IEC 61784-3:2016

Industrial communication networks - Profiles - Part 3: Functional safety fieldbuses - General rules and profile definitions

IEC 61784-3:2016 is available as IEC 61784-3:2016 RLV which contains the International Standard and its Redline version, showing all changes of the technical content compared to the previous edition.
IEC 61784-3:2016 series explains some common principles that can be used in the transmission of safety-relevant messages among participants within a distributed network which use fieldbus technology in accordance with the requirements of IEC 61508 series for functional safety. These principles are based on the black channel approach. They can be used in various industrial applications such as process control, manufacturing automation and machinery. This part and the IEC 61784-3-x parts specify several functional safety communication profiles based on the communication profiles and protocol layers of the fieldbus technologies in IEC 61784-1, IEC 61784-2 and the IEC 61158 series. These functional safety communication profiles use the black channel approach, as defined in IEC 61508. These functional safety communication profiles are intended for implementation in safety devices exclusively. This third edition cancels and replaces the second edition published in 2010. This edition constitutes a technical revision. This edition includes the following significant technical changes with respect to the previous edition:
- clarifications and additional explanations for requirements, updated references;
- deletion of technical overviews of profiles (Clauses 6 to 13), and associated dedicated subclauses for terms, definitions, symbols and abbreviations;
- addition of profiles for Communication Profile Families 8, 17 and 18 (Clauses 10, 14, 15);
- clarifications of models in Annex A;
- Annex B changed from informative to normative;
- addition of a new informative Annex E describing models for explicit and implicit FSCP mechanisms;
- addition of a new informative Annex F introducing an extended model for estimation of the total residual error rate;
- updates in parts for CPF 1, CPF 2, CPF 3, CPF 8, CPF 13 (details provided in the parts);
- addition of a new part for CPF 17.

Réseaux de communication industriels - Profils - Partie 3: Bus de terrain de sécurité fonctionnelle - Règles générales et définitions de profils

L'IEC 61784-3:2016 définit des principes communs qui peuvent être appliqués pour la transmission des messages relatifs à la sécurité entre les participants d'un réseau réparti, à l'aide de la technologie de bus de terrain conformément aux exigences de la série IEC 61508 sur la sécurité fonctionnelle. Ces principes peuvent s'appuyer sur le principe de canal noir. Ils peuvent être utilisés dans différentes applications industrielles, par exemple la commande de processus, l'usinage automatique et les machines. La présente partie et les parties IEC 61784-3-x spécifient plusieurs profils de communication de sécurité fonctionnelle basés sur les profils de communication et les couches de protocole des technologies des bus de terrain de l'IEC 61784-1, de l'IEC 61784-2 et de la série IEC 61158. Ces profils de communication de sécurité fonctionnelle utilisent le principe de canal noir, comme défini dans l'IEC 61508. Ces profils de communication de sécurité fonctionnelle sont destinés à être exclusivement mis en oeuvre dans des appareils de sécurité. Cette troisième édition annule et remplace la deuxième édition parue en 2010. Cette édition constitue une révision technique. Cette édition inclut les modifications techniques majeures suivantes par rapport à l'édition précédente:
- clarifications et explications complémentaires des exigences, références actualisées;
- suppression des présentations techniques de profils (Articles 6 à 13) et paragraphes dédiés associés à des termes, définitions, symboles et abréviations;
- ajout de profils pour les familles de profils de communication 8, 17 et 18 (Articles 10, 14, 15);
- clarifications des modèles de l'Annexe A;
- modification de l'Annexe B informative qui devient normative;
- ajout d'une nouvelle Annexe E informative pour décrire les modèles des mécanismes FSCP explicites et implicites;
- ajout d'une nouvelle Annexe F informative qui introduit un modèle étendu pour l'estimation du taux total d'erreurs résiduelles;
- actualisations des parties pour les CPF 1, CPF 2, CPF 3, CPF 8, CPF 13 (détails fournis dans les parties);
- ajout d'une nouvelle partie pour CPF 17.

