Industrial communication networks - Profiles - Part 3-8: Functional safety fieldbuses - Additional specifications for CPF8 (IEC 61784-3-8:2021)

IEC 61784-3-8:2021 specifies a safety communication layer (services and protocol) based on CPF 8 of IEC 61784 1, IEC 61784-2 and IEC 61158 Type 18 and Type 23. It identifies the principles for functional safety communications defined in IEC 61784 3 that are relevant for this safety communication layer. This safety communication layer is intended for implementation in safety devices only.
NOTE 1 It does not cover electrical safety and intrinsic safety aspects. Electrical safety relates to hazards such as electrical shock. Intrinsic safety relates to hazards associated with potentially explosive atmospheres.
This document defines mechanisms for the transmission of safety-relevant messages among participants within a distributed network using fieldbus technology in accordance with the requirements of IEC 61508 (all parts) for functional safety. These mechanisms may be used in various industrial applications such as process control, manufacturing automation and machinery. This document provides guidelines for both developers and assessors of compliant devices and systems.

Industrielle Kommunikationsnetze - Profile - Teil 3-8: Funktional sichere Übertragung bei Feldbussen - Zusätzliche Festlegungen für die Kommunikationsprofilfamilie 8 (IEC 61784-3-8:2021)

Réseaux de communication industriels - Profils - Partie 3-8: Bus de terrain de sécurité fonctionnelle - Spécifications supplémentaires pour CPF 8 (IEC 61784-3-8:2021)

L'IEC 61784-3-8:2021 spécifie une couche de communication de sécurité (services et protocole) qui repose sur la CPF 8 de l'IEC 61784 1, de l'IEC 61784-2 et de l'IEC 61158 Type 18 et Type 23. Elle identifie les principes applicables aux communications de sécurité fonctionnelle définies dans l'IEC 61784 3, qui correspondent à cette couche de communication de sécurité. Cette couche de communication de sécurité est destinée à être mise en œuvre uniquement sur les appareils de sécurité.
NOTE 1 Elle ne couvre pas les aspects relatifs à la sécurité électrique et à la sécurité intrinsèque. La sécurité électrique concerne les dangers tels que les chocs électriques. La sécurité intrinsèque concerne les dangers associés aux atmosphères explosibles.
Le présent document définit les mécanismes de transmission des messages relatifs à la sécurité entre les participants d'un réseau réparti, en utilisant la technologie de bus de terrain conformément aux exigences de la série IEC 61508 (toutes les parties) concernant la sécurité fonctionnelle. Ces mécanismes peuvent être utilisés dans différentes applications industrielles, par exemple la commande de processus, l'usinage automatique et les machines. Le présent document fournit des lignes directrices aux développeurs, ainsi qu'aux évaluateurs d'appareils et de systèmes conformes.

Industrijska komunikacijska omrežja - Profili - 3-8. del: Funkcijska varnost procesnih vodil - Dodatne specifikacije za CPF 8 (IEC 61784-3-8:2021)

General Information

Status
Published
Publication Date
02-Sep-2021
Current Stage
6060 - National Implementation/Publication (Adopted Project)
Start Date
01-Jul-2021
Due Date
05-Sep-2021
Completion Date
03-Sep-2021

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SLOVENSKI STANDARD
SIST EN IEC 61784-3-8:2021
01-oktober-2021
Nadomešča:
SIST EN 61784-3-8:2018
Industrijska komunikacijska omrežja - Profili - 3-8. del: Funkcijska varnost
procesnih vodil - Dodatne specifikacije za CPF 8 (IEC 61784-3-8:2021)

Industrial communication networks - Profiles - Part 3-8: Functional safety fieldbuses -

Additional specifications for CPF8 (IEC 61784-3-8:2021)

Industrielle Kommunikationsnetze - Profile - Teil 3-8: Funktional sichere Übertragung bei

Feldbussen - Zusätzliche Festlegungen für die Kommunikationsprofilfamilie 8 (IEC
61784-3-8:2021)

