io-link safety integration into fscp...io-link safety integration into fscp exemplary integration...

IO-Link Safety Integration into FSCP

Exemplary integration into

FSCP-3 (IEC 61784-3-3)

White Paper

Draft Version 0.9.0 February 2019

Order No: 10.102

IOL-Safety ‒ Integration into FSCP Version 1.0 _________________________________________________________________________________________________________

_________________________________________________________________________________________________________ © Copyright IO-Link Community 2019 - All Rights Reserved of 22

File name: IOL-Safety_IntegrationIntoFSCP_10102_V10_Feb19.doc

This specification has been prepared by the IO-Link Safety technology subgroup. This version incorporates now the Standardized Master Interface (SMI) and created minor changes to the SPDU format.

Any comments, proposals, requests on this document are appreciated through the IO-Link CR database www.io-link-projects.com. Please provide name and email address. Login: IOLS-IntFSCP-V10 Password: Report

Important notes:

NOTE 1 The IO-Link Community Rules shall be observed prior to the development and marketing of IO-Link products. The document can be downloaded from the www.io-link.com portal.

NOTE 2 Any IO-Link device shall provide an associated IODD file. Easy access to the file and potential updates shall be possible. It is the responsibility of the IO-Link device manufacturer to test the IODD file with the help of the IODD-Checker tool available per download from www.io-link.com.

NOTE 3 Any IO-Link devices shall provide an associated manufacturer declaration on the conformity of the device with this specification, its related IODD, and test documents, available per download from www.io-link.com.

Disclaimer:

The attention of adopters is directed to the possibility that compliance with or adoption of IO-Link Community specifications may require use of an invention covered by patent rights. The IO-Link Community shall not be responsible for identifying patents for which a license may be required by any IO-Link Community specification, or for conducting legal inquiries into the legal validity or scope of those patents that are brought to its attention. IO-Link Community specifications are prospective and advisory only. Prospective users are responsible for protecting themselves against liability for infringement of patents.

The information contained in this document is subject to change without notice. The material in this document details an IO-Link Community specification in accordance with the license and notices set forth on this page. This document does not represent a commitment to implement any portion of this specification in any company's products.

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In no event shall the IO-Link Community be liable for errors contained herein or for indirect, incidental, special, consequential, reliance or cover damages, including loss of profits, revenue, data or use, incurred by any user or any third party. Compliance with this specification does not absolve manufacturers of IO-Link equipment, from the requirements of safety and regulatory agencies (TÜV, BIA, UL, CSA, etc.).

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Conventions:

In this specification the following key words (in bold text) will be used: may: indicates flexibility of choice with no implied preference. should: indicates flexibility of choice with a strongly preferred implementation. shall: indicates a mandatory requirement. Designers shall implement such mandatory requirements to ensure

interoperability and to claim conformity with this specification. Publisher: IO-Link Community c/o PROFIBUS Nutzerorganisation e.V. Haid-und-Neu-Str. 7 76131 Karlsruhe Germany Phone: +49 721 / 96 58 590 Fax: +49 721 / 96 58 589 E-mail: [email protected] Web site: www.io-link.com © 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 the publisher.

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White paper: IO-Link Safety@FSCP-3 – 3 – Draft V0.9.0

CONTENTS

0 Introduction....................................................................................................................... 5 0.1 Functional safety applications ................................................................................. 5 0.2 IO-Link Safety ......................................................................................................... 5 0.3 Functional Safety Communication Profiles (FSCP) .................................................. 5 0.4 Patents ................................................................................................................... 5

1 Objectives and management summary ............................................................................ 5 1.1 IO-Link (Safety) integration into CPF3/FSCP-3 ....................................................... 5 1.2 Gateway from IO-Link Safety to FSCP-3 ................................................................. 6 1.3 Uniform basic system behavior ............................................................................... 7 1.4 Reference model for other integrations ................................................................... 7 1.5 Responsibilities ....................................................................................................... 7

1.5.1 Organizations .................................................................................................. 7 1.5.2 Assessment ..................................................................................................... 7

2 Status of safety layers ..................................................................................................... 7 2.1 FSCP-3 ................................................................................................................... 7 2.2 IO-Link Safety with SMI .......................................................................................... 7

3 Extensions of the "Linking module" model ....................................................................... 8 3.1 System requirements of IO-Link Safety ................................................................... 8 3.2 Linking Module (B) for IO-Link Safety ...................................................................... 9 3.3 Classification and identification ............................................................................. 10 3.4 IOLM proxy (safety) .............................................................................................. 10 3.5 IOLD proxy (safety) ............................................................................................... 10 3.6 Start-up record (GSD parameter) .......................................................................... 10

3.6.1 FSCP-3 F-Parameter ..................................................................................... 10 3.6.2 IO-Link Safety Port configuration ................................................................... 10

3.7 Port configuration ................................................................................................. 11 3.7.1 Concept ......................................................................................................... 11 3.7.2 CPF3 Port configuration (PN-PC) .................................................................. 11 3.7.3 IO-Link tool based Port configuration (IOL-PC) .............................................. 11

3.8 Extended Port start-up .......................................................................................... 13 3.9 Exceptional operations .......................................................................................... 13

4 Mapping Application ...................................................................................................... 13 4.1 General ................................................................................................................. 13 4.2 CPF3 Life Cycle Manager ..................................................................................... 14 4.3 Safety Process Data mapping ............................................................................... 15

4.3.1 FSCP-3 Codename assignment ..................................................................... 15 4.3.2 Multi FSCP-3 instance ................................................................................... 15 4.3.3 Single FSCP-3 instance ................................................................................. 15 4.3.4 Predefined FSCP-3 I/O data container (FS_Struct) ........................................ 16

4.4 Mapping of Safety Communication Layers (SCL) .................................................. 16 4.4.1 Overview ....................................................................................................... 16 4.4.2 General FS-Device ........................................................................................ 17 4.4.3 HUB FS-Device ............................................................................................. 17 4.4.4 OSSD FS-Device ........................................................................................... 18

4.5 Qualifier ................................................................................................................ 19 4.5.1 Motivation ...................................................................................................... 19


4.5.2 Coding and overall acknowledgment mechanisms ......................................... 19 4.6 Timeliness (watchdog timer and mapping) ............................................................ 20

