IEC 61158-6-12:2019

Industrial communication networks - Fieldbus specifications - Part 6-12: Application layer protocol specification - Type 12 elements

IEC 61158-6-12:2019 provides common elements for basic time-critical and non-time-critical messaging communications between application programs in an automation environment and material specific to Type 2 fieldbus. The term “time-critical” is used to represent the presence of a time-window, within which one or more specified actions are required to be completed with some defined level of certainty. Failure to complete specified actions within the time window risks failure of the applications requesting the actions, with attendant risk to equipment, plant and possibly human life.
This International Standard specifies interactions between remote applications and defines the externally visible behavior provided by the Type 2 fieldbus application layer. The purpose of this document is to define the protocol provided to
a) define the wire-representation of the service primitives defined in this document, and
b) define the externally visible behavior associated with their transfer. This document specifies the protocol of the Type 2 fieldbus application layer, in conformance with the OSI Basic Reference Model (ISO/IEC 7498-1) and the OSI application layer structure (ISO/IEC 9545).
This fourth edition includes the following significant technical changes with respect to the previous edition:
- technical corrections; and
- editorial improvements for clarification.

Réseaux de communication industriels - Spécifications des bus de terrain - Partie 6-12: Spécification du protocole de la couche application - Eléments de type 12

L’IEC 61158-6-12:2019 fournit des éléments communs pour les communications de messagerie prioritaires et non prioritaires élémentaires entre les programmes d’application des environnements d’automatisation et le matériel spécifique au bus de terrain de type 12. On utilise le terme "prioritaire" pour traduire la présence d’une fenêtre temporelle, à l’intérieur de laquelle il est exigé qu’une ou plusieurs actions spécifiées soient terminées avec un niveau de certitude défini. Si les actions spécifiées ne sont pas réalisées dans la fenêtre temporelle, les applications demandant les actions risquent de connaître une défaillance, avec les risques que cela comporte pour les équipements, les installations et éventuellement la vie humaine.
La présente norme définit de manière abstraite le comportement, visible par un observateur externe, assuré par les différents Types de la couche Application de bus de terrain, en termes
a) de syntaxe abstraite définissant les unités de données de protocole de la couche Application, transmises entre les entités d’application en communication,
b) de syntaxe de transfert définissant les unités de données de protocole de la couche Application, transmises entre les entités d’application en communication;
c) de diagramme d’états de contexte d’application définissant le comportement de service d’application observable entre les entités d’application en communication; et
d) de diagrammes d’états de relations entre applications définissant le comportement de communication visible entre les entités d’application en communication

General Information

• Status: Published
• Publication Date: 19-Jun-2019
• ICS: 25.040.40 - Industrial process measurement and control
• ICS: 35.100.70 - Application layer
• ICS: 35.110 - Networking
• Technical Committee: SC 65C - Industrial networks
• Drafting Committee: WG 9 - TC 65/SC 65C/WG 9
• Current Stage: PPUB - Publication issued
• Start Date: 26-Apr-2019
• Completion Date: 20-Jun-2019

Relations

• Revises: IEC 61158-6-12:2014 - Industrial communication networks - Fieldbus specifications - Part 6-12: Application layer protocol specification - Type 12 elements
• Effective Date: 05-Sep-2023

Standards Content (Sample)

IEC 61158-6-12
®

Edition 4.0 2019-06
INTERNATIONAL
STANDARD



Industrial communication networks – Fieldbus specifications –
Part 6-12: Application layer protocol specification – Type 12 elements

IEC 61158-6-12:2019-06(en)

---------------------- Page: 1 ----------------------
THIS PUBLICATION IS COPYRIGHT PROTECTED
Copyright © 2019 IEC, Geneva, Switzerland

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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International Standards for all electrical, electronic and related technologies.

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IEC 61158-6-12

®


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INTERNATIONAL



STANDARD



















Industrial communication networks – Fieldbus specifications –

Part 6-12: Application layer protocol specification – Type 12 elements



























INTERNATIONAL

ELECTROTECHNICAL


COMMISSION





ICS 25.040.40; 35.100.70; 35.110 ISBN 978-2-8322-7011-0




  Warning! Make sure that you obtained this publication from an authorized distributor.


