IEC 62591:2010
(Main)Industrial communication networks - Wireless communication network and communication profiles - WirelessHART™
Industrial communication networks - Wireless communication network and communication profiles - WirelessHART
IEC 62591:2010 specifies an additional Type 20 communication network to IEC 61158-5-20, IEC 61158-6-20 and a Communication Profile CP 9/2 in addition to IEC 61784-1 CPF 9. This standard specifies the following:
- Physical layer service definition and protocol specification,
- Data-link layer service and protocol,
- Application layer service and protocol,
- Network management,
- Security,
- Communication profile,
- Wireless procedures and Gateway. It cancels and replaces IEC/PAS 62591 published in 2009. This first edition constitutes a technical revision. The French version of this standard has not been voted upon. This bilingual version, published in 2011-07, corresponds to the English version.
Réseaux de communications industriels - Réseau de communications sans fil et profils de communication - WirelessHART
La CEI 62591:2010 spécifie un réseau de communication type 20 supplémentaire en ajout à la IEC 61158-5-20 et à la IEC 61158-6-20 ainsi qu'un Profil de communication CP 9/2 en ajout à la famille de profils de communications CPF 9 de la IEC 61784-1. La présente norme spécifie ce qui suit:
- Définition de service de la couche physique et spécification de protocole,
- Service et protocole de la couche liaison de données,
- Service et protocole de la couche application,
- Gestion de réseau,
- Sécurité,
- Profil de communication,
- Procédures sans fil et Passerelle. Elle annule et remplace le IEC/PAS 62591 publiée en 2009. Cette première édition constitue une révision technique. La présente version bilingue, publiée en 2011-07 correspond à la version anglaise. La version française de cette norme n'a pas été soumise au vote.
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IEC 62591
®
Edition 1.0 2010-04
INTERNATIONAL
STANDARD
colour
inside
Industrial communication networks – Wireless communication network and
communication profiles – WirelessHART™
IEC 62591:2010(E)
---------------------- Page: 1 ----------------------
THIS PUBLICATION IS COPYRIGHT PROTECTED
Copyright © 2010 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
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
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CH-1211 Geneva 20
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Email: inmail@iec.ch
Web: 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.
ƒ Catalogue of IEC publications: www.iec.ch/searchpub
The IEC on-line Catalogue enables you to search by a variety of criteria (reference number, text, technical committee,…).
It also gives information on projects, withdrawn and replaced publications.
ƒ IEC Just Published: www.iec.ch/online_news/justpub
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on-line and also by email.
ƒ Electropedia: www.electropedia.org
The world's leading online dictionary of electronic and electrical terms containing more than 20 000 terms and definitions
in English and French, with equivalent terms in additional languages. Also known as the International Electrotechnical
Vocabulary online.
ƒ Customer Service Centre: www.iec.ch/webstore/custserv
If you wish to give us your feedback on this publication or need further assistance, please visit the Customer Service
Centre FAQ or contact us:
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IEC 62591
®
Edition 1.0 2010-04
INTERNATIONAL
STANDARD
colour
inside
Industrial communication networks – Wireless communication network and
communication profiles – WirelessHART™
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
PRICE CODE
XH
ICS 25.040.40; 35.100.05 ISBN 978-2-88910-769-8
® Registered trademark of the International Electrotechnical Commission
---------------------- Page: 3 ----------------------
