (F_WD_Time_2) to cover the use cases 'configuration-in-run', or 'maintenance of fault tolerance systems', or both (7.1.3, 7.2.3, 7.2.6, 8.1.1, 8.1.4, 8.1.6.2);
- missing GSDL definitions conveyed from other approved documents (8.3.2.1);
- missing CRC signature calculation for a GSD conveyed from other approved documents (8.3.3.3);
- constraints for the parameter value assignment of the primary watchdog timer 'F_WD_Time' (9.3.3);
- identification of the safety parameterization state of an F-Device or F-Module via field IM4 (signature) within the I&M functions (9.6.2);
- updated documents in bibliography. This bilingual version (2012-02) corresponds to the monolingual English version, published in 2010-06.
Réseaux de communication industriels - Profils - Partie 3-3: Bus de terrain de sécurité fonctionnelle - Spécifications supplémentaires pour CPF 3
La CEI 61784-3-3:2010 spécifie une couche de communication relative à la sécurité (services et protocole) fondée sur la CPF 3 de la CEI 61784-1 et les Types 3 et 10 de la CEI 61784-2 (CP 3/1, CP 3/2, CP 3/4, CP 3/5 et CP 3/6) et de la CEI 61158. Elle identifie les principes applicables aux communications de sécurité fonctionnelle définies dans la CEI 61784-3, et appropriés à cette couche de communication de sécurité. Cette seconde édition annule et remplace la première édition parue en 2007, dont elle constitue une révision technique. Les principales modifications par rapport à l'édition précédente sont énumérées ci-dessous:
- mises à jour par rapport aux changements apportés à la CEI 61784-3;
- présentation d'un temporisateur secondaire (F_WD_Time_2) couvrant l'utilisation des cas de "configuration en cours" et/ou de "maintenance des systèmes de tolérance aux pannes" (7.1.3, 7.2.3, 7.2.6, 8.1.1, 8.1.4, 8.1.6.2);
- définitions GSDL manquantes provenant d'autres documents approuvés (8.3.2.1);
- calcul de signature CRC manquant pour un GSD provenant d'autres documents approuvés (8.3.3.3);
- contraintes d'attribution de valeur de paramètre du temporisateur principal F_WD_Time (9.3.3);
- identification de l'état de paramétrage de sécurité d'un dispositif F ou d'un module F grâce au champ IM4 (signature) des fonctions I&M (9.6.2);
- documents mis à jour dans la bibliographie. La présente version bilingue (2012-02) correspond à la version anglaise monolingue publiée en 2010-06.
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Standards Content (Sample)
IEC 61784-3-3 ®
Edition 2.0 2010-06
INTERNATIONAL
STANDARD
colour
inside
Industrial communication networks – Profiles –
Part 3-3: Functional safety fieldbuses – Additional specifications for CPF 3
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IEC 61784-3-3 ®
Edition 2.0 2010-06
INTERNATIONAL
STANDARD
colour
inside
Industrial communication networks – Profiles –
Part 3-3: Functional safety fieldbuses – Additional specifications for CPF 3
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
PRICE CODE
XF
ICS 25.040.40; 35.100.05 ISBN 978-2-88910-978-4
– 2 – 61784-3-3 © IEC:2010(E)
CONTENTS
FOREWORD.8
0 Introduction .10
0.1 General .10
0.2 Patent declaration .12
1 Scope.13
2 Normative references .13
3 Terms, definitions, symbols, abbreviated terms and conventions .15
3.1 Terms and definitions .15
3.1.1 Common terms and definitions .15
3.1.2 CPF 3: Additional terms and definitions .20
3.2 Symbols and abbreviated terms.23
3.2.1 Common symbols and abbreviated terms .23
3.2.2 CPF 3: Additional symbols and abbreviated terms .24
3.3 Conventions .25
4 Overview of FSCP 3/1 (PROFIsafe™) .25
5 General .28
5.1 External documents providing specifications for the profile.28
5.2 Safety functional requirements .28
5.3 Safety measures .29
5.4 Safety communication layer structure .30
5.4.1 Principle of FSCP 3/1 safety communications .30
5.4.2 CPF 3 communication structures .31
5.5 Relationships with FAL (and DLL, PhL) .34
5.5.1 Device model.34
5.5.2 Application and communication relationships.34
5.5.3 Message format.36
5.5.4 Data types .36
6 Safety communication layer services .37
6.1 F-Host services .37
6.2 F-Device services.39
6.3 Diagnosis .41
6.3.1 Safety alarm generation.41
6.3.2 F-Device safety layer diagnosis including the iPar-Server.41
7 Safety communication layer protocol .42
7.1 Safety PDU format .42
7.1.1 Safety PDU structure.42
7.1.2 Safety I/O data .43
7.1.3 Status and Control Byte.43
7.1.4 (Virtual) Consecutive Number.44
7.1.5 CRC2 Signature .46
7.1.6 Appended standard I/O data .47
7.2 FSCP 3/1 behavior .47
7.2.1 General .47
7.2.2 F-Host state diagram .47
7.2.3 F-Device state diagram.51
7.2.4 Sequence diagrams.55
61784-3-3 © IEC:2010(E) – 3 –
7.2.5 Timing diagram for a counter reset .61
7.2.6 Monitoring of safety times.61
7.3 Reaction in the event of a malfunction.64
7.3.1 Repetition.64
7.3.2 Loss .65
7.3.3 Insertion .65
7.3.4 Incorrect sequence .65
7.3.5 Corruption of safety data .65
7.3.6 Delay.66
7.3.7 Masquerade .66
7.3.8 Memory failures within switches .66
7.3.9 Network boundaries and router.67
7.4 F-Startup and change coordination.68
7.4.1 Standard startup procedure .68
7.4.2 iParameter assignment deblocking .68
8 Safety communication layer management.69
8.1 F-Parameter .69
8.1.1 Summary.69
8.1.2 F_Source/Destination_Address (codename) .69
8.1.3 F_WD_Time (F-Watchdog time).69
8.1.4 F_WD_Time_2 (secondary F-Watchdog time).70
8.1.5 F_Prm_Flag1 (Parameters for the safety layer management) .70
8.1.6 F_Prm_Flag2 (Parameters for the safety layer management) .72
8.1.7 F_iPar_CRC (value of iPar_CRC across iParameters) .73
8.1.8 F_Par_CRC (CRC1 across F-Parameters) .73
8.1.9 Structure of the F-Parameter record data object .74