® Registered trademark of the International Electrotechnical Commission

---------------------- Page: 3 ----------------------
– 2 – IEC 61158-6-12:2019 © IEC 2019
CONTENTS
FOREWORD . 8
INTRODUCTION . 10
1 Scope . 11
1.1 General . 11
1.2 Specifications . 12
1.3 Conformance . 12
2 Normative references . 12
3 Terms, definitions, symbols, abbreviations and conventions . 13
3.1 Reference model terms and definitions . 13
3.2 Service convention terms and definitions . 14
3.3 Application layer definitions . 14
3.4 Common symbols and abbreviations . 19
3.5 Additional symbols and abbreviations . 20
3.6 Conventions . 20
3.6.1 General concept . 20
3.6.2 Convention for the encoding of reserved bits and octets . 21
3.6.3 Conventions for the common codings of specific field octets . 21
3.6.4 Abstract syntax conventions . 22
3.6.5 State machine conventions . 23
4 Application layer protocol specification . 25
4.1 Operating principle . 25
4.2 Node reference model . 25
4.2.1 Mapping onto OSI basic reference model. 25
4.2.2 Data Link Layer features . 26
4.2.3 Application Layer structure . 26
5 FAL syntax description . 27
5.1 Coding principles . 27
5.2 Data types and encoding rules . 27
5.2.1 General description of data types and encoding rules . 27
5.2.2 Encoding of a Boolean value . 27
5.2.3 Encoding of a Time Of Day with and without date indication value . 27
5.2.4 Encoding of a Time Difference with and without date indication value . 28
5.2.5 Transfer syntax for bit sequences . 28
5.2.6 Encoding of a Unsigned Integer value . 28
5.2.7 Encoding of a Signed Integer value . 29
5.2.8 Encoding of a Floating Point value . 30
5.2.9 Encoding of a Visible String value. 30
5.2.10 Encoding of a Unicode String value . 30
5.2.11 Encoding of an Octet String value . 30
5.2.12 Encoding of GUID . 30
5.3 AR coding . 30
5.3.1 AL Control Request (Indication) . 30
5.3.2 AL Control Response (Confirmation) . 31
5.3.3 AL State Changed . 33
5.3.4 AL AR Attributes . 34
5.4 SII coding . 36

---------------------- Page: 4 ----------------------
IEC 61158-6-12:2019 © IEC 2019 – 3 –
5.5 Isochronous PDI coding . 41
5.6 CoE coding . 43
5.6.1 PDU structure . 43
5.6.2 SDO . 44
5.6.3 SDO Information . 56
5.6.4 Emergency . 65
5.6.5 Process Data . 69
5.6.6 Command . 70
5.6.7 Object Dictionary . 71
5.7 EoE coding . 81
5.7.1 Initiate EoE . 81
5.7.2 EoE Fragment Data . 83
5.7.3 Data element for EoE . 84
5.7.4 Set IP Parameter . 85
5.7.5 Set Address Filter . 88
5.8 FoE Coding . 90
5.8.1 Read Request . 90
5.8.2 Write Request . 91
5.8.3 Data Request . 92
5.8.4 Ack Request . 93
5.8.5 Error Request . 94
5.8.6 Busy Request . 95
6 FAL protocol state machines . 96
6.1 Overall structure . 96
6.1.1 Overview . 96
6.1.2 Fieldbus Service Protocol Machines (FSPM). 97
6.1.3 Application Relationship Protocol Machines (ARPM) . 97
6.1.4 DLL Mapping Protocol Machines (DMPM) . 98
6.2 AP-Context state machine . 98
6.3 FAL service protocol machine (FSPM) . 98
6.4 Application Relationship Protocol Machines (ARPMs) . 98
6.4.1 AL state machine . 98
6.4.2 Mailbox handler state machine . 117
6.4.3 CoE state machine . 118
6.4.4 EoE state machine . 129
6.4.5 FoE state machine . 136
6.5 DLL mapping protocol machine (DMPM) . 141
Bibliography . 142

Figure 1 – Common structure of specific fields . 21
Figure 2 – Type description example. 22
Figure 3 – Slave Node Reference Model . 26
Figure 4 – Encoding of Time of Day value . 27
Figure 5 – Encoding of Time Difference value . 28
Figure 6 – AL Control Request structure . 30
Figure 7 – AL Control Response structure . 31
Figure 8 – AL State Changed structure . 34