Bibliography ........................................................................................................................ 21 Figure 1 – IO-Link (Safety) integration into CPF3/FSCP-3 ....................................................... 6 Figure 2 – Gateway from IO-Link Safety to FSCP-3 ................................................................ 6 Figure 3 – System overview .................................................................................................... 8 Figure 4 – InBuffer and FSInBuffer ......................................................................................... 8 Figure 5 – Linking Module (B) for IO-Link Safety ..................................................................... 9 Figure 6 – Restricted Port configuration paths for safety ....................................................... 11 Figure 7 – Overview of entire Linking Module........................................................................ 14 Figure 8 – Structure of the Mapping Application .................................................................... 14 Figure 9 – Concept of multi FSCP-3 instance mapping ......................................................... 15 Figure 10 – Motivation for single FSCP-3 instance mapping.................................................. 15 Figure 11 – Concept of single FSCP-3 instance mapping ...................................................... 16 Figure 12 – Location of FSCP-3 and IO-Link Safety SCLs ..................................................... 16 Figure 13 – General SCL combination for FS-Devices .......................................................... 17 Figure 14 – SCL combination for HUB FS-Devices ................................................................ 18 Figure 15 – SCL combination for OSSD FS-Devices ............................................................. 18 Figure 16 – FS-Master with Ports for several safety functions ............................................... 19 Figure 17 – Arrangement of Qualifiers for different IO data structures ................................... 19 Figure 18 – Overall ChannelFault Acknowledgment .............................................................. 20 Table 1 – SubmoduleIdentNumbers for IOLD_proxy (Safety) ................................................ 10 Table 2 – FSPortConfigList for FSCP-3 mapping .................................................................. 11


0 Introduction 1

0.1 Functional safety applications 2

So far, many functional safety applications are still using basic electromechanical equipment 3 such as E-Stop buttons or switches and relays connected to functional safety input and output 4 modules in remote I/O that are communicating with functional safety PLCs. Thus, 5 digitalization is already realized within the safety world, but not for the "last" meter. 6

On the other hand, new applications such as autonomous systems like automated guided 7 vehicles and manufacturing cells as well as service or collaborative robotics in industries 8 (Cobots) show an increasing demand for example in 9

• new sensor technologies (e.g. Radar, Lidar, distance, strain, torque, stress); 10

• new kind of sensor functions (e.g. classification of objects, position of an object); 11

• combination of different sensor technologies in one sensor system. 12

IO-Link and IO-Link Safety provide the necessary technologies to meet the requirements of 13 such use cases in an elegant and cheap manner. 14

0.2 IO-Link Safety 15

The base technology of IO-Link™1 is subject matter of the international standard IEC 61131-9 16 (see [1]). The IO-Link Safety specification describes a conceptual model for functional safe 17 communication across IO-Link communication serving as "black channel" together with the 18 necessary infrastructure for parameterization of the safety communication layer and the 19 technology of FS-Devices using IODD safety extensions and dedicated tools. 20

The IO-Link Safety specification has been developed by a working group with engineers of 21 renowned companies within the IO-Link Community, which in turn is an independent 22 subdivision of the legal entity PROFIBUS Nutzerorganisation e.V. 23

It describes a simple and efficient functional safety communication for safety sensors, 24 actuators, and mechatronic components requiring safety input and output data. Unshielded 25 flexible cables with signal and power supply lines allow for smallest size solutions. 26

0.3 Functional Safety Communication Profiles (FSCP) 27

IEC 61158 specifies many fieldbus solutions for industrial automation all over the world. In the 28 meantime, quite a number of them provide functional safety communication profiles (FSCP) 29 running on top of those fieldbuses. They are standardized within the IEC 61784-3 series. 30

The IO-Link Safety solution is a point-to-point communication solution and not designed for a 31 particular fieldbus. It requires individual integration into these FSCPs if requested. This 32 document covers integration into CPF3 and FSCP-3. 33

0.4 Patents 34

Patents in [5], [2], and [3] apply. 35

1 Objectives and management summary 36

1.1 IO-Link (Safety) integration into CPF3/FSCP-3 37

Figure 1 shows the entire IO-Link system environment for CPF3 and FSCP-3. The new 38 Standardized Master Interface (SMI) on top of the FS-Master simplifies the integration effort 39 and illustrates the "Black Channel" approach of IO-Link Safety. Only a few non-safety related 40 modifications of the standard Master are building the basis for the integration into CPF3 and 41 FSCP-3 (see [3]): 42

1 IO-LinkTM is a trade name of the "IO-Link Community". This information is given for the convenience of users of

this specification and does not constitute an endorsement by the IO-Link Community of the trade name holder or any of its products. Compliance to this standard does not require use of the registered logos for IO-LinkTM. Use of the registered logos for IO-LinkTM requires permission of the "IO-Link Community".


• Detection of the READY pulse prior to the Wake-up, and 43

• Splitter / Composer of the process data message (safety / non-safety). 44

45

Figure 1 – IO-Link (Safety) integration into CPF3/FSCP-3 46

IO-Link Safety integration is based on definitions in clause 5.2 of [4] and thus uses the Linking 47 Module concept type "B" as specified in clause 3 within this document. 48

Version 1.1 of IO-Link Safety is only suitable for wired Port communication. 49

Content of this document follows the structure of clause 6 "Model of the Linking Module" and 50 clause 7 "Mapping Application" in [4]. 51

In case of FS-Master with Port capability "OSSDe", a separate "FS-DI"-unit is required within 52 the gateway layer (see Figure 2). 53

1.2 Gateway from IO-Link Safety to FSCP-3 54

Figure 2 illustrates via the yellow marked fields, how the Mapping Application layer in [4] is 55 extended by the safety-related integration parts "FSCP-3 driver", "FS-IO mapping", "IO-Link 56 Safety driver", and the optional "FS-DI driver" for support of safety devices using the OSSDe 57 interface. 58

59

Figure 2 – Gateway from IO-Link Safety to FSCP-3 60

Device

Application

FS-Device

Application

Data storage

Parameter server

IO-Link

PLC/FS-PLC/OPC-UA

Fieldbusintegration

Device description

Port

Engineering:- configuration,- parameterization,- process data- diagnosis,- identification &maintenance

Port Port

Device description

DedicatedTool

Internet, IT,Browser

e.g. XML, JSON

Air interface

W-Device

Application

Pairingbutton

Air interface

Device description

KeyGA Gateway ApplicationJSON Javascript Object NotationOPC-UA Open Platform Communications