8.1.10 F-Data fraction .74
8.2 iParameter and iPar_CRC .74
8.3 Safety parameterization.75
8.3.1 Objectives .75
8.3.2 GSDL and GSDML safety extensions.76
8.3.3 Securing safety parameters and GSD data .77
8.4 Safety configuration .80
8.4.1 Securing the safety I/O data description (CRC7).80
8.4.2 DataItem data type section examples .81
8.5 Data type information usage.84
8.5.1 F-Channel driver.84
8.5.2 Rules for standard F-Channel drivers .85
8.5.3 Recommendations for F-Channel drivers .86
8.6 Safety parameter assignment mechanisms.87
8.6.1 F-Parameter assignment .87
8.6.2 General iParameter assignment.87
8.6.3 System integration requirements for iParameterization tools.88
8.6.4 iPar-Server .90
9 System requirements.99
9.1 Indicators and switches .99
9.2 Installation guidelines.99
9.3 Safety function response time .99
9.3.1 Model .99
– 4 – 61784-3-3 © IEC:2010(E)
9.3.2 Calculation and optimization.101
9.3.3 Adjustment of watchdog times for FSCP 3/1 .103
9.3.4 Engineering tool support.104
9.3.5 Retries (repetition of messages) .104
9.4 Duration of demands .105
9.5 Constraints for the calculation of system characteristics. 106
9.5.1 Probabilistic considerations .106
9.5.2 Safety related constraints .108
9.5.3 Non safety related constraints (availability).109
9.6 Maintenance.109
9.6.1 F-Module commissioning / replacement .109
9.6.2 Identification and maintenance functions . 109
9.7 Safety manual .110
9.8 Wireless transmission channels.111
9.8.1 Black channel approach .111
9.8.2 Availability.111
9.8.3 Security measures.111
9.8.4 Stationary and mobile applications . 113
9.9 Conformance classes .113
10 Assessment.114
10.1 Safety policy .114
10.2 Obligations .115
Annex A (informative) Additional information for functional safety communication
profiles of CPF 3.116
A.1 Hash function calculation.116
A.2 Response time measurements.118
Annex B (informative) Information for assessment of the functional safety
communication profiles of CPF 3 .122
Bibliography.123
Table 1 – Deployed measures to master errors .29
Table 2 – Data types used for FSCP 3/1 .36
Table 3 – Safety layer diagnosis messages .41
Table 4 – F-Host states and transitions.49
Table 5 – F-Device states and transitions .53
Table 6 – SIL monitor times .64
Table 7 – Remedies for switch failures.67
Table 8 – Safety network boundaries .68
Table 9 — GSDL keywords for F-Parameters and F-I/O structures.76
Table 10 – I/O data structure items (Version 2).80
Table 11 – Sample F-Channel drivers .85
Table 12 – Requirements for iParameterization.88
Table 13 – Specifier for the iPar-Server Request .92
Table 14 – Structure of the Read_RES_PDU ("read record").94
Table 15 – Structure of the Write_REQ_PDU ("write record").95
Table 16 – Structure of the Pull_RES_PDU ("Pull").95
61784-3-3 © IEC:2010(E) – 5 –
Table 17 – Structure of the Push_REQ_PDU ("Push") .95
Table 18 – iPar-Server states and transitions.97
Table 19 – iPar-Server management measures.98
Table 20 – Information to be included in the safety manual. 110
Table 21 – Security measures for WLAN (IEEE 802.11i) . 112
Table 22 – Security measures for Bluetooth (IEEE 802.15.1) . 113
Table 23 – F-Host conformance class requirements. 114
Table A.1 – The table "Crctab24" for 24 bit CRC signature calculations . 117
Table A.2 – The table "Crctab32" for 32 bit CRC signature calculations . 118
Figure 1 – Relationships of IEC 61784-3 with other standards (machinery) .10
Figure 2 – Relationships of IEC 61784-3 with other standards (process).11
Figure 3 – Basic communication preconditions for FSCP 3/1 .26
Figure 4 – Structure of an FSCP 3/1 safety PDU.27
Figure 5 – Safety communication modes.28
Figure 6 – Standard CPF 3 transmission system.30
Figure 7 – Safety layer architecture .31
Figure 8 – Basic communication layers .31
Figure 9 – Multiport switch bus structure.32
Figure 10 – Linear bus structure .32
Figure 11 – Crossing network borders with routers .33
Figure 12 – Complete safety transmission paths .33
Figure 13 – Device model .34
Figure 14 – Application relationships of a modular device .35
Figure 15 – Application and communication relationships (AR/CR) .35
Figure 16 – Message format .36
Figure 17 – FSCP 3/1 communication structure .37
Figure 18 – F user interface of F-Host driver instances .38
Figure 19 – F-Device driver interfaces .40
Figure 20 – Safety PDU for CPF 3 .42
Figure 21 – Status Byte .43
Figure 22 – Control Byte .44
Figure 23 – The Toggle Bit function .45
Figure 24 – F-Device Consecutive Number .45
Figure 25 – CRC2 generation (F-Host output) .46
Figure 26 – Details of the CRC2 calculation (reverse order).47
Figure 27 – Safety layer communication relationship.47
Figure 28 – F-Host state diagram.48
Figure 29 – F-Device state diagram .52
Figure 30 – Interaction F-Host / F-Device during start-up.55
Figure 31 – Interaction F-Host / F-Device during F-Host power off → on.56
Figure 32 – Interaction F-Host / F-Device with delayed power on.57
– 6 – 61784-3-3 © IEC:2010(E)
Figure 33 – Interaction F-Host / F-Device during power off → on .58
Figure 34 – Interaction F-Host / F-Device while host recognizes CRC error .59
Figure 35 – Interaction F-Host / F-Device while device recognizes CRC error .60
Figure 36 – Impact of the counter reset signal .61
Figure 37 – Monitoring the message transit time F-Host ↔ F-Output .62
Figure 38 – Monitoring the message transit time F-Input ↔ F-Host .62
Figure 39 – Extended watchdog time on request.64
Figure 40 – F-Parameter data and CRC .65
Figure 41 – iParameter assignment deblocking by the F-Host .68
Figure 42 – Effect of F_WD_Time_2 .70
Figure 43 – F_Prm_Flag1 .70
Figure 44 – F_Check_SeqNr.71