---------------------- Page: 5 ----------------------
– 4 – IEC 61158-6-12:2019 © IEC 2019
Figure 9 – PDI Control type description . 34
Figure 10 – Sync Configuration type description . 35
Figure 11 – Distributed Clock sync and latch type description . 41
Figure 12 – CoE general structure . 43
Figure 13 – SDO Download Expedited Request structure . 44
Figure 14 – SDO Download Expedited Response structure . 45
Figure 15 – SDO Download Normal Request structure . 46
Figure 16 – Download SDO Segment Request structure . 48
Figure 17 – Download SDO Segment Response structure . 49
Figure 18 – SDO Upload Expedited Request structure . 49
Figure 19 – SDO Upload Expedited Response structure . 50
Figure 20 – SDO Upload Normal Response structure . 52
Figure 21 – Upload SDO Segment Request structure . 53
Figure 22 – Upload SDO Segment Response structure . 53
Figure 23 – Abort SDO Transfer Request structure . 54
Figure 24 – SDO Information Service structure . 57
Figure 25 – Get OD List Request structure . 58
Figure 26 – Get OD List Response structure . 59
Figure 27 – Get Object Description Request structure . 60
Figure 28 – Get Object Description Response structure . 61
Figure 29 – Get Entry Description Request structure . 62
Figure 30 – Get Entry Description Response structure . 63
Figure 31 – SDO Info Error Request structure . 64
Figure 32 – EoE general structure . 81
Figure 33 – EoE Timestamp structure . 82
Figure 34 – EoE Fragment Data structure . 83
Figure 35 – Set IP Parameter Request structure . 85
Figure 36 – Set IP Parameter Response structure . 87
Figure 37 – Set MAC Filter Request structure . 88
Figure 38 – Set MAC Filter Response structure . 89
Figure 39 – Read Request structure. 90
Figure 40 – Write Request structure . 91
Figure 41 – Data Request structure . 92
Figure 42 – Ack Request structure . 93
Figure 43 – Error Request structure . 94
Figure 44 – Busy Request structure . 96
Figure 45 – Relationship among Protocol Machines . 97
Figure 46 – AR Protocol machines . 98
Figure 47 – ESM Diagramm . 100

Table 1 – PDU element description example . 22
Table 2 – Example attribute description . 23
Table 3 – State machine description elements . 24

---------------------- Page: 6 ----------------------
IEC 61158-6-12:2019 © IEC 2019 – 5 –
Table 4 – Description of state machine elements . 24
Table 5 – Conventions used in state machines . 24
Table 6 – Transfer Syntax for bit sequences . 28
Table 7 – Transfer syntax for data type Unsignedn . 29
Table 8 – Transfer syntax for data type Integern . 30
Table 9 – AL Control Description . 31
Table 10 – AL Control Response . 32
Table 11 – AL Status Codes . 32
Table 12 – AL State Changed . 34
Table 13 – PDI Control . 35
Table 14 – PDI Configuration . 35
Table 15 – Sync Configuration . 35
Table 16 – Slave Information Interface Area . 36
Table 17 – Slave Information Interface Categories . 37
Table 18 – Mailbox Protocols Supported Types . 37
Table 19 – Categories Types . 37
Table 20 – Structure Category String . 38
Table 21 – Structure Category General . 38
Table 22 – Identification Methods . 39
Table 23 – Structure Category FMMU . 39
Table 24 – Structure Category SyncM for each Element . 40
Table 25 – Structure Category TXPDO and RXPDO for each PDO . 40
Table 26 – Structure PDO Entry . 41
Table 27 – Distributed Clock sync parameter . 42
Table 28 – Distributed Clock latch data . 43
Table 29 – CoE elements . 44
Table 30 – SDO Download Expedited Request . 45
Table 31 – SDO Download Expedited Response . 46
Table 32 – SDO Download Normal Request . 47
Table 33 – Download SDO Segment Request . 48
Table 34 – Download SDO Segment Response. 49
Table 35 – SDO Upload Expedited Request . 50
Table 36 – SDO Upload Expedited Response . 51
Table 37 – SDO Upload Normal Response. 52
Table 38 – Upload SDO Segment Request. 53
Table 39 – Upload SDO Segment Response . 54
Table 40 – Abort SDO Transfer Request . 55
Table 41 – SDO Abort Codes . 56
Table 42 – SDO Information Service . 57
Table 43 – Get OD List Request . 58
Table 44 – Get OD List Response . 59
Table 45 – Get Object Description Request . 60
Table 46 – Get Object Description Response . 61