– 2 – 62591 © IEC:2010(E)
CONTENTS
FOREWORD.18
INTRODUCTION.20
1 Scope.22
2 Normative references .22
3 Terms, definitions, symbols, abbreviations and conventions .23
3.1 Reference model terms and definitions .23
3.2 Terms and definitions from ISO/IEC 7498-1 terms .24
3.2.1 Terms and definitions from ISO/IEC 9545 .24
3.2.2 Terms and definitions from ISO/IEC 8824 .24
3.2.3 Terms and definitions from ISO/IEC 8825 .24
3.3 Specific terms and definitions .24
3.4 Abbreviations.33
3.5 Conventions .35
3.5.1 Conventions used for service.35
3.5.2 Conventions used for DL-protocol (state machine).36
3.5.3 Conventions for Application Layer service .36
3.5.4 Conventions for the AL-protocol .39
4 Physical layer specification and service definition.44
4.1 Physical layer service definition .44
4.1.1 General overview.44
4.1.2 Physical layer services .44
4.2 Physical layer protocol specification .48
5 Data-link layer service definition – Type 20 elements .48
5.1 Data-link layer services .48
5.1.1 Facilities of the data-link layer services .48
5.1.2 QoS for message service.49
5.1.3 Sequence of primitives .50
5.1.4 DL-TRANSMIT service .52
5.1.5 DL-RECEIVE service .54
5.1.6 DL-DISCONNECT service .55
5.1.7 DL-PATH-FAILURE service .55
5.1.8 DL-ADVERTISE service.55
5.1.9 DL-NEIGHBOR service.56
5.1.10 DLM-SET .56
5.1.11 DLM-GET .57
5.1.12 DLM-ACTION .58
5.1.13 DLM-EVENT.59
5.2 Network layer services.59
5.2.1 Facilities of the network layer services .59
5.2.2 QoS for message service.59
5.2.3 Sequence of primitives .60
5.2.4 NL-TRANSMIT Service.60
5.2.5 NLM-SET .61
5.2.6 NLM-GET .62
5.2.7 NLM-ACTION .63
5.3 Transport layer services .64
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62591 © IEC:2010(E) – 3 –
5.3.1 Facilities of the transport layer services.64
5.3.2 QoS for message service.64
5.3.3 Sequence of primitives .65
5.3.4 TL-DATA-TRANSFER Service.66
5.3.5 TL-DATA-EXCHANGE Service .68
5.3.6 TLM-SET.69
5.3.7 TLM-GET .70
6 Data-link layer protocol specification – Type 20 elements.71
6.1 Overview .71
6.1.1 Data-link layer operation.71
6.1.2 Network layer operation.74
6.1.3 Device procedures.76
6.2 Logical link control.76
6.2.1 General DLPDU structure .76
6.2.2 DLPDU-specific structure, encoding and elements of procedure .79
6.2.3 DLPDU Priority and Flow Control.84
6.2.4 Error detection and security.85
6.3 Medium Access Control .86
6.3.1 Function .86
6.3.2 Slot timing .87
6.3.3 Communication tables and buffers.89
6.3.4 Link scheduling.95
6.3.5 MAC operation .100
6.4 DL-management-information.112
6.4.1 General .112
6.4.2 DL attributes.112
6.4.3 DLM actions .113
6.5 Network layer .113
6.5.1 Two level model of NL .113
6.5.2 NPDU structure .116
6.5.3 Security function.118
6.5.4 Network layer tables .123
6.5.5 NLE machine.126
6.5.6 NLE elements of procedure .128
6.5.7 NL-management information.131
6.6 Transport layer .133
6.6.1 General .133
6.6.2 TPDU structure.133
6.6.3 Transport pipe table .134
6.6.4 TLE elements of procedure.134
6.6.5 TLE state machines .137
6.6.6 TL-management information .140
7 Application layer service definition – Type 20 elements . 141
7.1 Common concepts .141
7.2 Data type ASE .141
7.2.1 Overview .141
7.2.2 Formal definition of data type objects .143
7.2.3 FAL defined data types.145
7.2.4 Data type ASE service specification .148
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– 4 – 62591 © IEC:2010(E)
7.2.5 Summary of data types.148
7.3 Communication model specification . 149
7.3.1 Common parameters .149
7.3.2 ASEs .150
7.3.3 ARs .217
7.3.4 Summary of classes .220
7.3.5 Permitted services by AREP role . 220
8 Application layer protocol specification – Type 20 elements .221
8.1 Abstract syntax.221
8.2 Transfer syntax.221
8.2.1 Common APDU fields .221
8.2.2 Common APDU structure.222
8.2.3 Device application service-specific APDU structures . 225
8.2.4 Layer management service specific APDU structures . 249