Figure 45 – F_Check_iPar .71
Figure 46 – F_SIL .71
Figure 47 – F_CRC_Length .72
Figure 48 – F_Prm_Flag2 .72
Figure 49 – F_Block_ID .72
Figure 50 – F_Par_Version .73
Figure 51 – F-Parameter.74
Figure 52 – iParameter block .75
Figure 53 – F-Parameter extension within the GSDML specification.77
Figure 54 – CRC1 including iPar_CRC.78
Figure 55 – Algorithm to build CRC0 (GSDL) .79
Figure 56 – Algorithm to build CRC0 (GSDML) .80
Figure 57 – DataItem section for F_IN_OUT_1.82
Figure 58 – DataItem section for F_IN_OUT_2.83
Figure 59 – DataItem section for F_IN_OUT_5.83
Figure 60 – DataItem section for F_IN_OUT_6.84
Figure 61 – F-Channel driver as "glue" between F-Device and user program .85
Figure 62 – Layout example of an F-Channel driver .86
Figure 63 – F-Parameter assignment for simple F-Devices and F-Slaves.87
Figure 64 – F and iParameter assignment for complex F-Devices .88
Figure 65 – System integration of CPD-Tools.89
Figure 66 – iPar-Server mechanism (commissioning).90
Figure 67 – iPar-Server mechanism (for example F-Device replacement) .91
Figure 68 – iPar-Server request coding ("status model") .92
Figure 69 – Coding of SR_Type .93
Figure 70 – iPar-Server request coding ("alarm model").94
Figure 71 – iPar-Server state diagram .96
Figure 72 – Example safety function with a critical response time path . 100
Figure 73 – Simplified typical response time model.100
Figure 74 – Frequency distributions of typical response times of the model .101
Figure 75 – Context of delay times and watchdog times.102
61784-3-3 © IEC:2010(E) – 7 –
Figure 76 – Timing sections forming the FSCP 3/1 F_WD_Time .103
Figure 77 – Frequency distribution of response times with message retries .104
Figure 78 – Retries with CP 3/1 .105
Figure 79 – Retries with CP 3/RTE .105
Figure 80 – Residual error probabilities for the 24-bit polynomial .106
Figure 81 – Properness of the 32-bit polynomial for 52 octets .107
Figure 82 – Properness of the 32-bit polynomial for 132 octets .107
Figure 83 – Monitoring of corrupted messages.108
Figure 84 – Security for WLAN networks.111
Figure 85 – Security for Bluetooth networks.112
Figure A.1 – Typical "C" procedure of a cyclic redundancy check. 116
Figure A.2 – Comparison of the response time model and a real application . 119
Figure A.3 – Frequency distribution of measured response times. 120
Figure A.4 – F-Host with standard and safety-related application programs . 121
– 8 – 61784-3-3 © IEC:2010(E)
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
INDUSTRIAL COMMUNICATION NETWORKS –
PROFILES –
Part 3-3: Functional safety fieldbuses –
Additional specifications for CPF 3
FOREWORD
1) The International Electrotechnical Commission (IEC) is a worldwide organization for standardization comprising
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8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is
indispensable for the correct application of this publication.
International Standard IEC 61784-3-3 has been prepared by subcommittee 65C: Industrial
networks, of IEC technical committee 65: Industrial process measurement, control and
automation.
This second edition cancels and replaces the first edition published in 2007. This edition
constitutes a technical revision. The main changes with respect to the previous edition are
listed below:
⎯ updates in relation with changes in IEC 61784-3;
⎯ introduction of a secondary watchdog timer (F_WD_Time_2) to cover the use cases
'configuration-in-run', or 'maintenance of fault tolerance systems', or both (7.1.3, 7.2.3,
7.2.6, 8.1.1, 8.1.4, 8.1.6.2);
⎯ missing GSDL definitions conveyed from other approved documents (8.3.2.1);
⎯ missing CRC signature calculation for a GSD conveyed from other approved
documents (8.3.3.3);
61784-3-3 © IEC:2010(E) – 9 –
⎯ constraints for the parameter value assignment of the primary watchdog timer
'F_WD_Time' (9.3.3);
⎯ identification of the safety parameterization state of an F-Device or F-Module via field
IM4 (signature) within the I&M functions (9.6.2);
⎯ updated documents in bibliography.
The text of this standard is based on the following documents:
FDIS Report on voting
65C/591A/FDIS 65C/603/RVD
Full information on the voting for the approval of this standard can be found in the report on
voting indicated in the above table.
This publication has been drafted in accordance with the ISO/IEC Directives, Part 2.
A list of all parts of the IEC 61784-3 series, published under the general title Industrial
communication networks – Profiles – Functional safety fieldbuses, can be found on the IEC
website.
The committee has decided that the contents of this publication will remain unchanged until
the stability date indicated on the IEC web site under "http://webstore.iec.ch" in the data
related to the specific publication. At this date, the publication will be
• reconfirmed,
• withdrawn,
• replaced by a revised edition, or
• amended.
IMPORTANT – The 'colour inside' logo on the cover page of this publication indicates
that it contains colours which are considered to be useful for the correct
understanding of its contents. Users should therefore print this document using a
colour printer.
– 10 – 61784-3-3 © IEC:2010(E)
0 Introduction
0.1 General
The IEC 61158 fieldbus standard together with its companion standards IEC 61784-1 and
IEC 61784-2 defines a set of communication protocols that enable distributed control of
automation applications. Fieldbus technology is now considered well accepted and well
proven. Thus many fieldbus enhancements are emerging, addressing not yet standardized
areas such as real time, safety-related and security-related applications.