General Information

• Status: Published
• Publication Date: 03-Aug-2017
• ICS: 01 - GENERALITIES. TERMINOLOGY. STANDARDIZATION. DOCUMENTATION
• ICS: 25.040.40 - Industrial process measurement and control
• ICS: 35.100.05 - Multilayer applications
• Technical Committee: SC 65C - Industrial networks
• Drafting Committee: WG 12 - TC 65/SC 65C/WG 12
• Current Stage: DELPUB - Deleted Publication
• Start Date: 28-Sep-2018
• Completion Date: 16-Feb-2021

Relations

• Amended By: IEC 61784-3:2016/AMD1:2017 - Amendment 1 - Industrial communication networks - Profiles - Part 3: Functional safety fieldbuses - General rules and profile definitions
• Effective Date: 05-Sep-2023
• Revised: IEC 61784-3:2021 - Industrial communication networks - Profiles - Part 3: Functional safety fieldbuses - General rules and profile definitions
• Effective Date: 05-Sep-2023
• Revises: IEC 61784-3:2010 - Industrial communication networks - Profiles - Part 3: Functional safety fieldbuses - General rules and profile definitions
• Effective Date: 05-Sep-2023

Standards Content (Sample)

IEC 61784-3 ®
Edition 3.0 2016-05
REDLINE VERSION
INTERNATIONAL
STANDARD
colour
inside
Industrial communication networks – Profiles –
Part 3: Functional safety fieldbuses – General rules and profile definitions

All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form

or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from

either IEC or IEC's member National Committee in the country of the requester. If you have any questions about IEC
copyright or have an enquiry about obtaining additional rights to this publication, please contact the address below or

your local IEC member National Committee for further information.

IEC Central Office Tel.: [phone]
3, rue de Varembé Fax: [phone]

CH-1211 Geneva 20 [e-mail]
Switzerland www.iec.ch
About the IEC
The International Electrotechnical Commission (IEC) is the leading global organization that prepares and publishes
International Standards for all electrical, electronic and related technologies.

About IEC publications
The technical content of IEC publications is kept under constant review by the IEC. Please make sure that you have the
latest edition, a corrigenda or an amendment might have been published.

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IEC 61784-3 ®
Edition 3.0 2016-05
REDLINE VERSION
INTERNATIONAL
STANDARD
colour
inside
Industrial communication networks – Profiles –

Part 3: Functional safety fieldbuses – General rules and profile definitions

INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
ICS 25.040.40; 35.100.05 ISBN 978-2-8322-3372-6

– 2 – IEC 61784-3:2016 RLV  IEC 2016

CONTENTS
FOREWORD . 8

0 Introduction . 10

0.1 General . 10

0.2 Transition from Edition 2 to extended assessment methods in Edition 3 . 12

0.3 Patent declaration . 12

1 Scope . 14

2 Normative references. 14

3 Terms, definitions, symbols, abbreviated terms and conventions. 16
3.1 Terms and definitions . 16
3.1.1 Common terms and definitions .
3.1.2 CPF 1: Additional terms and definitions .
3.1.3 CPF 2: Additional terms and definitions .
3.1.4 CPF 3: Additional terms and definitions .
3.1.5 CPF 6: Additional terms and definitions .
3.1.6 CPF 8: Additional terms and definitions .
3.1.7 CPF 12: Additional terms and definitions .
3.1.8 CPF 13: Additional terms and definitions .
3.1.9 CPF 14: Additional terms and definitions .
3.2 Symbols and abbreviated terms . 24
3.2.1 Common symbols and abbreviated terms .
3.2.2 CPF 1: Additional symbols and abbreviated terms .
3.2.3 CPF 2: Additional symbols and abbreviated terms .
3.2.4 CPF 3: Additional symbols and abbreviated terms .
3.2.5 CPF 6: Additional symbols and abbreviated terms .
3.2.6 CPF 8: Additional symbols and abbreviated terms .
3.2.7 CPF 12: Additional symbols and abbreviated terms .
3.2.8 CPF 13: Additional symbols and abbreviated terms .
3.2.9 CPF 14: Additional symbols and abbreviated terms .
4 Conformance . 26
5 Basics of safety-related fieldbus systems . 26
5.1 Safety function decomposition . 26
5.2 Communication system . 27