Réseaux de communication industriels - Profils - Partie 3-8: Bus de terrain de sécurité

fonctionnelle - Spécifications supplémentaires pour CPF 8 (IEC 61784-3-8:2021)
Ta slovenski standard je istoveten z: EN IEC 61784-3-8:2021
ICS:
25.040.40 Merjenje in krmiljenje Industrial process
industrijskih postopkov measurement and control
35.100.05 Večslojne uporabniške Multilayer applications
rešitve
SIST EN IEC 61784-3-8:2021 en,fr,de

2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

---------------------- Page: 1 ----------------------
SIST EN IEC 61784-3-8:2021
---------------------- Page: 2 ----------------------
SIST EN IEC 61784-3-8:2021
EUROPEAN STANDARD EN IEC 61784-3-8
NORME EUROPÉENNE
EUROPÄISCHE NORM
June 2021
ICS 25.040.40; 35.100.05 Supersedes EN 61784-3-8:2017 and all of its
amendments and corrigenda (if any)
English Version
Industrial communication networks - Profiles - Part 3-8:
Functional safety fieldbuses - Additional specifications for CPF8
(IEC 61784-3-8:2021)

Réseaux de communication industriels - Profils - Partie 3-8: Industrielle Kommunikationsnetze - Profile - Teil 3-8:

Bus de terrain de sécurité fonctionnelle - Spécifications Funktional sichere Übertragung bei Feldbussen -

supplémentaires pour CPF 8 Zusätzliche Festlegungen für die
(IEC 61784-3-8:2021) Kommunikationsprofilfamilie 8
(IEC 61784-3-8:2021)

This European Standard was approved by CENELEC on 2021-06-23. CENELEC members are bound to comply with the CEN/CENELEC

Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration.

Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the CEN-CENELEC

Management Centre or to any CENELEC member.

This European Standard exists in three official versions (English, French, German). A version in any other language made by translation

under the responsibility of a CENELEC member into its own language and notified to the CEN-CENELEC Management Centre has the

same status as the official versions.

CENELEC members are the national electrotechnical committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, the Czech Republic,

Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, the

Netherlands, Norway, Poland, Portugal, Republic of North Macedonia, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland,

Turkey and the United Kingdom.
European Committee for Electrotechnical Standardization
Comité Européen de Normalisation Electrotechnique
Europäisches Komitee für Elektrotechnische Normung
CEN-CENELEC Management Centre: Rue de la Science 23, B-1040 Brussels

© 2021 CENELEC All rights of exploitation in any form and by any means reserved worldwide for CENELEC Members.

Ref. No. EN IEC 61784-3-8:2021 E
---------------------- Page: 3 ----------------------
SIST EN IEC 61784-3-8:2021
EN IEC 61784-3-8:2021 (E)
European foreword

The text of document 65C/1083/FDIS, future edition 3 of IEC 61784-3-8, prepared by SC 65C

"Industrial networks" of IEC/TC 65 "Industrial-process measurement, control and automation" was

submitted to the IEC-CENELEC parallel vote and approved by CENELEC as EN IEC 61784-3-8:2021.

The following dates are fixed:

• latest date by which the document has to be implemented at national (dop) 2022-03-23

level by publication of an identical national standard or by endorsement

• latest date by which the national standards conflicting with the (dow) 2024-06-23

document have to be withdrawn

This document supersedes EN 61784-3-8:2017 and all of its amendments and corrigenda (if any).

Attention is drawn to the possibility that some of the elements of this document may be the subject of

patent rights. CENELEC shall not be held responsible for identifying any or all such patent rights.

Endorsement notice

The text of the International Standard IEC 61784-3-8:2021 was approved by CENELEC as a

European Standard without any modification.