This standard explains the relevant principles for functional safety communications with
reference to IEC 61508 series and specifies several safety communication layers (profiles and
corresponding protocols) based on the communication profiles and protocol layers of
IEC 61784-1, IEC 61784-2 and the IEC 61158 series. It does not cover electrical safety and
intrinsic safety aspects.
Figure 1 shows the relationships between this standard and relevant safety and fieldbus
standards in a machinery environment.
Product standards
ISO 12100-1 and ISO 14121
ISO 12100-1 and ISO 14121
IEC 61496 IEC 61800-5-2 ISO 10218-1 Safety of machinery – Principles for
IEC 61131-6
IEC 61496 IEC 61131-6 IEC 61800-5-2 ISO 10218-1 Safety of machinery – Principles for
Safety f. e.g. Safety functions Safety requirements design and risk assessment
Safety for PLC design and risk assessment
Safety f. e.g. Safety for PLC Safety functions Safety requirements
light curtains (under consideration) for drives for robots
(under consideration)
light curtains for drives for robots
Design of safety-related electrical, electronic and program-
IEC 61784-4 IEC 62443
IEC 61784-4 IEC 62443
Security Security mable electronic control systems (SRECS) for machinery
Security Security
(profile-specific) (common part)
(profile-specific) (common part)
SIL based PL based
IEC 61784-5 IEC 61918
IEC 61784-5 IEC 61918
Installation guide Installation guide
Installation guide Installation guide Design objective
(profile-specific) (common part)
(profile-specific) (common part)
Applicable standards
ISO 13849-1, -2
ISO 13849-1, -2
IEC 60204-1
IEC 60204-1
Safety-related parts
Safety-related parts
Safety of electrical
Safety of electrical
IEC 61000-1-2
IEC 61000-1-2 of machinery
of machinery
equipment
equipment
Methodology EMC & FS
Methodology EMC & FS (SRPCS)
(SRPCS)
IEC 61326-3-1
IEC 61784-3
IEC 61784-3 IEC 61326-3-1
Non-electrical
Non-electrical
Functional safety Test EMC & FS
Functional safety Test EMC & FS
communication
communication
Electrical
Electrical
US: NFPA 79
US: NFPA 79
profiles
profiles
(2006)
(2006)
IEC 62061
IEC 62061
Functional safety
Functional safety
IEC 61158 series /
IEC 61158 series /
for machinery
for machinery
IEC 61784-1, -2 IEC 61508 series
IEC 61784-1, -2 IEC 61508 series (SRECS)
(SRECS)
Functional safety (FS)
Fieldbus for use in Functional safety (FS) (including EMC for
Fieldbus for use in (including EMC for
(basic standard)
(basic standard) industrial environment)
industrial control systems industrial environment)
industrial control systems
Key
(yellow) safety-related standards
(blue) fieldbus-related standards
(dashed yellow) this standard
NOTE Subclauses 6.7.6.4 (high complexity) and 6.7.8.1.6 (low complexity) of IEC 62061 specify the relationship
between PL (Category) and SIL.
Figure 1 – Relationships of IEC 61784-3 with other standards (machinery)
61784-3-3 © IEC:2010(E) – 11 –
Figure 2 shows the relationships between this standard and relevant safety and fieldbus
standards in a process environment.
Product standards
IEC 61496 IEC 61800-5-2 ISO 10218-1
IEC 61131-6
IEC 61496 IEC 61131-6 IEC 61800-5-2 ISO 10218-1
Safety f. e.g. Safety functions Safety requirements
Safety for PLC
Safety f. e.g. Safety for PLC Safety functions Safety requirements
light curtains (under consideration) for drives for robots
(under consideration)
light curtains for drives for robots
IEC 61784-4 IEC 62443
IEC 61784-4 IEC 62443
Security Security
Security Security
(profile-specific) (common part)
(profile-specific) (common part)
See safety standards for machinery
(Figure 1)
IEC 61784-5 IEC 61918
IEC 61784-5 IEC 61918
Installation guide Installation guide
Installation guide Installation guide
(profile-specific) (common part)
(profile-specific) (common part)
Valid also in process industries,
whenever applicable
a)
a)
IEC 61326-3-2
IEC 61326-3-2
EMC and
EMC and
functional safety
functional safety
IEC 61784-3
IEC 61784-3
Functional safety
Functional safety
communication
communication
profiles
profiles
US:
US:
ISA-84.00.01
ISA-84.00.01
b)
b)
(3 parts = modified
IEC 61511 series
IEC 61511 series (3 parts = modified
IEC 61511)
Functional safety –
IEC 61158 series / Functional safety – IEC 61511)
IEC 61158 series /
Safety instrumented
Safety instrumented
IEC 61784-1, -2 IEC 61508 series
IEC 61784-1, -2 IEC 61508 series
systems for the
systems for the
Fieldbus for use in Functional safety (FS)
Functional safety (FS)
Fieldbus for use in DE: VDI 2180
process industry sector DE: VDI 2180
process industry sector
(basic standard)
(basic standard)
industrial control systems Part 1-4
industrial control systems
Part 1-4
Key
(yellow) safety-related standards
(blue) fieldbus-related standards
(dashed yellow) this standard
a
For specified electromagnetic environments; otherwise IEC 61326-3-1.
b
EN ratified.
Figure 2 – Relationships of IEC 61784-3 with other standards (process)
Safety communication layers which are implemented as parts of safety-related systems
according to IEC 61508 series provide the necessary confidence in the transportation of
messages (information) between two or more participants on a fieldbus in a safety-related
system, or sufficient confidence of safe behaviour in the event of fieldbus errors or failures.
Safety communication layers specified in this standard do this in such a way that a fieldbus
can be used for applications requiring functional safety up to the Safety Integrity Level (SIL)
specified by its corresponding functional safety communication profile.
The resulting SIL claim of a system depends on the implementation of the selected functional
safety communication profile within this system – implementation of a functional safety
communication profile in a standard device is not sufficient to qualify it as a safety device.
– 12 – 61784-3-3 © IEC:2010(E)
This standard describes:
⎯ basic principles for implementing the requirements of IEC 61508 series for safety-
related data communications, including possible transmission faults, remedial
measures and considerations affecting data integrity;
⎯ individual description of functional safety profiles for several communication profile
families in IEC 61784-1 and IEC 61784-2;
⎯ safety layer extensions to the communication service and protocols sections of the
IEC 61158 series.