8.2.5 Gateway and network manager specific APDU structures . 291
8.2.6 Network management configuration specific APDU structures . 303
8.2.7 Data coding rules .319
8.3 Common procedures.324
8.3.1 Delayed response.324
8.3.2 Response time .327
8.4 FAL service protocol machine (FSPM) . 328
8.4.1 General .328
8.4.2 FSPM state tables .328
8.4.3 Functions used by FSPM .330
8.4.4 Parameters of FSPM/ARPM primitives.331
8.5 Application relationship protocol machines (ARPMs). 332
8.5.1 AREP mapping to transport layer. 332
8.5.2 Application relationship protocol machines (ARPMs) . 333
8.5.3 AREP state machine primitive definitions. 335
8.5.4 AREP state machine functions. 336
8.6 TL mapping protocol machine (TMPM). 336
8.6.1 TMPM states .336
8.6.2 TMPM state machines .336
8.6.3 Primitives exchanged between transport layer and TMPM .337
8.6.4 Functions used by TMPM .337
9 Communication Profile Family 9 (HART™) .338
9.1 General Overview .338
9.2 Profile 9/1.338
9.3 Profile 9/2.338
9.3.1 Conformance statement.338
9.3.2 Device types.339
9.3.3 Physical layer .342
9.3.4 Data-link layer .346
9.3.5 Application layer.347
Annex A (normative) Security .355
Annex B (normative) Wireless procedures .368
Annex C (normative) Network management .372
Annex D (normative) Gateway .376
---------------------- Page: 6 ----------------------
62591 © IEC:2010(E) – 5 –
Annex E (normative) Command response codes .381
Annex F (normative) Common tables .390
Annex G (informative) Application of publish data mode and event commands. 404
Annex H (informative) Network redundancy .408
Annex I (informative) Network manager implementation.409
Annex J (informative) Gateway implementation.433
Annex K (informative) Handheld device .444
Bibliography.446
Figure 1 – Superframe class example .41
Figure 2 – Inheritance example.42
Figure 3 – Basic aggregation example .43
Figure 4 – Composition aggregation example .43
Figure 5 – Physical layer service sequences.45
Figure 6 – Message service error-free sequences.51
Figure 7 – Message service sequences with errors .52
Figure 8 – Receive only message service .52
Figure 9 – NLL Data transfer service sequences.60
Figure 10 – Data transfer service error-free sequences.65
Figure 11 – Data transfer service sequences with errors.66
Figure 12 – A TDMA slot and superframe .72
Figure 13 – Channel hopping .73
Figure 14 – Wireless network.75
Figure 15 – DLPDU Structure .76
Figure 16 – Address specifier .76
Figure 17 – Construction of 8-octet EUI-64 Address.78
Figure 18 – DLPDU specifier.78
Figure 19 – Slot timing details.87
Figure 20 – DLE tables and relationship .90
Figure 21 – Relationships used for link scheduling.97
Figure 22 – MAC components .100
Figure 23 – TDMA state machine .102
Figure 24 – XMIT state machine .106
Figure 25 – RECV state machine .109
Figure 26 – ACK transmission state machine .111
Figure 27 – Graph routing.114
Figure 28 – Source routing.115
Figure 29 – NPDU Structure .116
Figure 30 – NPDU control octet .116
Figure 31 – Security control octet .118
Figure 32 – NLE tables and relationship .124
Figure 33 – NLE state machine.127
Figure 34 – Routing decision of the NPDU .130
---------------------- Page: 7 ----------------------
– 6 – 62591 © IEC:2010(E)
Figure 35 – TPDU Structure.133
Figure 36 – TPDU control octet.133
Figure 37 – Transition diagram of the client data transfer state machine . 138
Figure 38 – Transition diagram of the client data exchange state machine. 138
Figure 39 – Transition diagram of the server state machine . 139
Figure 40 – Data type class hierarchy .142
Figure 41 – Request APDU format from master to slave .222
Figure 42 – Normal response APDU format from slave to master .223
Figure 43 – Command error response APDU format from slave to master .223
Figure 44 – Aggregated command APDU .224
Figure 45 – Windowed trigger mode.236
Figure 46 – Windowed trigger mode with maximum update time expired . 236