5.2.1 General . 27
5.2.2 IEC 61158 fieldbuses . 27
5.2.3 Communication channel types . 28
5.2.4 Safety function response time . 28
5.3 Communication errors . 29
5.3.1 General . 29
5.3.2 Corruption . 29
5.3.3 Unintended repetition . 29
5.3.4 Incorrect sequence . 30
5.3.5 Loss . 30
5.3.6 Unacceptable delay . 30
5.3.7 Insertion . 30
5.3.8 Masquerade . 30
5.3.9 Addressing. 30

5.4 Deterministic remedial measures . 31

5.4.1 General . 31

5.4.2 Sequence number . 31

5.4.3 Time stamp . 31

5.4.4 Time expectation . 31

5.4.5 Connection authentication . 31

5.4.6 Feedback message . 31

5.4.7 Data integrity assurance . 32

5.4.8 Redundancy with cross checking . 32

5.4.9 Different data integrity assurance systems . 32

5.5 Typical relationships between errors and safety measures . 32
5.6 Communication phases . 33
5.7 FSCP implementation aspects . 34
5.8 Data integrity considerations . 34
5.8.1 Calculation of the residual error rate . 34
5.8.2 Total residual error rate and SIL . 37
5.9 Relationship between functional safety and security . 38
5.10 Boundary conditions and constraints . 39
5.10.1 Electrical safety . 39
5.10.2 Electromagnetic compatibility (EMC) . 39
5.11 Installation guidelines . 40
5.12 Safety manual . 40
5.13 Safety policy . 40
6 Communication Profile Family 1 (FOUNDATION™ Fieldbus) – Profiles for functional
safety . 41
6.1 Functional Safety Communication Profile 1/1 .
6.2 Technical overview .
7 Communication Profile Family 2 (CIP™) and Family 16 (SERCOS®)– Profiles for
functional safety . 42
7.1 Functional Safety Communication Profile 2/1 .
7.2 Technical overview .
8 Communication Profile Family 3 (PROFIBUS™, PROFINET™) – Profiles for
functional safety . 44
8.1 Functional Safety Communication Profile 3/1 .
8.2 Technical overview .

9 Communication Profile Family 6 (INTERBUS®) – Profiles for functional safety . 46
9.1 Functional Safety Communication Profile 6/7 .
9.2 Technical overview .
10 Communication Profile Family 8 (CC-Link™) – Profiles for functional safety . 48
10.1 Functional Safety Communication Profile 8/1 . 48
10.2 Technical overview Functional Safety Communication Profile 8/2 . 48
11 Communication Profile Family 12 (EtherCAT™) – Profiles for functional safety . 49
11.1 Functional Safety Communication Profile 12/1 .
11.2 Technical overview .
12 Communication Profile Family 13 (Ethernet POWERLINK™) – Profiles for
functional safety . 50
12.1 Functional Safety Communication Profile 13/1 .
12.2 Technical overview .

– 4 – IEC 61784-3:2016 RLV  IEC 2016

13 Communication Profile Family 14 (EPA®) – Profiles for functional safety . 52

13.1 Functional Safety Communication Profile 14/1 .

13.2 Technical overview .
...

IEC 61784-3 ®
Edition 3.0 2016-05
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Industrial communication networks – Profiles –
Part 3: Functional safety fieldbuses – General rules and profile definitions

Réseaux de communication industriels – Profils –
Partie 3: Bus de terrain de sécurité fonctionnelle – Règles générales et
définitions de profils
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form
or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from
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copyright or have an enquiry about obtaining additional rights to this publication, please contact the address below or
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Switzerland www.iec.ch
About the IEC
The International Electrotechnical Commission (IEC) is the leading global organization that prepares and publishes
International Standards for all electrical, electronic and related technologies.

About IEC publications
The technical content of IEC publications is kept under constant review by the IEC. Please make sure that you have the
latest edition, a corrigenda or an amendment might have been published.

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Technical Specifications, Technical Reports and other English and French, with equivalent terms in 15 additional
documents. Available for PC, Mac OS, Android Tablets and languages. Also known as the International Electrotechnical
iPad. Vocabulary (IEV) online.