0.2 Patent declaration
The International Electrotechnical Commission (IEC) draws attention to the fact that it is
claimed that compliance with this document may involve the use of patents concerning the
functional safety communication profiles for family 3 as follows, where the [xx] notation
indicates the holder of the patent right:
EP1267270-A2 [SI] Method for data transfer
WO00/045562-A1 [SI] Method and device for determining the reliability of
data carriers
WO99/049373-A1 [SI] Shortened data message of an automation system
EP1686732 [SI] Method and system for transmitting protocol data units
EP1802019 [SI] Identification of errors in data transmission
EP1921525-A1 [SI] Method for operation of a safety-related system
IEC takes no position concerning the evidence, validity and scope of these patent rights.
The holders of these patents rights have assured the IEC that they are willing to negotiate
licences under reasonable and non-discriminatory terms and conditions with applicants
throughout the world. In this respect, the statement of the holders of these patent rights are
registered with IEC.
Information may be obtained from:
[SI] Siemens AG
I IA AS FA TC
76187 Karlsruhe
GERMANY
Attention is drawn to the possibility that some of the elements of this document may be the
subject of patent rights other than those identified above. IEC shall not be held responsible for
identifying any or all such patent rights.
61784-3-3 © IEC:2010(E) – 13 –
INDUSTRIAL COMMUNICATION NETWORKS –
PROFILES –
Part 3-3
...
IEC 61784-3-3 ®
Edition 2.0 2010-06
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Industrial communication networks – Profiles –
Part 3-3: Functional safety fieldbuses – Additional specifications for CPF 3
Réseaux de communication industriels – Profils –
Partie 3-3: Bus de terrain de sécurité fonctionnelle – Spécifications
supplémentaires pour CPF 3
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IEC 61784-3-3 ®
Edition 2.0 2010-06
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Industrial communication networks – Profiles –
Part 3-3: Functional safety fieldbuses – Additional specifications for CPF 3
Réseaux de communication industriels – Profils –
Partie 3-3: Bus de terrain de sécurité fonctionnelle – Spécifications
supplémentaires pour CPF 3
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
PRICE CODE
INTERNATIONALE
XF
CODE PRIX
ICS 25.040.40, 35.100.05 ISBN 978-2-88912-943-0
– 2 – 61784-3-3 IEC:2010
CONTENTS
FOREWORD . 8
0 Introduction . 10
0.1 General . 10
0.2 Patent declaration . 12
1 Scope . 13
2 Normative references . 13
3 Terms, definitions, symbols, abbreviated terms and conventions . 15
3.1 Terms and definitions . 15
3.1.1 Common terms and definitions . 15
3.1.2 CPF 3: Additional terms and definitions . 20
3.2 Symbols and abbreviated terms. 23
3.2.1 Common symbols and abbreviated terms . 23
3.2.2 CPF 3: Additional symbols and abbreviated terms . 24
3.3 Conventions . 25
4 Overview of FSCP 3/1 (PROFIsafe™) . 25
5 General . 28
5.1 External documents providing specifications for the profile . 28
5.2 Safety functional requirements . 28
5.3 Safety measures . 29
5.4 Safety communication layer structure . 30
5.4.1 Principle of FSCP 3/1 safety communications . 30
5.4.2 CPF 3 communication structures . 31
5.5 Relationships with FAL (and DLL, PhL) . 34
5.5.1 Device model . 34
5.5.2 Application and communication relationships . 34
5.5.3 Message format . 36
5.5.4 Data types . 36
6 Safety communication layer services . 37
6.1 F-Host services . 37
6.2 F-Device services . 39
6.3 Diagnosis . 41
6.3.1 Safety alarm generation . 41
6.3.2 F-Device safety layer diagnosis including the iPar-Server . 41
7 Safety communication layer protocol . 42
7.1 Safety PDU format . 42
7.1.1 Safety PDU structure . 42
7.1.2 Safety I/O data . 43
7.1.3 Status and Control Byte . 43
7.1.4 (Virtual) Consecutive Number . 44
7.1.5 CRC2 Signature . 46
7.1.6 Appended standard I/O data . 47
7.2 FSCP 3/1 behavior . 47
7.2.1 General . 47
7.2.2 F-Host state diagram . 47
7.2.3 F-Device state diagram . 51
7.2.4 Sequence diagrams . 55
61784-3-3 IEC:2010 – 3 –
7.2.5 Timing diagram for a counter reset . 61
7.2.6 Monitoring of safety times . 61
7.3 Reaction in the event of a malfunction . 64
7.3.1 Repetition . 64
7.3.2 Loss . 65
7.3.3 Insertion . 65
7.3.4 Incorrect sequence . 65
7.3.5 Corruption of safety data . 65
7.3.6 Delay . 66
7.3.7 Masquerade . 66
7.3.8 Memory failures within switches . 66
7.3.9 Network boundaries and router . 67
7.4 F-Startup and change coordination . 68
7.4.1 Standard startup procedure . 68
7.4.2 iParameter assignment deblocking . 68
8 Safety communication layer management . 69
8.1 F-Parameter . 69
8.1.1 Summary . 69
8.1.2 F_Source/Destination_Address (codename) . 69
8.1.3 F_WD_Time (F-Watchdog time) . 69
8.1.4 F_WD_Time_2 (secondary F-Watchdog time) . 70
8.1.5 F_Prm_Flag1 (Parameters for the safety layer management) . 70
8.1.6 F_Prm_Flag2 (Parameters for the safety layer management) . 72
8.1.7 F_iPar_CRC (value of iPar_CRC across iParameters) . 73
8.1.8 F_Par_CRC (CRC1 across F-Parameters) . 73
8.1.9 Structure of the F-Parameter record data object . 74
8.1.10 F-Data fraction . 74
8.2 iParameter and iPar_CRC . 74
8.3 Safety parameterization. 75
8.3.1 Objectives . 75
8.3.2 GSDL and GSDML safety extensions. 76
8.3.3 Securing safety parameters and GSD data . 77
8.4 Safety configuration . 80
8.4.1 Securing the safety I/O data description (CRC7) . 80
8.4.2 DataItem data type section examples . 81
8.5 Data type information usage . 84
8.5.1 F-Channel driver . 84
8.5.2 Rules for standard F-Channel drivers . 85
8.5.3 Recommendations for F-Channel drivers . 86
8.6 Safety parameter assignment mechanisms . 87
8.6.1 F-Parameter assignment . 87
8.6.2 General iParameter assignment . 87