In the official version, for Bibliography, the following notes have to be added for the standards

indicated:
IEC 61000-1-2 NOTE Harmonized as EN 61000-1-2
IEC 61000-6-7 NOTE Harmonized as EN 61000-6-7
IEC 61010-2-201 NOTE Harmonized as EN IEC 61010-2-201
IEC 61131-6 NOTE Harmonized as EN 61131-6
IEC 61158-1 NOTE Harmonized as EN IEC 61158-1
IEC 61158-5 (series) NOTE Harmonized as EN 61158-5 (series)
IEC 61496 (series) NOTE Harmonized as EN IEC 61496 (series)
IEC 61508-1:2010 NOTE Harmonized as EN 61508-1:2010 (not modified)
IEC 61508-4:2010 NOTE Harmonized as EN 61508-4:2010 (not modified)
IEC 61508-5:2010 NOTE Harmonized as EN 61508-5:2010 (not modified)
IEC 61784-3 (series) NOTE Harmonized as EN 61784-3 (series)
IEC 61784-5 (series) NOTE Harmonized as EN IEC 61784-5 (series)
IEC 61800-5-2 NOTE Harmonized as EN 61800-5-2
IEC 61918:2018 NOTE Harmonized as EN IEC 61918:2018 (not modified)
IEC 62443 (series) NOTE Harmonized as EN IEC 62443 (series)
ISO 10218-1 NOTE Harmonized as EN ISO 10218-1
ISO 13849 (series) NOTE Harmonized as EN ISO 13849 (series)
ISO 13849-1:2015 NOTE Harmonized as EN ISO 13849-1:2015 (not modified)
ISO 13849-2 NOTE Harmonized as EN ISO 13849-2
---------------------- Page: 4 ----------------------
SIST EN IEC 61784-3-8:2021
EN IEC 61784-3-8:2021 (E)
Annex ZA
(normative)
Normative references to international publications
with their corresponding European publications

The following documents are referred to in the text in such a way that some or all of their content

constitutes requirements of this document. For dated references, only the edition cited applies. For

undated references, the latest edition of the referenced document (including any amendments)

applies.

NOTE 1 Where an International Publication has been modified by common modifications, indicated by (mod),

the relevant EN/HD applies.

NOTE 2 Up-to-date information on the latest versions of the European Standards listed in this annex is

available here: www.cenelec.eu.
Publication Year Title EN/HD Year
IEC 61131-2 - Industrial-process measurement and - -
control - Programmable controllers - Part 2:
Equipment requirements and tests
IEC 61158 series Industrial communication networks - EN IEC 61158 series
Fieldbus specifications
IEC 61158-2 - Industrial communication networks - EN 61158-2 -
Fieldbus specifications - Part 2: Physical
layer specification and service definition
IEC 61158-3-18 - Industrial communication networks - EN 61158-3-18 -
Fieldbus specifications - Part 3-18: Data-
link layer service definition - Type 18
elements
IEC 61158-4-18 - Industrial communication networks - EN 61158-4-18 -
Fieldbus specifications - Part 4-18: Data-
link layer protocol specification - Type 18
elements
IEC 61158-5-18 - Industrial communication networks - EN 61158-5-18 -
Fieldbus specifications - Part 5-18:
Application layer service definition - Type
18 elements
IEC 61158-5-23 - Industrial communication networks - EN IEC 61158-5-23 -
Fieldbus specifications - Part 5-23:
Application layer service definition - Type
23 elements
IEC 61158-6-18 - Industrial communication networks - EN 61158-6-18 -
Fieldbus specifications - Part 6-18:
Application layer protocol specification -
Type 18 elements
IEC 61158-6-23 - Industrial communication networks - EN IEC 61158-6-23 -
Fieldbus specifications - Part 6-23:
Application layer protocol specification -
Type 23 elements
---------------------- Page: 5 ----------------------
SIST EN IEC 61784-3-8:2021
EN IEC 61784-3-8:2021 (E)
Publication Year Title EN/HD Year
IEC 61326-3-1 - Electrical equipment for measurement, EN 61326-3-1 -
control and laboratory use - EMC
requirements - Part 3-1: Immunity
requirements for safety-related systems
and for equipment intended to perform
safety-related functions (functional safety) -
General industrial applications
IEC 61326-3-2 - Electrical equipment for measurement, EN IEC 61326-3-2 -
control and laboratory use - EMC
requirements - Part 3-2: Immunity
requirements for safety-related systems
and for equipment intended to perform
safety-related functions (functional safety) -
Industrial applications with specified
electromagnetic environment
IEC 61508 series Functional safety of EN 61508 series
electrical/electronic/programmable
electronic safety-related systems
IEC 61511 series Functional safety - Safety instrumented EN 61511 series
systems for the process industry sector -
IEC 61784-1 - Industrial communication networks - EN IEC 61784-1 -
Profiles Part 1: Fieldbus profiles
IEC 61784-2 - Industrial communication networks - EN IEC 61784-2 -
Profiles - Part 2: Additional fieldbus profiles
for real-time networks based on
ISO/IEC/IEEE 8802-3
IEC 61784-3 2021 Industrial communication networks - EN IEC 61784-3 2021
Profiles - Part 3: Functional safety
fieldbuses - General rules and profile
definitions
IEC 62061 - Safety of machinery - Functional safety of EN IEC 62061 -
safety-related control systems
ISO/IEC/IEEE 8802-3 - Information technology - - -
Telecommunications and information
exchange between systems - Local and
metropolitan area networks - Specific
requirements - Part 3: Standard for
Ethernet
---------------------- Page: 6 ----------------------
SIST EN IEC 61784-3-8:2021
IEC 61784-3-8
Edition 3.0 2021-05
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Industrial communication networks – Profiles –
Part 3-8: Functional safety fieldbuses – Additional specifications for CPF 8
Réseaux de communication industriels – Profils –
Partie 3-8: Bus de terrain de sécurité fonctionnelle – Spécifications
supplémentaires pour CPF 8
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
INTERNATIONALE
ICS 25.040.40; 35.100.05 ISBN 978-2-8322-9751-3