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The advanced search enables to find IEC publications by a 65 000 electrotechnical terminology entries in English and
variety of criteria (reference number, text, technical French extracted from the Terms and Definitions clause of
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and withdrawn publications. collected from earlier publications of IEC TC 37, 77, 86 and

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IEC 61784-3 ®
Edition 3.0 2016-05
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Industrial communication networks – Profiles –

Part 3: Functional safety fieldbuses – General rules and profile definitions

Réseaux de communication industriels – Profils –

Partie 3: Bus de terrain de sécurité fonctionnelle – Règles générales et

définitions de profils
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
INTERNATIONALE
ICS 25.040.40; 35.100.05 ISBN 978-2-8322-3238-5

– 2 – IEC 61784-3:2016  IEC 2016
CONTENTS
FOREWORD . 7
0 Introduction . 9
0.1 General . 9
0.2 Transition from Edition 2 to extended assessment methods in Edition 3 . 11
0.3 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
3.2 Symbols and abbreviated terms . 22
4 Conformance . 23
5 Basics of safety-related fieldbus systems . 23
5.1 Safety function decomposition . 23
5.2 Communication system . 24
5.2.1 General . 24
5.2.2 IEC 61158 fieldbuses . 24
5.2.3 Communication channel types . 25
5.2.4 Safety function response time . 25
5.3 Communication errors . 26
5.3.1 General . 26
5.3.2 Corruption . 26
5.3.3 Unintended repetition . 26
5.3.4 Incorrect sequence . 26
5.3.5 Loss . 27
5.3.6 Unacceptable delay . 27
5.3.7 Insertion . 27
5.3.8 Masquerade . 27
5.3.9 Addressing. 27
5.4 Deterministic remedial measures . 27
5.4.1 General . 27
5.4.2 Sequence number . 27
5.4.3 Time stamp . 27
5.4.4 Time expectation . 28
5.4.5 Connection authentication . 28
5.4.6 Feedback message . 28
5.4.7 Data integrity assurance . 28
5.4.8 Redundancy with cross checking . 28
5.4.9 Different data integrity assurance systems . 29
5.5 Typical relationships between errors and safety measures . 29
5.6 Communication phases . 30
5.7 FSCP implementation aspects . 31
5.8 Data integrity considerations . 31
5.8.1 Calculation of the residual error rate . 31
5.8.2 Total residual error rate and SIL . 33
5.9 Relationship between functional safety and security . 34
5.10 Boundary conditions and constraints . 35

5.10.1 Electrical safety . 35
5.10.2 Electromagnetic compatibility (EMC) . 35
5.11 Installation guidelines . 36
5.12 Safety manual . 36
5.13 Safety policy . 36
6 Communication Profile Family 1 (FOUNDATION™ Fieldbus) – Profiles for functional
safety . 37
7 Communication Profile Family 2 (CIP™) and Family 16 (SERCOS®) – Profiles for
functional safety . 37
8 Communication Profile Family 3 (PROFIBUS™, PROFINET™) – Profiles for
functional safety . 37
9 Communication Profile Family 6 (INTERBUS®) – Profiles for functional safety . 38
10 Communication Profile Family 8 (CC-Link™) – Profiles for functional safety . 38
10.1 Functional Safety Communication Profile 8/1 . 38
10.2 Functional Safety Communication Profile 8/2 . 39
11 Communication Profile Family 12 (EtherCAT™) – Profiles for functional safety . 39
12 Communication Profile Family 13 (Ethernet POWERLINK™) – Profiles for
functional safety . 40
13 Communication Profile Family 14 (EPA®) – Profiles for functional safety . 40
14 Communication Profile Family 17 (RAPIEnet™) – Profiles for functional safety . 40
15 Communication Profile Family 18 (SafetyNET p™ Fieldbus) – Profiles for
functional safety . 41
Annex A (informative) Example functional safety communication models . 42
A.1 General .
...