8.6.3 System integration requirements for iParameterization tools . 88
8.6.4 iPar-Server . 90
9 System requirements . 99
9.1 Indicators and switches . 99
9.2 Installation guidelines . 99
9.3 Safety function response time . 99
9.3.1 Model . 99
– 4 – 61784-3-3 IEC:2010
9.3.2 Calculation and optimization . 101
9.3.3 Adjustment of watchdog times for FSCP 3/1 . 103
9.3.4 Engineering tool support . 104
9.3.5 Retries (repetition of messages) . 104
9.4 Duration of demands . 105
9.5 Constraints for the calculation of system characteristics . 106
9.5.1 Probabilistic considerations . 106
9.5.2 Safety related constraints . 108
9.5.3 Non safety related constraints (availability). 109
9.6 Maintenance . 109
9.6.1 F-Module commissioning / replacement . 109
9.6.2 Identification and maintenance functions . 109
9.7 Safety manual . 110
9.8 Wireless transmission channels . 111
9.8.1 Black channel approach . 111
9.8.2 Availability . 111
9.8.3 Security measures . 111
9.8.4 Stationary and mobile applications . 113
9.9 Conformance classes . 113
10 Assessment . 114
10.1 Safety policy . 114
10.2 Obligations . 115
Annex A (informative) Additional information for functional safety communication
profiles of CPF 3 . 116
A.1 Hash function calculation . 116
A.2 Response time measurements . 118
Annex B (informative) Information for assessment of the functional safety
communication profiles of CPF 3 . 122
Bibliography . 123
Table 1 – Deployed measures to master errors . 29
Table 2 – Data types used for FSCP 3/1 . 36
Table 3 – Safety layer diagnosis messages . 41
Table 4 – F-Host states and transitions . 49
Table 5 – F-Device states and transitions . 53
Table 6 – SIL monitor times . 64
Table 7 – Remedies for switch failures . 67
Table 8 – Safety network boundaries . 68
Table 9 — GSDL keywords for F-Parameters and F-I/O structures . 76
Table 10 – I/O data structure items (Version 2) . 80
Table 11 – Sample F-Channel drivers . 85
Table 12 – Requirements for iParameterization . 88
Table 13 – Specifier for the iPar-Server Request . 92
Table 14 – Structure of the Read_RES_PDU ("read record"). 94
Table 15 – Structure of the Write_REQ_PDU ("write record") . 95
Table 16 – Structure of the Pull_RES_PDU ("Pull") . 95
61784-3-3 IEC:2010 – 5 –
Table 17 – Structure of the Push_REQ_PDU ("Push") . 95
Table 18 – iPar-Server states and transitions . 97
Table 19 – iPar-Server management measures . 98
Table 20 – Information to be included in the safety manual . 110
Table 21 – Security measures for WLAN (IEEE 802.11i) . 112
Table 22 – Security measures for Bluetooth (IEEE 802.15.1) . 113
Table 23 – F-Host conformance class requirements . 114
Table A.1 – The table "Crctab24" for 24 bit CRC signature calculations . 117
Table A.2 – The table "Crctab32" for 32 bit CRC signature calculations . 118
Figure 1 – Relationships of IEC 61784-3 with other standards (machinery) . 10
Figure 2 – Relationships of IEC 61784-3 with other standards (process) . 11
Figure 3 – Basic communication preconditions for FSCP 3/1 . 26
Figure 4 – Structure of an FSCP 3/1 safety PDU . 27
Figure 5 – Safety communication modes . 28
Figure 6 – Standard CPF 3 transmission system . 30
Figure 7 – Safety layer architecture . 31
Figure 8 – Basic communication layers . 31
Figure 9 – Multiport switch bus structure . 32
Figure 10 – Linear bus structure . 32
Figure 11 – Crossing network borders with routers . 33
Figure 12 – Complete safety transmission paths . 33
Figure 13 – Device model . 34
Figure 14 – Application relationships of a modular device . 35
Figure 15 – Application and communication relationships (AR/CR) . 35
Figure 16 – Message format . 36
Figure 17 – FSCP 3/1 communication structure . 37
Figure 18 – F user interface of F-Host driver instances . 38
Figure 19 – F-Device driver interfaces . 40
Figure 20 – Safety PDU for CPF 3 . 42
Figure 21 – Status Byte . 43
Figure 22 – Control Byte . 44
Figure 23 – The Toggle Bit function . 45
Figure 24 – F-Device Consecutive Number . 45
Figure 25 – CRC2 generation (F-Host output) . 46
Figure 26 – Details of the CRC2 calculation (reverse order) . 47
Figure 27 – Safety layer communication relationship. 47
Figure 28 – F-Host state diagram . 48
Figure 29 – F-Device state diagram . 52
Figure 30 – Interaction F-Host / F-Device during start-up . 55
Figure 31 – Interaction F-Host / F-Device during F-Host power off → on . 56
Figure 32 – Interaction F-Host / F-Device with delayed power on . 57
– 6 – 61784-3-3 IEC:2010
Figure 33 – Interaction F-Host / F-Device during power off → on . 58
Figure 34 – Interaction F-Host / F-Device while host recognizes CRC error . 59
Figure 35 – Interaction F-Host / F-Device while device recognizes CRC error . 60
Figure 36 – Impact of the counter reset signal . 61
Figure 37 – Monitoring the message transit time F-Host ↔ F-Output . 62
Figure 38 – Monitoring the message transit time F-Input ↔ F-Host . 62
Figure 39 – Extended watchdog time on request . 64
Figure 40 – F-Parameter data and CRC . 65
Figure 41 – iParameter assignment deblocking by the F-Host . 68
Figure 42 – Effect of F_WD_Time_2 . 70
Figure 43 – F_Prm_Flag1 . 70
Figure 44 – F_Check_SeqNr . 71
Figure 45 – F_Check_iPar . 71
Figure 46 – F_SIL . 71
Figure 47 – F_CRC_Length . 72
Figure 48 – F_Prm_Flag2 . 72
Figure 49 – F_Block_ID . 72
Figure 50 – F_Par_Version . 73
Figure 51 – F-Parameter . 74
Figure 52 – iParameter block . 75
Figure 53 – F-Parameter extension within the GSDML specification . 77
Figure 54 – CRC1 including iPar_CRC . 78
Figure 55 – Algorithm to build CRC0 (GSDL) . 79
Figure 56 – Algorithm to build CRC0 (GSDML) . 80
Figure 57 – DataItem section for F_IN_OUT_1. 82
Figure 58 – DataItem section for F_IN_OUT_2. 83
Figure 59 – DataItem section for F_IN_OUT_5. 83
Figure 60 – DataItem section for F_IN_OUT_6. 84