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: 7 ----------------------
SIST EN IEC 61784-3-8:2021
– 2 – IEC 61784-3-8:2021  IEC 2021
CONTENTS

FOREWORD ........................................................................................................................... 7

0 Introduction ..................................................................................................................... 9

0.1 General ................................................................................................................... 9

0.2 Patent declaration ................................................................................................. 11

1 Scope ............................................................................................................................ 12

2 Normative references .................................................................................................... 12

3 Terms, definitions, symbols, abbreviated terms and conventions ................................... 13

3.1 Terms and definitions ............................................................................................ 13

3.1.1 Common terms and definitions ....................................................................... 14

3.1.2 CPF 8: Additional terms and definitions ......................................................... 20

3.2 Symbols and abbreviated terms ............................................................................ 21

3.2.1 Common symbols and abbreviated terms ....................................................... 21

3.2.2 CPF 8: Additional symbols and abbreviated terms ......................................... 22

3.3 Conventions .......................................................................................................... 22

4 Overview ....................................................................................................................... 22

5 General ......................................................................................................................... 22

6 Safety communication layer services ............................................................................. 22

7 Safety communication layer protocol ............................................................................. 23

8 Safety communication layer management ...................................................................... 23

9 System requirements ..................................................................................................... 23

10 Assessment ................................................................................................................... 23

11 FSCP 8/1 ....................................................................................................................... 23

11.1 Scope – FSCP 8/1 ................................................................................................ 23

11.2 Normative references – FSCP 8/1 ......................................................................... 23

11.3 Terms, definitions, symbols, abbreviated terms and conventions – FSCP 8/1 ........ 23

11.4 Overview of FSCP 8/1 (CC-Link Safety™) ............................................................. 23

11.5 General – FSCP 8/1 .............................................................................................. 24

11.5.1 External documents providing specifications for the profile ............................ 24

11.5.2 Safety functional requirements ...................................................................... 24

11.5.3 Safety measures ............................................................................................ 24

11.5.4 Safety communication layer structure ............................................................ 26

11.5.5 Relationships with FAL (and DLL, PhL) .......................................................... 27

11.6 Safety communication layer services for FSCP 8/1 ............................................... 27

11.6.1 General ......................................................................................................... 27

11.6.2 SASEs ........................................................................................................... 27

11.6.3 SARs ............................................................................................................. 28

11.6.4 Process data SAR ASEs ................................................................................ 29

11.7 Safety communication layer protocol for FSCP 8/1 ................................................ 30

11.7.1 Safety PDU format ......................................................................................... 30

11.7.2 State description ............................................................................................ 38

11.8 Safety communication layer management for FSCP 8/1 ........................................ 43

11.8.1 General ......................................................................................................... 43