Figure 47 – Level trigger mode .237
Figure 48 – Coding without identification .319
Figure 49 – Coding of Integer type data .320
Figure 50 – Coding of Unsigned type data .320
Figure 51 – Coding of single precision Floating Point type data . 321
Figure 52 – Coding of double precision Floating Point type data . 321
Figure 53 – Coding of Date type data.322
Figure 54 – Normal DR operation.325
Figure 55 – Command responses during DR processing .326
Figure 56 – Slaves with multiple DR buffers.327
Figure 57 – State transition diagram of FSPM.328
Figure 58 – State transition diagram of the client ARPM . 334
Figure 59 – State transition diagram of the server ARPM . 335
Figure 60 – State transition diagram of TMPM . 336
Figure 61 – Wireless network components .340
Figure A.1 – Join sequence .358
Figure A.2 – Network layer join procedure .362
Figure A.3 – Data-link layer join procedure .364
Figure A.4 – Network Key change operation .366
Figure B.1 – Neighbor Discovery.369
Figure B.2 – Path failure .370
Figure B.3 – Device leaving the network .371
Figure C.1 – Network manager in wireless network.372
Figure D.1 – Single network access point with clock .377
Figure D.2 – Multiple network access points with clocks .377
Figure D.3 – Network access point not providing clock.378
Figure G.1 – Enabling or disabling publishing sequence .405
Figure H.1 – Network routing .408
Figure I.1 – General model for network manager .410
Figure I.2 – Device type data model.411
Figure I.3 – Network routing.412
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62591 © IEC:2010(E) – 7 –
Figure I.4 – Network schedule .414
Figure I.5 – Example of a three-slot superframe. 415
Figure I.6 – Multiple superframes in a network.415
Figure I.7 – Security manager.
...
IEC 62591
®
Edition 1.0 2010-04
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Industrial communication networks – Wireless communication network and
communication profiles – WirelessHART™
Réseaux de communications industriels – Réseau de communications sans fil
et profils de communication – WirelessHART™
IEC 62591:2010
---------------------- Page: 1 ----------------------
THIS PUBLICATION IS COPYRIGHT PROTECTED
Copyright © 2010 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 either IEC or
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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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Vocabulary online.
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IEC 62591
®
Edition 1.0 2010-04
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Industrial communication networks – Wireless communication network and
communication profiles – WirelessHART™
Réseaux de communications industriels – Réseau de communications sans fil
et profils de communication – WirelessHART™
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
PRICE CODE
INTERNATIONALE
XH
CODE PRIX
ICS 25.040.40; 35.100.05 ISBN 978-2-88912-590-6
® Registered trademark of the International Electrotechnical Commission
Marque déposée de la Commission Electrotechnique Internationale
---------------------- Page: 3 ----------------------
– 2 – 62591 IEC:2010
CONTENTS
FOREWORD . 18
INTRODUCTION . 20
1 Scope . 22
2 Normative references . 22
3 Terms, definitions, symbols, abbreviations and conventions . 23
3.1 Reference model terms and definitions . 23
3.2 Terms and definitions from ISO/IEC 7498-1 terms . 23
3.2.1 Terms and definitions from ISO/IEC 9545 . 24
3.2.2 Terms and definitions from ISO/IEC 8824 . 24
3.2.3 Terms and definitions from ISO/IEC 8825 . 24
3.3 Specific terms and definitions . 24
3.4 Abbreviations . 33
3.5 Conventions . 35
3.5.1 Conventions used for service . 35
3.5.2 Conventions used for DL-protocol (state machine) . 36
3.5.3 Conventions for Application Layer service . 36
3.5.4 Conventions for the AL-protocol . 39
4 Physical layer specification and service definition . 44