Figure 61 – F-Channel driver as "glue" between F-Device and user program . 85
Figure 62 – Layout example of an F-Channel driver . 86
Figure 63 – F-Parameter assignment for simple F-Devices and F-Slaves . 87
Figure 64 – F and iParameter assignment for complex F-Devices . 88
Figure 65 – System integration of CPD-Tools. 89
Figure 66 – iPar-Server mechanism (commissioning) . 90
Figure 67 – iPar-Server mechanism (for example F-Device replacement) . 91
Figure 68 – iPar-Server request coding ("status model") . 92
Figure 69 – Coding of SR_Type . 93
Figure 70 – iPar-Server request coding ("alarm model") . 94
Figure 71 – iPar-Server state diagram . 96
Figure 72 – Example safety function with a critical response time path . 100
Figure 73 – Simplified typical response time model . 100
Figure 74 – Frequency distributions of typical response times of the model . 101
Figure 75 – Context of delay times and watchdog times . 102
61784-3-3 IEC:2010 – 7 –
Figure 76 – Timing sections forming the FSCP 3/1 F_WD_Time . 103
Figure 77 – Frequency distribution of response times with message retries . 104
Figure 78 – Retries with CP 3/1 . 105
Figure 79 – Retries with CP 3/RTE . 105
Figure 80 – Residual error probabilities for the 24-bit polynomial . 106
Figure 81 – Properness of the 32-bit polynomial for 52 octets . 107
Figure 82 – Properness of the 32-bit polynomial for 132 octets . 107
Figure 83 – Monitoring of corrupted messages . 108
Figure 84 – Security for WLAN networks . 111
Figure 85 – Security for Bluetooth networks . 112
Figure A.1 – Typical "C" procedure of a cyclic redundancy check . 116
Figure A.2 – Comparison of the response time model and a real application . 119
Figure A.3 – Frequency distribution of measured response times . 120
Figure A.4 – F-Host with standard and safety-related application programs . 121
– 8 – 61784-3-3 IEC:2010
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
INDUSTRIAL COMMUNICATION NETWORKS –
PROFILES –
Part 3-3: Functional safety fieldbuses –
Additional specifications for CPF 3
FOREWORD
1) The International Electrotechnical Commission (IEC) is a worldwide organization for standardization comprising
all national electrotechnical committees (IEC National Committees). The object of IEC is to promote
international co-operation on all questions concerning standardization in the electrical and electronic fields. To
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2) The formal decisions or agreements of IEC on technical matters express, as nearly as possible, an international
consensus of opinion on the relevant subjects since each technical committee has representation from all
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3) IEC Publications have the form of recommendations for international use and are accepted by IEC National
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Publications is accurate, IEC cannot be held responsible for the way in which they are used or for any
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4) In order to promote international uniformity, IEC National Committees undertake to apply IEC Publications
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between any IEC Publication and the corresponding national or regional publication shall be clearly indicated in
the latter.
5) IEC itself does not provide any attestation of conformity. Independent certification bodies provide conformity
assessment services and, in some areas, access to IEC marks of conformity. IEC is not responsible for any
services carried out by independent certification bodies.
6) All users should ensure that they have the latest edition of this publication.
7) No liability shall attach to IEC or its directors, employees, servants or agents including individual experts and
members of its technical committees and IEC National Committees for any personal injury, property damage or
other damage of any nature whatsoever, whether direct or indirect, or for costs (including legal fees) and
expenses arising out of the publication, use of, or reliance upon, this IEC Publication or any other IEC
Publications.
8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is
indispensable for the correct application of this publication.
International Standard IEC 61784-3-3 has been prepared by subcommittee 65C: Industrial
networks, of IEC technical committee 65: Industrial process measurement, control and
automation.
This second edition cancels and replaces the first edition published in 2007. This edition
constitutes a technical revision. The main changes with respect to the previous edition are
listed below:
updates in relation with changes in IEC 61784-3;
introduction of a secondary watchdog timer (F_WD_Time_2) to cover the use cases
'configuration-in-run', or 'maintenance of fault tolerance systems', or both (7.1.3, 7.2.3,
7.2.6, 8.1.1, 8.1.4, 8.1.6.2);
missing GSDL definitions conveyed from other approved documents (8.3.2.1);
missing CRC signature calculation for a GSD conveyed from other approved
documents (8.3.3.3);
61784-3-3 IEC:2010 – 9 –
constraints for the parameter value assignment of the primary watchdog timer
'F_WD_Time' (9.3.3);
identification of the safety parameterization state of an F-Device or F-Module via field
IM4 (signature) within the I&M functions (9.6.2);
updated documents in bibliography.
This bilingual version (2012-02) corresponds to the monolingual English version, published in
2010-06.
The text of this standard is based on the following documents:
FDIS Report on voting
65C/591A/FDIS 65C/603/RVD
Full information on the voting for the approval of this standard can be found in the report on
voting indicated in the above table.
The French version of this standard has not been voted upon.
This publication has been drafted in accordance with the ISO/IEC Directives, Part 2.