11.8.2 Connection establishment and confirmation processing ................................. 43

11.8.3 Safety slave verification ................................................................................. 43

11.9 System requirements for FSCP 8/1 ....................................................................... 44

---------------------- Page: 8 ----------------------
SIST EN IEC 61784-3-8:2021
IEC 61784-3-8:2021  IEC 2021 – 3 –

11.9.1 Indicators and switches ................................................................................. 44

11.9.2 Installation guidelines .................................................................................... 45

11.9.3 Safety function response time ........................................................................ 45

11.9.4 Duration of demands ..................................................................................... 47

11.9.5 Constraints for calculation of system characteristics ...................................... 47

11.9.6 Maintenance .................................................................................................. 47

11.9.7 Safety manual ............................................................................................... 47

11.10 Assessment for FSCP 8/1 ..................................................................................... 47

12 FSCP 8/2 ....................................................................................................................... 48

12.1 Scope – FSCP 8/2 ................................................................................................ 48

12.2 Normative references – FSCP 8/2 ......................................................................... 48

12.3 Terms, definitions, symbols, abbreviated terms and conventions – FSCP 8/2 ........ 48

12.4 Overview of FSCP 8/2 (CC-Link IE™ Safety communication function) ................... 48

12.5 General – FSCP 8/2 .............................................................................................. 48

12.5.1 External documents providing specifications for the profile ............................ 48

12.5.2 Safety functional requirements ...................................................................... 49

12.5.3 Safety measures ............................................................................................ 49

12.5.4 Safety communication layer structure ............................................................ 54

12.5.5 Relationships with FAL (and DLL, PhL) .......................................................... 55

12.6 Safety communication layer services for FSCP 8/2 ............................................... 55

12.6.1 General ......................................................................................................... 55

12.6.2 Connection reestablishment services ............................................................. 55

12.6.3 Data transmission services ............................................................................ 56

12.6.4 Connection termination notification services .................................................. 57

12.7 Safety communication layer protocol for FSCP 8/2 ................................................ 57

12.7.1 Safety PDU format ......................................................................................... 57

12.7.2 Safety FAL service protocol machine (SFSPM) .............................................. 64

12.8 Safety communication layer management for FSCP 8/2 ........................................ 90

12.8.1 Parameter Definitions .................................................................................... 90

12.8.2 Parameter Setup ........................................................................................... 94

12.8.3 Management Services ................................................................................... 95

12.9 System requirements for FSCP 8/2 ....................................................................... 98

12.9.1 Indicators and switches ................................................................................. 98

12.9.2 Installation guidelines .................................................................................. 100

12.9.3 Safety function response time ...................................................................... 100

12.9.4 Duration of demands ................................................................................... 101

12.9.5 Constraints for calculation of system characteristics .................................... 101

12.9.6 Maintenance ................................................................................................ 102

12.9.7 Safety manual ............................................................................................. 102

12.10 Assessment for FSCP 8/2 ................................................................................... 103

Annex A (informative) Additional information for functional safety communication

profiles of CPF 8 ................................................................................................................. 104

A.1 Hash function calculation for FSCP 8/1 ............................................................... 104

A.2 Hash function calculation for FSCP 8/2 ............................................................... 104

A.3 Meaning of response time calculation formula for FSCP 8/2 ................................ 105

Annex B (informative) Information for assessment of the functional safety

communication profiles of CPF 8......................................................................................... 107

Bibliography ........................................................................................................................ 108

---------------------- Page: 9 ----------------------
SIST EN IEC 61784-3-8:2021
– 4 – IEC 61784-3-8:2021  IEC 2021

Figure 1 – Relationships of IEC 61784-3 with other standards (machinery) ............................. 9

Figure 2 – Relationships of IEC 61784-3 with other standards (process) ............................... 10

Figure 3 – Relationship between SCL and the other layers of IEC 61158 Type 18 ................. 27

Figure 4 – State diagram ...................................................................................................... 39

Figure 5 – Detection of unintended repetition ........................................................................ 51

Figure 6 – Detection of incorrect sequence ........................................................................... 51

Figure 7 – Detection of loss .................................................................................................. 52

Figure 8 – Detection of unacceptable delay by time stamps .................................................. 53