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– 6 – IEC 61158-6-12:2019 © IEC 2019
Table 47 – Get Entry Description Request . 62
Table 48 – Get Entry Description Response . 63
Table 49 – SDO Info Error Request . 65
Table 50 – Emergency Request . 66
Table 51 – Emergency Error Codes . 67
Table 52 – Error Code . 67
Table 53 – Diagnostic Data . 68
Table 54 – Sync Manager Length Error . 68
Table 55 – Sync Manager Address Error . 68
Table 56 – Sync Manager Settings Error . 68
Table 57 – RxPDO Transmission via mailbox . 69
Table 58 – TxPDO Transmission via mailbox . 69
Table 59 – RxPDO Remote Transmission Request . 70
Table 60 – TxPDO Remote Transmission Request . 70
Table 61 – Command object structure . 71
Table 62 – Object Dictionary Structure . 71
Table 63 – Object Code Definitions . 71
Table 64 – Basic Data Type Area . 72
Table 65 – Extended Data Type Area. 73
Table 66 – Enumeration Definition . 74
Table 67 – CoE Communication Area. 74
Table 68 – Device Type . 75
Table 69 – Error Register . 76
Table 70 – Manufacturer Device Name . 76
Table 71 – Manufacturer Hardware Version . 77
Table 72 – Manufacturer Software Version . 77
Table 73 – Identity Object . 77
Table 74 – Receive PDO Mapping . 78
Table 75 – Transmit PDO Mapping . 78
Table 76 – Sync Manager Communication Type . 79
Table 77 – Sync Manager Channel 0-31 . 80
Table 78 – Sync Manager Synchronization . 81
Table 79 – Initiate EoE Request . 82
Table 80 – Initiate EoE Response . 83
Table 81 – EoE Fragment Data . 84
Table 82 – EoE Data . 85
Table 83 – Set IP Parameter Request . 86
Table 84 – Set IP Parameter Response . 87
Table 85 – EoE Result Parameter . 88
Table 86 – Set MAC Filter Request . 88
Table 87 – Set MAC Filter Response .
...

IEC 61158-6-12
®

Edition 4.0 2019-06
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE


Industrial communication networks – Fieldbus specifications –
Part 6-12: Application layer protocol specification – Type 12 elements

Réseaux de communication industriels – Spécifications des bus de terrain –
Partie 6-12: Spécification du protocole de la couche application – Eléments
de type 12

IEC 61158-6-12:2019-06(en-fr)

---------------------- Page: 1 ----------------------
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IEC 61158-6-12

®


Edition 4.0 2019-06




INTERNATIONAL



STANDARD




NORME


INTERNATIONALE











Industrial communication networks – Fieldbus specifications –

Part 6-12: Application layer protocol specification – Type 12 elements



Réseaux de communication industriels – Spécifications des bus de terrain –

Partie 6-12: Spécification du protocole de la couche application – Eléments

de type 12















INTERNATIONAL

ELECTROTECHNICAL

COMMISSION


COMMISSION

ELECTROTECHNIQUE


INTERNATIONALE




ICS 25.040.40; 35.100.70; 35.110 ISBN 978-2-8322-9324-9




Warning! Make sure that you obtained this publication from an authorized distributor.

Attention! Veuillez vous assurer que vous avez obtenu cette publication via un distributeur agréé.

® Registered trademark of the International Electrotechnical Commission
Marque déposée de la Commission Electrotechnique Internationale