IEC 61784-3 ®
Edition 3.1 2017-08
CONSOLIDATED VERSION
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Industrial communication networks – Profiles –
Part 3: Functional safety fieldbuses – General rules and profile definitions

Réseaux de communication industriels – Profils –
Partie 3: Bus de terrain de sécurité fonctionnelle – Règles générales et
définitions de profils
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form

or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from

either IEC or IEC's member National Committee in the country of the requester. If you have any questions about IEC
copyright or have an enquiry about obtaining additional rights to this publication, please contact the address below or

your local IEC member National Committee for further information.

Droits de reproduction réservés. Sauf indication contraire, aucune partie de cette publication ne peut être reproduite
ni utilisée sous quelque forme que ce soit et par aucun procédé, électronique ou mécanique, y compris la photocopie

et les microfilms, sans l'accord écrit de l'IEC ou du Comité national de l'IEC du pays du demandeur. Si vous avez des

questions sur le copyright de l'IEC ou si vous désirez obtenir des droits supplémentaires sur cette publication, utilisez
les coordonnées ci-après ou contactez le Comité national de l'IEC de votre pays de résidence.

IEC Central Office Tel.: [phone]
3, rue de Varembé Fax: [phone]
CH-1211 Geneva 20 [e-mail]
Switzerland www.iec.ch
About the IEC
The International Electrotechnical Commission (IEC) is the leading global organization that prepares and publishes
International Standards for all electrical, electronic and related technologies.

About IEC publications
The technical content of IEC publications is kept under constant review by the IEC. Please make sure that you have the
latest edition, a corrigenda or an amendment might have been published.

IEC Catalogue - webstore.iec.ch/catalogue Electropedia - www.electropedia.org
The stand-alone application for consulting the entire The world's leading online dictionary of electronic and
bibliographical information on IEC International Standards, electrical terms containing 20 000 terms and definitions in
Technical Specifications, Technical Reports and other English and French, with equivalent terms in 16 additional
documents. Available for PC, Mac OS, Android Tablets and languages. Also known as the International Electrotechnical
iPad. Vocabulary (IEV) online.

IEC publications search - www.iec.ch/searchpub IEC Glossary - std.iec.ch/glossary
The advanced search enables to find IEC publications by a 65 000 electrotechnical terminology entries in English and
variety of criteria (reference number, text, technical French extracted from the Terms and Definitions clause of
committee,…). It also gives information on projects, replaced IEC publications issued since 2002. Some entries have been
and withdrawn publications. collected from earlier publications of IEC TC 37, 77, 86 and

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details all new publications released. Available online and If you wish to give us your feedback on this publication or
also once a month by email. need further assistance, please contact the Customer Service
Centre: [e-mail].
A propos de l'IEC
La Commission Electrotechnique Internationale (IEC) est la première organisation mondiale qui élabore et publie des
Normes internationales pour tout ce qui a trait à l'électricité, à l'électronique et aux technologies apparentées.

A propos des publications IEC
Le contenu technique des publications IEC est constamment revu. Veuillez vous assurer que vous possédez l’édition la
plus récente, un corrigendum ou amendement peut avoir été publié.

Catalogue IEC - webstore.iec.ch/catalogue Electropedia - www.electropedia.org
Application autonome pour consulter tous les renseignements
Le premier dictionnaire en ligne de termes électroniques et
bibliographiques sur les Normes internationales,
électriques. Il contient 20 000 termes et définitions en anglais
Spécifications techniques, Rapports techniques et autres
et en français, ainsi que les termes équivalents dans 16
documents de l'IEC. Disponible pour PC, Mac OS, tablettes
langues additionnelles. Egalement appelé Vocabulaire
Android et iPad.
Electrotechnique International (IEV) en ligne.