Universal ArchitectureUDP User Datagram ProtocolXML Extensible Markup Language

Ethernet

Master Tool:(PDCT/IODD):- configuration,- parameterization,- process data- diagnosis,- identification & maintenance

UDPWebserver OPC-UA

Gatewaymanagement

Client: Embedded

Client: Gateway Application (GA)

Client:GA

Standardized Master Interface (SMI)

Master / FS-Master / W-Master

CPF3/FSCP-3

CPF3/FSCP-3

Client:Integrationinto PN/PS

Air interface

CPF3

Gateway to FS-PLC and to FS-Master Tool(Mapping Application)

FSCP-3


ConfigurationManager

(Parameter)Data

Storage

AcyclicData

Exchange

DiagnosisUnit

FS-IO mapping

IO-Link Safety(COM)

FS-DI(OSSDe)

Splitter/Composer

Cyclic ProcessData Exchange

Master layers

FS-PLC(Functional

safecontroller)

FS-Master Tool(Configuration & Parameterization)


NOTE It should be noted that the above mentioned safety-related parts do not represent a complete stack for 61 implementation. In order to perform an IO-Link Safety protocol test, a so-called Upper Tester layer shall 62 be considered for the design according to [6]. 63

Four different FS-IO mapping configurations for FS-Masters are possible and specified in this 64 document (see 4.4): 65

• Non-safety operations (FS-Master Port with standard Device); 66

• IO-Link Safety communication with FS-Device (submodule passivation); 67

• IO-Link Safety communication with FS-IO-Hub (channel specific passivation); 68

• FS-DI operation (channel specific passivation). 69

1.3 Uniform basic system behavior 70

It was one of the intentions of the new Standadized Master Interface within the 71

• "IO-Link Interface and System" specification [2], 72

• "IO-Link Safety – System Extensions with SMI" specification [3], and 73

• "IO-Link Integration for CPF3" specification, Edition 2, dV1.1 [4] 74

to achieve a higher degree of uniform basic system behavior and to provide means for the 75 integration of IO-Link Safety allowing for safety assessments already early at specification 76 stage for all projects and not at the implementation stage. This will reduce effort and time. 77

"Basic" means a specified level of functionality all FS-Master and CPF3/FSCP-3-Gateway 78 systems shall provide. There is room for manufacturers/vendors beyond this common level for 79 individual features to meet customer requirements. 80

1.4 Reference model for other integrations 81

It is an objective for IO-Link Safety to achieve a worldwide acceptance in automation. Thus, it 82 is obvious that integrations into other fieldbuses and FSCPs are essential. This document is 83 meant to be a design guideline for CPF3/FSCP-3 integration designers and to be a reference 84 model for designers of integration documents for other fieldbuses and FSCPs. 85

1.5 Responsibilities 86

1.5.1 Organizations 87

It is the responsibility of PNO to take care of an efficient and correct integration concept, 88 especially through the IO-Link integration working group and the FSCP-3 working group. The 89 IO-Link integration working group takes the lead of the necessary activities. It is planned to 90 transfer most of the content of this document to Annex A in [4]. 91

It is the responsibility of the IO-Link Community to consider efficient integratability and to 92 provide the necessary support. 93

1.5.2 Assessment 94

It is the joint responsibility of the FSCP-3 working group and the IO-Link Safety working group 95 to arrange for a concept assessment of this document by an assessment body. Corresponding 96 activities are funded by PNO. 97

2 Status of safety layers 98

2.1 FSCP-3 99

Basis for the designs in this document is the "FSCP-3" specification in [5]. FSCP-3 driver 100 stacks are available from several vendors (see www.profibus.com). 101

2.2 IO-Link Safety with SMI 102

Basis for the designs in this document is the "IO-Link Safety" specification in [3]. IO-Link 103 Safety driver stacks are available from different vendors (see www.io-link.com). 104

http://www.profibus.com/



3 Extensions of the "Linking module" model 105

3.1 System requirements of IO-Link Safety 106

Figure 3 illustrates the components and technologies involved in this integration project. 107

108

Figure 3 – System overview 109

The CPF3 domain comprises safety IO controller supporting FSCP-3 communications and 110 engineering systems using GSD for safety IO devices. A particular class of IO devices are 111 safety Linking Modules (B) that build "links" (gateway) to the IO-Link Safety system consisting 112 of FS-Master and FS-Devices as well as non-safety Devices. 113

Thus, IO-Link Safety provides mixed messages with a Safety PDU (SPDU) as first transmitted 114 part and an attached non-safety related IO data part. For example in case of a received 115 message, a splitter cares for separation of the two parts and storage of the SPDU within an 116 "FSInBuffer" and the non-safety data within the "InBuffer" as shown in Figure 4 and already 117 specified in [3]. 118

119

Figure 4 – InBuffer and FSInBuffer 120

IO controllerEngineering System

IO-Link PDCT

IODD(Device,FS-Device)

IO supervisor

CPF3/FSCP-3

CPF3 domain

IO-Link domain

Off-site commissioning

PNIO

IO-Link

IO-Link

Linking Module (B)"safety"

FS-Devices/Devices

IO device

Port 1Port 2

Port 3

Port 4

FS-Master

Proc

ess

Dat

a In

7 PQI 0

Inpu

t dat

a

SMI_PDIn(Process Data In)

Inpu

t dat

ale

ngth

DI_

C/Q

InBuffer

PQI

PQ

AL_Control(PDin valid, invalid)

SMI_PortStatus

Bit 7 Bit 0

Get signal status(DI_C/Q)

ArgBlockID=0x1001

0

n

Arg

Blo

ckLe

ngth

Safe

tyPD

U In

SPD

U

AL_GetInput(SR + NSR data)

SMI_SPDUIn(Safety PDU In)

SP

DU

InLe

ngth

DI_

Pins

Bit 7 Bit 0

Get signal status(DI_C/Q and I/Q)

ArgBlockID=0x1004

0

m

Arg

Blo

ckLe

ngth

Proc

ess

Dat

a Ex

chan

ge S

plitt

er

FSInBuffer

KeyPQ Port QualifierPQI Port Qualifier Information

FS-P

Din

PortN

umSt

atus

CR

CN

on s

afet

yPD

inIO-Link Message


Additional SMI services and extended ArgBlocks for existing SMI services such as for Port 121 configuration are defined for IO-Link Safety to care for these augmented features (see [2] for 122 details). 123