---------------------- Page: 3 ----------------------
– 2 – IEC 61158-6-12:2019 © IEC 2019
CONTENTS
FOREWORD . 8
INTRODUCTION . 10
1 Scope . 11
1.1 General . 11
1.2 Specifications . 12
1.3 Conformance . 12
2 Normative references . 12
3 Terms, definitions, symbols, abbreviations and conventions . 13
3.1 Reference model terms and definitions . 13
3.2 Service convention terms and definitions . 14
3.3 Application layer definitions . 15
3.4 Common symbols and abbreviations . 20
3.5 Additional symbols and abbreviations . 21
3.6 Conventions . 21
3.6.1 General concept . 21
3.6.2 Convention for the encoding of reserved bits and octets . 22
3.6.3 Conventions for the common codings of specific field octets . 22
3.6.4 Abstract syntax conventions . 23
3.6.5 State machine conventions . 24
4 Application layer protocol specification . 26
4.1 Operating principle . 26
4.2 Node reference model . 26
4.2.1 Mapping onto OSI basic reference model. 26
4.2.2 Data Link Layer features . 27
4.2.3 Application Layer structure . 27
5 FAL syntax description . 28
5.1 Coding principles . 28
5.2 Data types and encoding rules . 28
5.2.1 General description of data types and encoding rules . 28
5.2.2 Encoding of a Boolean value . 28
5.2.3 Encoding of a Time Of Day with and without date indication value . 28
5.2.4 Encoding of a Time Difference with and without date indication value . 29
5.2.5 Transfer syntax for bit sequences . 29
5.2.6 Encoding of a Unsigned Integer value . 29
5.2.7 Encoding of a Signed Integer value . 30
5.2.8 Encoding of a Floating Point value . 31
5.2.9 Encoding of a Visible String value. 31
5.2.10 Encoding of a Unicode String value . 31
5.2.11 Encoding of an Octet String value . 31
5.2.12 Encoding of GUID . 31
5.3 AR coding . 31
5.3.1 AL Control Request (Indication) . 31
5.3.2 AL Control Response (Confirmation) . 32
5.3.3 AL State Changed . 34
5.3.4 AL AR Attributes . 35
5.4 SII coding . 37

---------------------- Page: 4 ----------------------
IEC 61158-6-12:2019 © IEC 2019 – 3 –
5.5 Isochronous PDI coding . 42
5.6 CoE coding . 44
5.6.1 PDU structure . 44
5.6.2 SDO . 45
5.6.3 SDO Information . 57
5.6.4 Emergency . 66
5.6.5 Process Data . 70
5.6.6 Command . 71
5.6.7 Object Dictionary . 72
5.7 EoE coding . 82
5.7.1 Initiate EoE . 82
5.7.2 EoE Fragment Data . 84
5.7.3 Data element for EoE . 85
5.7.4 Set IP Parameter . 86
5.7.5 Set Address Filter . 89
5.8 FoE Coding . 91
5.8.1 Read Request . 91
5.8.2 Write Request . 92
5.8.3 Data Request . 93
5.8.4 Ack Request . 94
5.8.5 Error Request . 95
5.8.6 Busy Request . 96
6 FAL protocol state machines . 97
6.1 Overall structure . 97
6.1.1 Overview . 97
6.1.2 Fieldbus Service Protocol Machines (FSPM). 98
6.1.3 Application Relationship Protocol Machines (ARPM) . 98
6.1.4 DLL Mapping Protocol Machines (DMPM) . 99
6.2 AP-Context state machine . 99
6.3 FAL service protocol machine (FSPM) . 99
6.4 Application Relationship Protocol Machines (ARPMs) . 99
6.4.1 AL state machine . 99
6.4.2 Mailbox handler state machine . 118
6.4.3 CoE state machine . 119
6.4.4 EoE state machine . 130
6.4.5 FoE state machine . 137
6.5 DLL mapping protocol machine (DMPM) . 142
Bibliography . 143

Figure 1 – Common structure of specific fields . 22
Figure 2 – Type description example. 23
Figure 3 – Slave Node Reference Model . 27
Figure 4 – Encoding of Time of Day value . 28
Figure 5 – Encoding of Time Difference value . 29
Figure 6 – AL Control Request structure . 31
Figure 7 – AL Control Response structure . 32
Figure 8 – AL State Changed structure . 35