4.1 Physical layer service definition . 44
4.1.1 General overview. 44
4.1.2 Physical layer services . 44
4.2 Physical layer protocol specification. 48
5 Data-link layer service definition – Type 20 elements . 48
5.1 Data-link layer services . 48
5.1.1 Facilities of the data-link layer services . 48
5.1.2 QoS for message service . 49
5.1.3 Sequence of primitives . 50
5.1.4 DL-TRANSMIT service . 52
5.1.5 DL-RECEIVE service . 54
5.1.6 DL-DISCONNECT service . 55
5.1.7 DL-PATH-FAILURE service . 55
5.1.8 DL-ADVERTISE service . 55
5.1.9 DL-NEIGHBOR service . 56
5.1.10 DLM-SET . 56
5.1.11 DLM-GET . 57
5.1.12 DLM-ACTION . 58
5.1.13 DLM-EVENT . 59
5.2 Network layer services . 59
5.2.1 Facilities of the network layer services . 59
5.2.2 QoS for message service . 59
5.2.3 Sequence of primitives . 60
5.2.4 NL-TRANSMIT Service . 60
5.2.5 NLM-SET . 61
5.2.6 NLM-GET . 62
5.2.7 NLM-ACTION . 63
5.3 Transport layer services . 64
---------------------- Page: 4 ----------------------
62591 IEC:2010 – 3 –
5.3.1 Facilities of the transport layer services . 64
5.3.2 QoS for message service . 64
5.3.3 Sequence of primitives . 65
5.3.4 TL-DATA-TRANSFER Service . 66
5.3.5 TL-DATA-EXCHANGE Service . 68
5.3.6 TLM-SET . 69
5.3.7 TLM-GET . 70
6 Data-link layer protocol specification – Type 20 elements . 71
6.1 Overview . 71
6.1.1 Data-link layer operation . 71
6.1.2 Network layer operation . 74
6.1.3 Device procedures . 76
6.2 Logical link control . 76
6.2.1 General DLPDU structure . 76
6.2.2 DLPDU-specific structure, encoding and elements of procedure . 79
6.2.3 DLPDU Priority and Flow Control . 84
6.2.4 Error detection and security . 85
6.3 Medium Access Control . 86
6.3.1 Function . 86
6.3.2 Slot timing . 87
6.3.3 Communication tables and buffers . 89
6.3.4 Link scheduling. 95
6.3.5 MAC operation . 100
6.4 DL-management-information . 112
6.4.1 General . 112
6.4.2 DL attributes . 112
6.4.3 DLM actions . 113
6.5 Network layer . 113
6.5.1 Two level model of NL . 113
6.5.2 NPDU structure . 116
6.5.3 Security function . 118
6.5.4 Network layer tables . 123
6.5.5 NLE machine . 126
6.5.6 NLE elements of procedure . 128
6.5.7 NL-management information . 131
6.6 Transport layer . 133
6.6.1 General . 133
6.6.2 TPDU structure . 133
6.6.3 Transport pipe table . 134
6.6.4 TLE elements of procedure . 134
6.6.5 TLE state machines . 137
6.6.6 TL-management information . 140
7 Application layer service definition – Type 20 elements . 141
7.1 Common concepts . 141
7.2 Data type ASE . 141
7.2.1 Overview . 141
7.2.2 Formal definition of data type objects . 143
7.2.3 FAL defined data types . 145
7.2.4 Data type ASE service specification . 148
---------------------- Page: 5 ----------------------
– 4 – 62591 IEC:2010
7.2.5 Summary of data types . 148
7.3 Communication model specification . 149
7.3.1 Common parameters . 149
7.3.2 ASEs . 150
7.3.3 ARs . 217
7.3.4 Summary of classes . 220
7.3.5 Permitted services by AREP role . 220
8 Application layer protocol specification – Type 20 elements . 221
8.1 Abstract syntax . 221
8.2 Transfer syntax . 221
8.2.1 Common APDU fields . 221
8.2.2 Common APDU structure . 222
8.2.3 Device application service-specific APDU structures . 225
8.2.4 Layer management service specific APDU structures . 249
8.2.5 Gateway and network manager specific APDU structures . 291
8.2.6 Network management configuration specific APDU structures . 303
8.2.7 Data coding rules . 319
8.3 Common procedures . 324
8.3.1 Delayed response . 324
8.3.2 Response time . 327
8.4 FAL service protocol machine (FSPM) . 328
8.4.1 General . 328
8.4.2 FSPM state tables . 328
8.4.3 Functions used by FSPM . 330
8.4.4 Parameters of FSPM/ARPM primitives . 331
8.5 Application relationship protocol machines (ARPMs) . 332
8.5.1 AREP mapping to transport layer . 332
8.5.2 Application relationship protocol machines (ARPMs) . 333
8.5.3 AREP state machine primitive definitions . 335