Recherche de publications IEC - www.iec.ch/searchpub
Glossaire IEC - std.iec.ch/glossary
La recherche avancée permet de trouver des publications IEC
65 000 entrées terminologiques électrotechniques, en anglais
en utilisant différents critères (numéro de référence, texte,
et en français, extraites des articles Termes et Définitions des
comité d’études,…). Elle donne aussi des informations sur les
publications IEC parues depuis 2002. Plus certaines entrées
projets et les publications remplacées ou retirées.
antérieures extraites des publications des CE 37, 77, 86 et

CISPR de l'IEC.
IEC Just Published - webstore.iec.ch/justpublished

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Published détaille les nouvelles publications parues. Si vous désirez nous donner des commentaires sur cette
Disponible en ligne et aussi une fois par mois par email. publication ou si vous avez des questions contactez-nous:
[e-mail].
IEC 61784-3 ®
Edition 3.1 2017-08
CONSOLIDATED VERSION
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Industrial communication networks – Profiles –

Part 3: Functional safety fieldbuses – General rules and profile definitions

Réseaux de communication industriels – Profils –

Partie 3: Bus de terrain de sécurité fonctionnelle – Règles générales et

définitions de profils
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
INTERNATIONALE
ICS 25.040.40; 35.100.05 ISBN 978-2-8322-4712-9

IEC 61784-3 ®
Edition 3.1 2017-08
CONSOLIDATED VERSION
REDLINE VERSION
VERSION REDLINE
colour
inside
Industrial communication networks – Profiles –
Part 3: Functional safety fieldbuses – General rules and profile definitions

Réseaux de communication industriels – Profils –
Partie 3: Bus de terrain de sécurité fonctionnelle – Règles générales et
définitions de profils
– 2 – IEC 61784-3:2016+AMD1:2017 CSV
 IEC 2017
CONTENTS
FOREWORD . 7
0 Introduction . 9
0.1 General . 9
0.2 Transition from Edition 2 to extended assessment methods in Edition 3 . 11
0.3 Patent declaration . 12
INTRODUCTION to the Amendment . 12
1 Scope . 13
2 Normative references . 13
3 Terms, definitions, symbols, abbreviated terms and conventions . 15
3.1 Terms and definitions . 15
3.2 Symbols and abbreviated terms . 22
3.2.1 Abbreviated terms . 22
3.2.2 Symbols . 23
4 Conformance . 24
5 Basics of safety-related fieldbus systems . 24
5.1 Safety function decomposition . 24
5.2 Communication system . 25
5.2.1 General . 25
5.2.2 IEC 61158 fieldbuses . 25
5.2.3 Communication channel types . 26
5.2.4 Safety function response time . 26
5.3 Communication errors . 27
5.3.1 General . 27
5.3.2 Corruption . 27
5.3.3 Unintended repetition . 27
5.3.4 Incorrect sequence . 27
5.3.5 Loss . 28
5.3.6 Unacceptable delay . 28
5.3.7 Insertion . 28
5.3.8 Masquerade. 28
5.3.9 Addressing . 28
5.4 Deterministic remedial measures . 28
5.4.1 General . 28
5.4.2 Sequence number. 28
5.4.3 Time stamp . 28
5.4.4 Time expectation . 29
5.4.5 Connection authentication . 29
5.4.6 Feedback message . 29
5.4.7 Data integrity assurance . 29
5.4.8 Redundancy with cross checking . 29
5.4.9 Different data integrity assurance systems . 29
5.5 Typical relationships between errors and safety measures . 30
5.6 Communication phases . 31
5.7 FSCP implementation aspects . 31
5.8 Data integrity considerations . 32
5.8.1 Calculation of the residual error rate . 32

 IEC 2017
5.8.2 Total residual error rate and SIL . 34
5.9 Relationship between functional safety and security . 34
5.10 Boundary conditions and constraints . 35
5.10.1 Electrical safety . 35
5.10.2 Electromagnetic compatibility (EMC) . 36
5.11 Installation guidelines . 36
5.12 Safety manual . 36
5.13 Safety policy . 36
6 Communication Profile Family 1 (FOUNDATION™ Fieldbus) – Profiles for functional
safety . 37
7 Communication Profile Family 2 (CIP™) and Family 16 (SERCOS®) – Profiles for
functional safety . 37
8 Communication Profile Family 3 (PROFIBUS™, PROFINET™) – Profiles for
functional safety . 38
9 Communication Profile Family 6 (INTERBUS®) – Profiles for functional safety . 38
10 Communication Profile Family 8 (CC-Link™) – Profiles for f
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