3.2 Linking Module (B) for IO-Link Safety 124

The basic "Linking Module (A)" concept is specified in [4]. The "Linking Module (B)" concept 125 encapsulates the entire IO-Link safety-related (SR) and non safety-related (NSR) data objects 126 and functions of an IO-Link FS-Master system into one CPF3 slot but not in one subslot. 127

As a consequence, this means for the top level concept: 128

• The entire IO-Link FS-Master system shall be mapped into one slot k with k = 1 to 32767. 129

• The FS-Master itself shall be mapped into two appropriate IOLM proxy submodules, one in 130 subslot x of slot k as defined in [4] and a second one in subslot x+1 for single bit FS-131 signals + Qualifiers such as from Ports with single bit Inputs or OSSDe operation. 132

• The FS-Devices shall be mapped each into two appropriate IOLD proxy submodules, one 133 in subslot x+2, x+4, and etc. of slot k as defined in [4] and a second one in subslot x+3, 134 x+5, and etc. for safety PDin and safety PDout. 135

Figure 4 demonstrates the mapping of IO-Link Safety system data objects and functions into 136 CPF3 slot and subslots. Each IOLM/IOLD proxy can have up to two submodules. 137

138

Figure 5 – Linking Module (B) for IO-Link Safety 139

In general, the rules in [4] apply. Additional or modified rules apply for Linking Modules (B): 140

• It is manufacturer's/vendor's responsibility to assign subslots. However, it is recommended 141 to start with subslot "x" and "x+1" for the IOLM proxies followed by n subslots representing 142 the IO-Link Ports. 143

• The IOLM proxy "x" represents the FS-Master functionality and the access point of the 144 PDCT interface as defined in [4]. 145

• The IOLM proxy "x+1" represents all single safety signal bits from Ports with OSSDe 146 support ("FS-DI") or safety communication. These signals together with Qualifier bits are 147 mapped to one FSCP-3 instance with its unique Codename (message) in a fixed order: 148 signal bit 1 to Port 1, signal bit "p" to Port "p". Rules for Qualifiers are specified in 4.5. 149

FS-DeviceFS-Device (Hub)

Slot k Linking Module (B)

Input

Output

FS-Master

Subslot x+5: IOLD proxy

Safety PDin

Safety PDout

Identification

Channel diagnosis

Alarms

Start-up Record

RecordData

I&M data


Subslot x+1: IOLM proxy

Single bit signals+Q



Subslot x: IOLM proxy

DI signals

DO signals



FS-Device (OSSDe)

Safety PDin

Safety PDout

PDin

PDout

ModuleIdentNumber

SubmoduleIDSubmoduleID SubmoduleID SubmoduleID SubmoduleID SubmoduleID SubmoduleID SubmoduleID

API = 0x4E01 API = 0x4E01 API = 0x4E01 API = 0x4E01 API = 0x4E01 API = 0x4E01 API = 0x4E01 API = 0x4E01

Port Port Port


• The IOLD submodules in slots x+2, x+4, and etc. represent the proxy for the FS-Device/ 150 Device and NSR IO data are mapped as defined in [4]. 151

• The IOLD submodules in slots x+3, x+5, and etc. represent the proxy for the safety part of 152 an FS-Device. SR IO data are mapped to one FSCP-3 instance with its unique Codename 153 (message). 154

Clause 7 in [4] provides more details of the individual CPF3 aspects such as identification, 155 input/output data, channel diagnosis, alarms, start-up, and I&M. 156

3.3 Classification and identification 157

VendorID, DeviceID, ModuleIdentNumber, and SubmoduleIdentNumber are used for the 158 identification of Linking Modules. All of them are manufacturer/vendor specific as defined in 159 [4]. However, recommendations exist for the classification of IOLM and IOLD proxies with 160 identical characteristics of IO data structures, diagnosis, and start-up parameters. 161

Table 1 shows the coding for functional safety Devices with mapping to FSCP-3. 162

Table 1 – SubmoduleIdentNumbers for IOLD_proxy (Safety) 163

SubmoduleIdentNumber Coding IOLD proxy submodule

Octet 2,3 0x5000 to 0x5FFF

Tools shall display the following groups within their Device libraries: ♦ IOL FS-Proxies (COM) ♦ IOL FS-Proxies (1 In)

Octet 1 0x00 to 0x20 Output length of IOLD proxy Submodule (0 to 32 octets)

0x81 Reserved

All other Reserved

Octet 0 0x00 to 0x21 Input length of IOLD proxy Submodule (0 to 33 octets)

0x81 Digital Input (FS-DI)

All other Reserved

164

3.4 IOLM proxy (safety) 165

Features of the basic IOLM proxy are defined in clause 6.4 of [4]. The IOLM safety proxy 166 provides an extended catalog display to the user (see Figure 11): 167

• Collection of Ports with single bit safety signals via OSSD or safety COM. 168

Mapping method is illustrated in Figure 11. 169

3.5 IOLD proxy (safety) 170

Features of the basic IOLD proxy are defined in clause 6.5 of [4]. The IOLD safety proxy 171 provides an extended catalog display to the user (see Figure 9): 172

• Ports with safety IO data > 1 single bit. 173

Mapping method is illustrated in Figure 9. 174

3.6 Start-up record (GSD parameter) 175

3.6.1 FSCP-3 F-Parameter 176

The F-Parameters of the (safety) Linking Module (B) are layed down in its GSD file. It 177 contains also possible F-IO data structure containers for the mapping of IO-Link Safety IO 178 data. A designer is responsible for the coding according to the rules specified in [5]. 179

3.6.2 IO-Link Safety Port configuration 180

A Dedicated Tool is required for the configuration and parameterization of FS-Master and FS-181 Device. Thus, GSD based support as provided in [4] for a non safety-related operation is not 182 defined yet. 183


3.7 Port configuration 184

3.7.1 Concept 185

IO-Link Safety integration follows the concept specified in [4]. Figure 6 shows the data paths 186 within this concept. 187

The safety-related Submodules within the IOLM proxy and the IOLD proxy receive the FSCP-188 3 F-Parameters at start-up from the IO-Controller. The FSCP-3 specification in [5] describes 189 the F-IO data structure within the GSD and secures this description by the F-Parameter 190 "F_IO_StructureDescCRC". The GSD for the "Linking Module" shall provide a number of 191 reasonable F-IO container ("FS_Structx", see Figure 9 and Figure 11) the user can chose 192 from. 193