A list of all parts of the IEC 61784-3 series, published under the general title Industrial
communication networks – Profiles – Functional safety fieldbuses, can be found on the IEC
website.
The committee has decided that the contents of this publication will remain unchanged until
the stability date indicated on the IEC web site under "http://webstore.iec.ch" in the data
related to the specific publication. At this date, the publication will be
• reconfirmed,
• withdrawn,
• replaced by a revised edition, or
• amended.
IMPORTANT – The 'colour inside' logo on the cover page of this publication indicates
that it contains colours which are considered to be useful for the correct
understanding of its contents. Users should therefore print this document using a
colour printer.
– 10 – 61784-3-3 IEC:2010
0 Introduction
0.1 General
The IEC 61158 fieldbus standard together with its companion standards IEC 61784-1 and
IEC 61784-2 defines a set of communication protocols that enable distributed control of
automation applications. Fieldbus technology is now considered well accepted and well
proven. Thus many fieldbus enhancements are emerging, addressing not yet standardized
areas such as real time, safety-related and security-related applications.
This standard explains the relevant principles for functional safety communications with
reference to IEC 61508 series and specifies several safety communication layers (profiles and
corresponding protocols) based on the communication profiles and protocol layers of
IEC 61784-1, IEC 61784-2 and the IEC 61158 series. It does not cover electrical safety and
intrinsic safety aspects.
Figure 1 shows the relationships between this standard and relevant safety and fieldbus
standards in a machinery environment.
Product standards
ISO 12100-1 and ISO 14121
ISO 12100-1 and ISO 14121
IEC 61496 IEC 61800-5-2 ISO 10218-1 Safety of machinery – Principles for
IEC 61131-6
IEC 61496 IEC 61131-6 IEC 61800-5-2 ISO 10218-1 Safety of machinery – Principles for
Safety f. e.g. Safety functions Safety requirements design and risk assessment
Safety for PLC design and risk assessment
Safety f. e.g. Safety for PLC Safety functions Safety requirements
light curtains (under consideration) for drives for robots
(under consideration)
light curtains for drives for robots
Design of safety-related electrical, electronic and program-
IEC 61784-4 IEC 62443
IEC 61784-4 IEC 62443
mable electronic control systems (SRECS) for machinery
Security Security
Security Security
(profile-specific) (common part)
(profile-specific) (common part)
SIL based PL based
IEC 61784-5 IEC 61918
IEC 61784-5 IEC 61918
Installation guide Installation guide
Installation guide Installation guide Design objective
(profile-specific) (common part)
(profile-specific) (common part)
Applicable standards
ISO 13849-1, -2
ISO 13849-1, -2
IEC 60204-1
IEC 60204-1
Safety-related parts
Safety-related parts
Safety of electrical
Safety of electrical
IEC 61000-1-2
IEC 61000-1-2 of machinery
of machinery
equipment
equipment
Methodology EMC & FS
(SRPCS)
Methodology EMC & FS
(SRPCS)
IEC 61784-3 IEC 61326-3-1
IEC 61784-3 IEC 61326-3-1
Non-electrical
Non-electrical
Functional safety Test EMC & FS
Test EMC & FS
Functional safety
communication
communication
Electrical
Electrical
US: NFPA 79
US: NFPA 79
profiles
profiles
(2006)
(2006)
IEC 62061
IEC 62061
Functional safety
Functional safety
IEC 61158 series /
IEC 61158 series /
for machinery
for machinery
IEC 61784-1, -2 IEC 61508 series
IEC 61784-1, -2 IEC 61508 series (SRECS)
(SRECS)
Functional safety (FS)
Fieldbus for use in Functional safety (FS) (including EMC for
Fieldbus for use in (including EMC for
(basic standard)
(basic standard) industrial environment)
industrial control systems industrial environment)
industrial control systems
Key
(yellow) safety-related standards
(blue) fieldbus-related standards
(dashed yellow) this standard
NOTE Subclauses 6.7.6.4 (high complexity) and 6.7.8.1.6 (low complexity) of IEC 62061 specify the relationship
between PL (Category) and SIL.
Figure 1 – Relationships of IEC 61784-3 with other standards (machinery)
61784-3-3 IEC:2010 – 11 –
Figure 2 shows the relationships between this standard and relevant safety and fieldbus
standards in a process environment.
Product standards
IEC 61496 IEC 61800-5-2 ISO 10218-1
IEC 61131-6
IEC 61496 IEC 61131-6 IEC 61800-5-2 ISO 10218-1
Safety f. e.g. Safety functions Safety requirements
Safety for PLC
Safety f. e.g. Safety for PLC Safety functions Safety requirements
light curtains (under consideration) for drives for robots
(under consideration)
light curtains for drives for robots
IEC 61784-4 IEC 62443
IEC 61784-4 IEC 62443
Security Security
Security Security
(profile-specific) (common part)
(profile-specific) (common part)
See safety standards for machinery
(Figure 1)
IEC 61784-5 IEC 61918
IEC 61784-5 IEC 61918
Installation guide Installation guide
Installation guide Installation guide
(profile-specific) (common part)
(profile-specific) (common part)
Valid also in process industries,
whenever applicable
a)
a)
IEC 61326-3-2
IEC 61326-3-2
EMC and
EMC and
functional safety
functional safety
IEC 61784-3
IEC 61784-3
Functional safety
Functional safety
communication
communication
profiles
profiles
US:
US:
ISA-84.00.01
ISA-84.00.01
b)
b)
(3 parts = modified
IEC 61511 series
IEC 61511 series (3 parts = modified
IEC 61511)
Functional safety –
IEC 61158 series / Functional safety – IEC 61511)
IEC 61158 series /
Safety instrumented
Safety instrumented
IEC 61784-1, -2 IEC 61508 series
IEC 61784-1, -2 IEC 61508 series
systems for the
systems for the
Fieldbus for use in Functional safety (FS)
Functional safety (FS)
Fieldbus for use in DE: VDI 2180
process industry sector DE: VDI 2180
process industry sector
(basic standard)
(basic standard)
industrial control systems Part 1-4
industrial control systems
Part 1-4
Key
(yellow) safety-related standards
(blue) fieldbus-relate
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