Figure 9 – Detection of unacceptable delay by timer ............................................................. 53

Figure 10 – Protocol Hierarchy.............................................................................................. 54

Figure 11 – Safety PDU Structure ......................................................................................... 58

Figure 12 – CTRL Configuration ............................................................................................ 59

Figure 13 – SASE-M and SASE-S TS ................................................................................... 62

Figure 14 – S-Data during safety refresh .............................................................................. 62

Figure 15 – S-Data not during safety refresh ......................................................................... 63

Figure 16 – S-Data header configuration ............................................................................... 63

Figure 17 – CRC calculation ................................................................................................. 64

Figure 18 – Communication models ...................................................................................... 64

Figure 19 – SFSPM state transition diagram ......................................................................... 65

Figure 20 – Connection establishment sequence .................................................................. 67

Figure 21 – Optional sequence during connection establishment sequence .......................... 68

Figure 22 – Communication sequence during safety refresh communication ......................... 68

Figure 23 – Offset measurement and generation sequence during safety refresh

communication ...................................................................................................................... 69

Figure 24 – SFSPM-M state transition diagram ..................................................................... 70

Figure 25 – Sequence other than during safety refresh ......................................................... 74

Figure 26 – S-Connect-req .................................................................................................... 74

Figure 27 – S-InitConfirmNetPrm-req .................................................................................... 75

Figure 28 – net_prm_list ....................................................................................................... 75

Figure 29 – S-InitVerifyStnPrm-req ....................................................................................... 75

Figure 30 – stn_prm_list ....................................................................................................... 76

Figure 31 – S-InvokeFunc-req ............................................................................................... 76

Figure 32 – S-WriteErrorInfo-req ........................................................................................... 77

Figure 33 – date_and_time_of_occurence ............................................................................. 78

Figure 34 – SFSPM-S state transition diagram ...................................................................... 79

Figure 35 – Sequence other than during safety refresh ......................................................... 84

Figure 36 – S-Connect-rsp .................................................................................................... 84

Figure 37 – S-InitConfirmNetPrm-rsp .................................................................................... 85

Figure 38 – S-InitVerifyStnPrm-rsp ....................................................................................... 85

Figure 39 – S-InvokeFunc-rsp ............................................................................................... 86

Figure 40 – Offset calculation procedure of safety clock ....................................................... 87

Figure 41 – Relationship between transmission interval fluctuation and

transmission_interval ............................................................................................................ 91

Figure 42 – Calculation of allowable_refresh_interval ........................................................... 93

---------------------- Page: 10 ----------------------
SIST EN IEC 61784-3-8:2021
IEC 61784-3-8:2021  IEC 2021 – 5 –

Figure 43 – Calculation of allowable_delay ........................................................................... 94

Figure 44 – Calculation of response time between safety PLCs .......................................... 100

Figure 45 – Constraints on N and m ............................................................................... 102

Figure A.1 – Allowable_delay and offset calculation deviation ............................................. 105

Table 1 – Selection of the various measures for possible errors ............................................ 25

Table 2 – M1 safety device manager attribute format ............................................................ 31

Table 3 – S1 safety device manager attribute format............................................................. 31

Table 4 – M1 safety connection manager attribute format ..................................................... 31

Table 5 – S1 safety connection manager attribute format ...................................................... 31

Table 6 – M1 safety cyclic transmission attribute format ....................................................... 32

Table 7 – S1 safety cyclic transmission attribute format ........................................................ 33

Table 8 – M1 safety device manager attribute encoding ........................................................ 33

Table 9 – S1 safety device manager attribute encoding ........................................................ 34

Table 10 – M1 safety connection manager attribute encoding ............................................... 34

Table 11 – S1 safety connection manager attribute encoding ................................................ 34

Table 12 – M1 safety cyclic transmission attribute encoding ................................................. 35

Table 13 – S1 safety cyclic transmission attribute encoding .................................................. 37

Table 14 – Safety master monitor timer operation ................................................................. 41

Table 15 – Safety slave monitor timer operation ................................................................... 41

Table 16 – Safety data monitor timer operation ..................................................................... 41

Table 17 – Details of connection establish
...

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