Due to the restrictions mentioned in 3.6.2, Port configuration (safety) via GSD and start-up 194 from IO controller is not possible or not yet defined. 195

196

Figure 6 – Restricted Port configuration paths for safety 197

3.7.2 CPF3 Port configuration (PN-PC) 198

The parameter "PortConfigurationMode" shall be set to "Tool based configuration" within the 199 PN-PC record to prevent from further activities. 200

3.7.3 IO-Link tool based Port configuration (IOL-PC) 201

The SMI service "SMI_PortConfiguration" uses ArgBlockID 0x8001 for FS-Masters and the 202 definitions in clause 10.3.3 of [2]. Table 2 shows the corresponding "FSPortConfigList" 203 adapted to FSCP-3. 204

Table 2 – FSPortConfigList for FSCP-3 mapping 205

Offset

Element name Definition Data type Range

0 ArgBlockID 0x8001 Unsigned16 ‒

2 PortMode This element contains the port mode expected by the SMI client, e.g. gateway application. All modes are mandatory. They shall be mapped to the Target Modes of "SM_SetPortConfig" (see 9.2.2.2 in [2]) 0: DEACTIVATED (SM: INACTIVE Port is deactivated; input and output Process Data are "0"; Master shall not perform activities at this port) 1: IOL_MANUAL

Unsigned8 (enum)

0 to 255

CPF3-PCIOL-PC Port Configuration(Record Index 0xB900)

Port Configuration(Record Index 0xB1xx)

IOLD proxyIOLM proxy

Non volatile buffered Port configuration

IO-Link

Device

"Dedicated Tool"

Engineering System

General Station

Description(IO deviceFSCP-3)

CPF3

NSR SR(FSCP-3)

NSR SR(FSCP-3)

F-Parameter(Instance x+1)

IODD(Device,FS-Device)

F-Parameter(Instance x+3)

KeyNSR Non safety-relatedSR Safety-related

"FSPortConfigList"


Offset


(SM: CFGCOM Target Mode based on user defined configuration including validation of RID, VID, DID) 2: IOL_AUTOSTART a (SM: AUTOCOM Target Mode w/o configuration and w/o validation of VID/DID; RID gets highest revision the Master is supporting; Validation: NO_CHECK) 3: DI_C/Q (Pin4 at M12) b (SM: DI Port in input mode SIO) 4: DO_ C/Q (Pin4 at M12) b (SM: DO Port in output mode SIO) 5 to 48: Reserved for future versions 49: SAFETYCOM (implying IOL_MANUAL behavior) 50: MIXEDSAFETYCOM (implying IOL_MANUAL behavior) 51: OSSDE (Values in offset 15 to 36 are don't care; SPDUInLength in offset 38 = 1 octet; value in offset 39 is don't care) 52 to 96: Reserved for extensions such as Safety or Wireless) 97 to 255: Manufacturer specific

3 Validation&Backup This element contains the InspectionLevel to be performed by the Device and the Back-up/Restore behavior. 0: No Device check 1: Type compatible Device V1.0 2: Type compatible Device V1.1 3: Type compatible Device V1.1, Backup + Restore 4: Type compatible Device V1.1, Restore 5 to 255: Reserved

Unsigned8 0 to 255

4 I/Q behavior (manufacturer or profile specific)

This element defines the behavior of the I/Q signal (Pin2 at M12 connector). 0: Not supported 1 to 4: Not permitted with FS-Master 5: Power 2 (Port Class B) 6 to 255: Reserved

Unsigned8 0 to 255

5 PortCycleTime This element contains the port cycle time expected by the SMI client. Both modes are not mandatory. They shall be mapped to the ConfiguredCycleTime of "SM_SetPortConfig" (see 9.2.2.2 in [2]) 0: AFAP (As fast as possible ‒ SM: FreeRunning Port cycle timing is not restricted. De- fault value in port mode IOL_MANUAL) 1 to 255: TIME (SM: For coding see Table B.3 in [2]. Device shall achieve the indicated port cycle time. An error shall be created if this value is below MinCycleTime of the Device or in case of other misfits)

Unsigned8 0 to 255

6 VendorID This element contains the 2 octets long VendorID expected by the SMI client (see [2])

Unsigned16 1 to 65535

8 DeviceID This element contains the 3 octets long DeviceID expected by the SMI client (see [2])

Unsigned32 1 to 16777215

12 InputDataLength This element contains in Bit 0 to 5 the total size Unsigned8 0 to (32 – m)


Offset


(n) of the InBuffer required for the input Process Data of the Device (NSR data, see 10.5 in [3]). Size can be ≥ input Process Data length (see [2]). Bit 6 and 7 shall contain "0".

octets

13 OutputDataLength This element contains in Bit 0 to 5 the size (p) of the OutBuffer required for the output Process Data of the Device (NSR data, see 10.5 in [3]). Size can be ≥ output Process Data length. Bit 6 and 7 shall contain "0".