---------------------- Page: 5 ----------------------
– 4 – IEC 61158-6-12:2019 © IEC 2019
Figure 9 – PDI Control type description . 35
Figure 10 – Sync Configuration type description . 36
Figure 11 – Distributed Clock sync and latch type description . 42
Figure 12 – CoE general structure . 44
Figure 13 – SDO Download Expedited Request structure . 45
Figure 14 – SDO Download Expedited Response structure . 46
Figure 15 – SDO Download Normal Request structure . 47
Figure 16 – Download SDO Segment Request structure . 49
Figure 17 – Download SDO Segment Response structure . 50
Figure 18 – SDO Upload Expedited Request structure . 50
Figure 19 – SDO Upload Expedited Response structure . 51
Figure 20 – SDO Upload Normal Response structure . 53
Figure 21 – Upload SDO Segment Request structure . 54
Figure 22 – Upload SDO Segment Response structure . 54
Figure 23 – Abort SDO Transfer Request structure . 55
Figure 24 – SDO Information Service structure . 58
Figure 25 – Get OD List Request structure . 59
Figure 26 – Get OD List Response structure . 60
Figure 27 – Get Object Description Request structure . 61
Figure 28 – Get Object Description Response structure . 62
Figure 29 – Get Entry Description Request structure . 63
Figure 30 – Get Entry Description Response structure . 64
Figure 31 – SDO Info Error Request structure . 65
Figure 32 – EoE general structure . 82
Figure 33 – EoE Timestamp structure . 83
Figure 34 – EoE Fragment Data structure . 84
Figure 35 – Set IP Parameter Request structure . 86
Figure 36 – Set IP Parameter Response structure . 88
Figure 37 – Set MAC Filter Request structure . 89
Figure 38 – Set MAC Filter Response structure . 90
Figure 39 – Read Request structure. 91
Figure 40 – Write Request structure . 92
Figure 41 – Data Request structure . 93
Figure 42 – Ack Request structure . 94
Figure 43 – Error Request structure . 95
Figure 44 – Busy Request structure . 97
Figure 45 – Relationship among Protocol Machines . 98
Figure 46 – AR Protocol machines . 99
Figure 47 – ESM Diagramm . 101

Table 1 – PDU element description example . 23
Table 2 – Example attribute description . 24
Table 3 – State machine description elements . 25

---------------------- Page: 6 ----------------------
IEC 61158-6-12:2019 © IEC 2019 – 5 –
Table 4 – Description of state machine elements . 25
Table 5 – Conventions used in state machines . 25
Table 6 – Transfer Syntax for bit sequences . 29
Table 7 – Transfer syntax for data type Unsignedn . 30
Table 8 – Transfer syntax for data type Integern . 31
Table 9 – AL Control Description . 32
Table 10 – AL Control Response . 33
Table 11 – AL Status Codes . 33
Table 12 – AL State Changed . 35
Table 13 – PDI Control . 36
Table 14 – PDI Configuration . 36
Table 15 – Sync Configuration . 36
Table 16 – Slave Information Interface Area . 37
Table 17 – Slave Information Interface Categories . 38
Table 18 – Mailbox Protocols Supported Types . 38
Table 19 – Categories Types . 38
Table 20 – Structure Category String . 39
Table 21 – Structure Category General . 39
Table 22 – Identification Methods . 40
Table 23 – Structure Category FMMU . 40
Table 24 – Structure Category SyncM for each Element . 41
Table 25 – Structure Category TXPDO and RXPDO for each PDO . 41
Table 26 – Structure PDO Entry . 42
Table 27 – Distributed Clock sync parameter . 43
Table 28 – Distributed Clock latch data . 44
Table 29 – CoE elements . 45
Table 30 – SDO Download Expedited Request . 46
Table 31 – SDO Download Expedited Response . 47
Table 32 – SDO Download Normal Request . 48
Table 33 – Download SDO Segment Request . 49
Table 34 – Download SDO Segment Response. 50
Table 35 – SDO Upload Expedited Request . 51
Table 36 – SDO Upload Expedited Response . 52
Table 37 – SDO Upload Normal Response. 53
Table 38 – Upload SDO Segment Request. 54
Table 39 – Upload SDO Segment Response . 55
Table 40 – Abort SDO Transfer Request . 56
Table 41 – SDO Abort Codes . 57
Table 42 – SDO Information Service . 58
Table 43 – Get OD List Request . 59
Table 44 – Get OD List Response . 60
Table 45 – Get Object Description Request . 61
Table 46 – Get Object Description Response . 62

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Table 47 – Get Entry Description Request . 63
Table 48 – Get Entry Description Response . 64
Table 49 – SDO Info Error Request . 66
Table 50 – Emergency Request . 67
Table 51 – Emergency Error Codes . 68
Table 52 – Error Code . 68
Table 53 – Diagnostic Data . 69
Table 54 – Sync Manager Length Error . 69
Table 55 – Sync Manager Address Error . 69
Table 56 – Sync Manager Settings Error . 69
Table 57 – RxPDO Transmission via mailbox . 70
Table 58 – TxPDO Transmission via mailbox . 70
Table 59 – RxPDO Remote Transmission Request . 71
Table 60 – TxPDO Remote Transmission Request . 71
Table 61 – Command object structure . 72
Table 62 – Object Dictionary Structure . 72
Table 63 – Object Code Definitions . 72
Table 64 – Basic Data Type Area .
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