8.5.4 AREP state machine functions . 336
8.6 TL mapping protocol machine (TMPM) . 336
8.6.1 TMPM states . 336
8.6.2 TMPM state machines . 336
8.6.3 Primitives exchanged between transport layer and TMPM . 337
8.6.4 Functions used by TMPM . 337
9 Communication Profile Family 9 (HART™) . 338
9.1 General Overview . 338
9.2 Profile 9/1 . 338
9.3 Profile 9/2 . 338
9.3.1 Conformance statement . 338
9.3.2 Device types . 339
9.3.3 Physical layer . 342
9.3.4 Data-link layer . 346
9.3.5 Application layer . 347
Annex A (normative) Security . 355
Annex B (normative) Wireless procedures . 368
Annex C (normative) Network management . 372
Annex D (normative) Gateway . 376
---------------------- Page: 6 ----------------------
62591 IEC:2010 – 5 –
Annex E (normative) Command response codes . 381
Annex F (normative) Common tables . 390
Annex G (informative) Application of publish data mode and event commands. 404
Annex H (informative) Network redundancy . 408
Annex I (informative) Network manager implementation . 409
Annex J (informative) Gateway implementation . 433
Annex K (informative) Handheld device . 444
Bibliography . 446
Figure 1 – Superframe class example . 41
Figure 2 – Inheritance example . 42
Figure 3 – Basic aggregation example . 43
Figure 4 – Composition aggregation example . 43
Figure 5 – Physical layer service sequences . 45
Figure 6 – Message service error-free sequences . 51
Figure 7 – Message service sequences with errors . 52
Figure 8 – Receive only message service . 52
Figure 9 – NLL Data transfer service sequences . 60
Figure 10 – Data transfer service error-free sequences . 65
Figure 11 – Data transfer service sequences with errors . 66
Figure 12 – A TDMA slot and superframe . 72
Figure 13 – Channel hopping . 73
Figure 14 – Wireless network . 75
Figure 15 – DLPDU Structure . 76
Figure 16 – Address specifier . 76
Figure 17 – Construction of 8-octet EUI-64 Address. 78
Figure 18 – DLPDU specifier. 78
Figure 19 – Slot timing details . 87
Figure 20 – DLE tables and relationship . 90
Figure 21 – Relationships used for link scheduling . 97
Figure 22 – MAC components . 100
Figure 23 – TDMA state machine . 102
Figure 24 – XMIT state machine . 106
Figure 25 – RECV state machine . 109
Figure 26 – ACK transmission state machine . 111
Figure 27 – Graph routing . 114
Figure 28 – Source routing. 115
Figure 29 – NPDU Structure . 116
Figure 30 – NPDU control octet . 116
Figure 31 – Security control octet . 118
Figure 32 – NLE tables and relationship . 124
Figure 33 – NLE state machine . 127
Figure 34 – Routing decision of the NPDU . 130
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Figure 35 – TPDU Structure . 133
Figure 36 – TPDU control octet . 133
Figure 37 – Transition diagram of the client data transfer state machine . 138
Figure 38 – Transition diagram of the client data exchange state machine . 138
Figure 39 – Transition diagram of the server state machine . 139
Figure 40 – Data type class hierarchy . 142
Figure 41 – Request APDU format from master to slave . 222
Figure 42 – Normal response APDU format from slave to master . 223
Figure 43 – Command error response APDU format from slave to master . 223
Figure 44 – Aggregated command APDU . 224
Figure 45 – Windowed trigger mode . 236
Figure 46 – Windowed trigger mode with maximum update time expired . 236
Figure 47 – Level trigger mode . 237
Figure 48 – Coding without identification . 319
Figure 49 – Coding of Integer type data . 320
Figure 50 – Coding of Unsigned type data . 320
Figure 51 – Coding of single precision Floating Point type data . 321
Figure 52 – Coding of double precision Floating Point type data . 321
Figure 53 – Coding of Date type data . 322
Figure 54 – Normal DR operation . 325
Figure 55 – Command responses during DR processing . 326
Figure 56 – Slaves with multiple DR buffers . 327
Figure 57 – State transition diagram of FSPM .
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