Unsigned8 0 to (32 – o) octets

14 FSCP_Authenticity1 FSCP-3 Codename part1 (see [5]) Unsigned32 ‒

18 FSCP_Authenticity2 FSCP-3 Codename part2 (see [5]) Unsigned32 ‒

22 FSP_Port Port number Unsigned8 1 to 255

23 FSP_AuthentCRC CRC signature across complete authentication Unsigned16 ‒

25 FSP_ProtVersion Version of the IO-Link Safety protocol Unsigned8 1 to 255

26 FSP_ProtMode IO-Link Safety protocol mode Unsigned8 ‒

27 FSP_WatchdogTime Watchdog time of FS-Master and FS-Device Unsigned16 1 to 65535

29 FSP_IO_StructCRC CRC signature across FS IO data description Unsigned16 ‒

31 FSP_TechParCRC CRC signature across technology parameter Unsigned32 ‒

35 FSP_ProtParCRC CRC signature across protocol parameter Unsigned16 ‒

37 IO_DescVersion Version of this generic structure description Unsigned8 1

38 SPDUInLength OSSDe data (1 octet) or length of incoming SPDU (m); see 10.5 and Table 4 in [3]

Unsigned8 1 or 5 to (32 – n) octets

39 TotalOfInBits Set of input BooleanT (bits) Unsigned8 0 to 255

40 TotalOfInOctets Set of input BooleanT (octets, also partly filled) Unsigned8 ‒

41 TotalOfInInt16 Input IntegerT(16) Unsigned8 ‒

42 TotalOfInInt32 Input IntegerT(32) Unsigned8 ‒

43 SPDUOutLength Length of outgoing SPDU (o); see 10.5 and Table 4 in [3]

Unsigned8 5 to (32 – p) octets

44 TotalOfOutBits Set of output BooleanT (bits) Unsigned8 0 to 255

45 TotalOfOutOctets Set of output BooleanT (octets, also partly filled) Unsigned8 ‒

46 TotalOfOutInt16 Output IntegerT(16) Unsigned8 ‒

47 TotalOfOutInt32 Output IntegerT(32) Unsigned8 ‒

a In PortMode "IOL_Autostart" parameters VendorID, DeviceID, and Validation&Backup are treated don't care. b In PortModes "DI_C/Q" and "DO_C/Q" all parameters are don't care except for "InputDataLength" and "Output DataLength".

206

3.8 Extended Port start-up 207

No modifications to [4] could be identified. 208

3.9 Exceptional operations 209

No modifications to [4] could be identified. 210

4 Mapping Application 211

4.1 General 212

Figure 7 shows the entire structure of the Linking Module. 213

In its upper part it contains the Slot, Subslot, IOLM and IOLD proxy structure as already 214 shown in 3.2 and Figure 5. For simplicity reasons it is depicted without the safety 215 Submodules. 216


A set of FAL services according to IEC 61158-6-10 within the CPF3 domain and a set of SMI 217 services according to [2] are used for the center part of the Linking Module. This center part is 218 called Mapping Application. 219

220

Figure 7 – Overview of entire Linking Module 221

Figure 8 shows the structure of the Mapping Application. It contains all the functions to be 222 implemented for integration. The function "Port Suspend & Release" for FS-Master is 223 reserved for future versions and will not be specified in this version of integration. 224

Boxes of functions that require modifications or extensions for IO-Link Safety are marked by 225 blue colored lines. The functions of other boxes are specified in [4]. 226

227

Figure 8 – Structure of the Mapping Application 228

4.2 CPF3 Life Cycle Manager 229

Basic extensions are described in 3.7, for example supplying safety-related proxies with 230 FSCP-3 F-Parameters. Other modifications to [4] could not be identified. 231

232

e.g.

Slo

t 2:

Mapping Application

IO-Link Master

IO-Link Device

Port 1

IOLM proxy

IOLDproxy

IOLDproxy

IOLDproxy

IOLDproxy

Submodule

CPF3 Linking Module (B)

Fieldbus Application Layer IEC 61158-6-10FAL services(according toIEC 61158-6-10)

SMI services(according to [2])

Submodule Submodule Submodule Submodule

IO-Link Device

IO-Link Device

IO-Link Device

Key

Port 2 Port n Port n+1

FALFAL

SMIStandardized Master Interface

SMI

I&M Data Mapper

FAL ReadFAL Write

SMI_PDInSMI_PDOut

PDCT Handler

SMI_DeviceWriteSMI_DeviceReadSMI_PortCmdSMI_PDInOut

FAL Local Set InputFAL Get OutputFAL Local New Output

CPF3 Life Cycle

Manager

IOL Call Handler

FAL ReadFAL Write

SMI_DeviceWriteSMI_DeviceReadSMI_PortCmd

Backup & Restore Handler

Event Dispatcher

SMI_DeviceEventSMI_PortEvent

SMI_DStoParServSMI_ParServToDS

FAL ReadFAL Write

Port Suspend& Release Handler

FAL ReadFAL Write

SMI_PortConfigurationSMI_PortStatusSMI_PortEventSMI_ReadbackPortConfiguration

IO Data Mapper(Safety IO=

FAL_ConnectFAL_Prm BeginFAL_Prm EndFAL_ReadFAL_WriteFAL_Application ReadyFAL Add SubmoduleFAL Remove Submodule

FAL ReadFAL Write

CPC_Database

FAL Local Add Diagnosis entryFAL Local Remove Diagnosis entry

Mapping application

FAL services(according toIEC 61158-6-10)

FAL

SMI services(according to [2])

SMI

Backup Object


4.3 Safety Process Data mapping 233

4.3.1 FSCP-3 Codename assignment 234

Each safety proxy such as IOLM proxy "x+1" and IOLD proxies "x+3", "x+5" to "x+n" are 235 assigned to one FSCP-3 (driver) instance. It is the first FSCP-3 instance that shall be 236 assigned a unique (Authenticity) Codename "CN" as specified in [5]. Subsequent FSCP-3 237 instancies shall be assigned "CN+1", "CN+2", and etc. 238

4.3.2 Multi FSCP-3 instance 239

Figure 9 shows the concept of multi FSCP-3 instance mapping where each port is directly 240 mapped into a FSCP-3 message (instance). The Device catalog window of the Engineering 241 Tool shows IOL FS-Proxies (COM) with a number of different IO data containers together with 242 IOL FS-Data Structures. This information is derived from GSD data for this particular Linking 243 Module. 244

245

Figure 9 – Concept of multi FSCP-3 instance mapping 246

4.3.3 Single FSCP-3 instance 247

Figure 10 illustrates the motivation for single FSCP-3 instance mapping by means of the 248 comparison with a classic FS-DI input module of a remote IO. 249

250

Figure 10 – Motivation for single FSCP-3 instance mapping 251

SS1 SS3 SS4 SS5 SS6 SS7 SS8

Slot k

FS_D

ataS

truct

2

FS_D

ataS

truct

10

FS_D

ataS

truct

1

FS-D

evic

e (p

roxy

)

FS-D

evic

e (p

roxy

)

FS-D

evic

e (p

roxy

)

FS-M

aste

r (pr

oxy)

Port 1 Port 2 Port 3

COMCOMCOM

1 bitin

8 Boolout

Int16 in

Head moduleSubmodules…♦ IOL FS-DataStructures

‒ FS_Struct1‒ FS_Struct2‒ …‒ FS_Struct10‒ …‒ FS_Structn

…♦ IOL FS-Proxies (COM)

‒ FS-Proxy 0I/0O ‒ FS-Proxy 8I ‒ FS-Proxy 4I/4O‒ FS-Proxy 8I/8O‒ FS-Proxy 24I

Device catalog

In Out

8 × Bool ‒FS_Struct1

In Out

Integer16 ‒FS_Struct2

In Out

Integer32 ‒FS_Struct3

In Out

8 × BoolInteger16 ‒

FS_Struct4

In Out

‒ 8 × BoolFS_Struct10

In Out

‒ Integer16FS_Struct11

In Out

‒ Integer32FS_Struct12

In Out

8 × BoolInteger16

8 × BoolInteger16

FS_Struct13

…

FSCP-3 instance 1

FSCP-3 instance 2

FSCP-3 instance 3

SS2

General Station Description

(Linking Module, FSCP-3)

FS-DIRIO

FSCP

1

SafetySwitches,OSSDs

Safety-PLC

FS-Devices2 3 4

SC x SC x SC x SC x

Message length: x + 1 octets(Bits packed within one message)

Length: 4 x (x+1) octets(Each bit has its own safety code)

FS-Master

Usually 1 data bit per safety device Usually 1 data bit per FS-Device

Message length: x + 1 octets(Bits packed within one message)

1 2 3 4

FS-Master

Usually 1 data bit per FS-Device

Safety Code x Safety Code x 1 2 3 4


Figure 11 shows the concept of single FSCP-3 instance mapping where each port with single 252 safety signals (BOOL) is mapped into one FSCP-3 message. Each bit position within the data 253 structure corresponds to the Port number. Each bit is accompanied by a Qualifier bit. See 254 4.4.4 for details. 255

256

Figure 11 – Concept of single FSCP-3 instance mapping 257

An FS-Master can support either an FS-Device (safety) or Device (non-safety) at a port. "Non-258 safety" bits are mapped to the non-safety IOLM proxy submodule (see [4]). 259

4.3.4 Predefined FSCP-3 I/O data container (FS_Struct) 260

Figure 9 and Figure 11 show examples of FSCP-3 I/O data container (FS_Structs) 261 manufacturers of Linking Module IO devices can provide within the associated GSD file. The 262 final list of recommended FS_Structs will be defined by the IO-Link Safety and FSCP-3 263 working groups. 264

4.4 Mapping of Safety Communication Layers (SCL) 265

4.4.1 Overview 266

Two SCLs are involved in the mapping: the FSCP-3 SCL and the IO-Link Safety SCL as 267 shown in Figure 12. See [5] for the service diagram of FSCP-3 (IOLD proxy) marked in orange 268 color and [3] for that of IO-Link Safety marked in blue color. 269

270

Figure 12 – Location of FSCP-3 and IO-Link Safety SCLs 271

SS2 SS7 SS8

Slot k

FS-D

evic

e (1

I)

FS_S

truct

1

Port 1 Port 2 Port 3

COMCOM

1 bitin

1 bitin

1 bitin

Head moduleSubmodules…♦ IOL FS-DataStructures

‒ FS_Struct1‒ FS_Struct2

‒ FS_Struct5‒ …‒ FS_Structn

…♦ IOL FS-Proxies (1 In)

‒ FS-Proxy OSSD‒ FS-Proxy 1I

…

Device catalogIn Out

16 × Bool ‒FS_Struct5

…

SS4 SS5 SS6

FS-D

evic

e (O

SSD

)

Bool

Bool

OSSD

FSCP-3 instance

SS1 SS3FS

-Dev

ice

(1I)

FS-M

aste

r (4I

)

Data + Qualifier

Qualifierhandler

General Station Description

(Linking Module,FSCP-3)

CPF3

Gateway to FS-PLC and to FS-Master Tool(Mapping Application)

FSCP-3


ConfigurationManager

(Parameter)Data

Storage

AcyclicData

Exchange

DiagnosisUnit

FS-IO mapping

IO-Link Safety(COM)

FS-DI(OSSDe)

Splitter/Composer

Cyclic ProcessData Exchange

Master layers

FS-PLC(Functional

safecontroller)

FS-Master Tool(Configuration & Parameterization)

FSCP-3 services +Protocol state machine

IO-Link Safety services +Protocol state machine

IO-Link Safety –FSCP-3 Gateway


Three kinds of mapping combinations of these SCLs have been identified: General FS-Device, 272 HUB FS-Device, and OSSD FS-Device. 273

4.4.2 General FS-Device 274

Figure 13 illustrates the general SCL combination for FS-Devices in case of multi FSCP-3 275 instance mapping. Fault acknowledgment is performed on FSCP-3 level. 276

In this case, the Qualifier Handler is simply connecting the control and status signals of both 277 SCLs. Any faults (FAULT_S) of the IO-Link Safety SCL driver are logical ORed with the 278 SDset_S status signal. 279

280

Figure 13 – General SCL combination for FS-Devices 281

4.4.3 HUB FS-Device 282

Figure 14 illustrates the SCL combination for HUB FS-Devices (multi FSCP-3 instance). 283

A HUB FS-Device is a terminal connected to an FS-Master Port using IO-Link Safety 284 communication and which is acting like a remote FS-DI. Classic switching safety devices can 285 be connected to this remote FS-DI using for example OSSD signals (see Figure 14 and its 286 lower right corner). 287

The Safety HUB subfigure shows the principle architecture of such a terminal. The sensor 288 signal is processed and mapped to the IO data of the IO-Link Safety SPDU ("D"). A "Test" unit 289 examines the redundant input signals from the sensor for validity (e.g. wire brake) and sets a 290 Qualifier bit ("Q") in case. 291

Both signal bits and Qualifier bits are transmitted as IO Data to the IOLD proxy of the Linking 292 Module and directly mapped to FSCP-3 IO Data. 293

In this case, the Qualifier Handler within the FSCP-3 ‒ IO-Link Safety Gateway is also simply 294 connecting the control and status signals of both SCLs. 295

Any faults (FAULT_S) of the IO-Link Safety SCL driver are logical ORed with the SDset_S 296 status signal. 297

298

F-Para-meter

IdentificationStart-up HandlerInput/OutputEvents/ProcessAlarmRecord Data + I&M Gateway Manager

F-InputData_D

F-OutputData_D

iPar

_EN

_DC

OA

_Req

_DC

activ

ate_

FV_D

C

FV_a

ctiv

ated

_DS

iPar

_OK

_DS

ChF

_Ack

_Req

_DS

iPar

amet

er(a

cycl

icse

rvic

es)

(Par

amet

ers)

, ala

rms,

dia

gnos

is

Diagnosis

Diagnosis(driver)

"Time Tick":e.g. 1 ms F_

iPar

_CR

C,

F_S

IL,

F_P

assi

vatio

n

Indi

catio

nof

new

Mon

itorin

g N

o.

ChF

_Ack

_DC

FSCP-3 (IOLD proxy)F-Devicedriver

IO-Link Safety

PDout_M

PDin_M

setS

D_C

ChF

Ack

Req

_S

ChF

Ack

_C

SD

set_

S

FAU

LTS

_S

FS-Masterdriver

FS-Device

CPF3

"Time Tick":e.g. 1 ms

FSCP-3 ‒ IO-Link Safety Gateway (Mapping)

Diagnosis(driver)

Port LED

FS-IO-Mapping

IOLD proxy≥1

FAULTS_S

Qualifier handler


299

Figure 14 – SCL combination for HUB FS-Devices 300

4.4.4 OSSD FS-Device 301

Figure 15 illustrates the SCL combination for OSSD FS-Devices. 302

In this case the single safety signal bits are mapped to the IOLM proxy (single FSCP-3 303 instance) and the Qualifier handler is responsible for setting/resetting the Qualifier bits and for 304 the acknowledegment as specified in [3]. 305

306

Figure 15 – SCL combination for OSSD FS-Devices 307

F-Para-meter


F-InputData_D

F-OutputData_D

iPar

_EN

_DC

OA

_Req

_DC

activ

ate_

FV_D

C

FV_a

ctiv

ated

_DS

iPar

_OK

_DS

ChF

_Ack

_Req

_DS

iPar

amet

er(a

cycl

icse

rvic

es)

(Par

amet

ers)

, ala

rms,

dia

gnos

is

Diagnosis

Diagnosis(driver)


iPar

_CR

C,

F_S

IL,

F_P

assi

vatio

n

Indi

catio

nof

new

Mon

itorin

g N

o.

ChF

_Ack

_DC

FSCP-3 (IOLD proxy)F-Devicedriver

IO-Link Safety

PDout_M= 1 to m bit+ Qualifier

PDin_M= 1 to n bit+ Qualifier

setS

D_C

ChF

Ack

Req

_S

ChF

Ack

_C

SD

set_

S

FAU

LTS

_S

FS-Masterdriver

FS-Device / Safety HUB

CPF3

"Time Tick":e.g. 1 ms


Diagnosis(driver)

Port LED

Q

…

D

…

Test

TestQDQ-

Han-dler

Data

ChFAckReq_S

ChFAck_C

≥1

FAULTS_S

SafetyHUB

IO-Mapping + Qualifier

IOLD proxy

Qualifier handler

F-Para-meter


F-InputData_D

iPar

_EN

_DC

OA

_Req

_DC

activ

ate_

FV_D

C

FV_a

ctiv

ated

_DS

iPar

_OK

_DS

ChF

_Ack

_Req

_DS

iPar

amet

er(a

cycl

icse

rvic

es)

(Ppa

ram

eter

s), a

larm

s, d

iagn

osis

Diagnosis

Diagnosis(driver)


iPar

_CR

C,

F_S

IL,

F_P

assi

vatio

n

Indi

catio

nof

new

Mon

itorin

g N

o.

ChF

_Ack

_DC

FSCP-3 (IOLM proxy)F-Devicedriver

"FS-DI"

PDin_M= 1 bit

ChF

Ack

Req

_DS

FAU

LTS

_S

Qualifier handler

GOOD/BAD bitI-Mapping + Qualifier

FS-MasterPort x "OSSDe"

Safety Device (OSSDe)

CPF3


Diagnosis(driver)

Port LED

LEDTest

OSSDe

Faults

Qualifier

ChFAckReq_DS/LED

ChFAck_DC(FSCP: AckQ)

"SD"

"BAD"

After 3 cycles

IOLM proxy

After 3 cycles


The behavior of the signals OSSDe, Faults, Qualifier, ChFAckReq_DS, and ChFAck_DC is 308 demonstrated in Figure 15 within the lower right corner. This behavior is defined by the state 309 machine in clause 11.11.5 of [3]. 310

4.5 Qualifier 311

4.5.1 Motivation 312

Figure 16 illustrates, why Port specific passivation matters for industrial automation. In this 313 Figure it is assumed for each Port to be connected to an emergency stop button that belongs 314 to a particular safety function to stop the associated manufacturer cell with a robot. In this 315 case this would mean 8 different and independent safety functions. If the FS-Master (in "FS-316 DI" mode) fails, the entire 8 safety functions will trip and a large area of production would stop 317 even if only one Port is impacted, for example a wire break to the safety sensor. 318

Additional Port depended bits (called "Qualifier") associated with the input signals can be 319 used to indicate for a certain class of faults the validity of this input signal. The user can 320 extend the safety PLC program and thus determine the behavior of the safety function 321 reaction individually. 322

323

Figure 16 – FS-Master with Ports for several safety functions 324

4.5.2 Coding and overall acknowledgment mechanisms 325

Figure 17 shows examples on how the Qualifiers are arranged for different IO data structures. 326 Details will be specified within the final document. 327

328

Figure 17 – Arrangement of Qualifiers for different IO data structures 329

0

7

Fieldbus with FSCP

FS-Master

Signal channel 0

Signal channel 6

Signal channel 7

Trailer

Qualifier SignalsFSCP-PDU

Safety function n

Safety function n+6

Safety function n+7

Digital InputDI bits Qs DI to FS-Master

to FS-Device

Digital OutputDO bits

Qs DO to FS-Masterto FS-Device

Digital Input + OutputDO bits

Qs DIDI bits Qs DO to FS-Masterto FS-Device

Digital I+O andAnalog Input

DO bits

Qs DIDI bits Qs AIAI data Qs DO to FS-Masterto FS-Device

Digital I+O andAnalog I+O

DO bits

Qs DIDI bits Qs AIAI data Qs DO

AO data

Qs AO to FS-Masterto FS-Device


Figure 18 shows where acknowledgment requests are set and acknowledgments are handled 330 within a FSCP-3 communication system. 331

332

Figure 18 – Overall ChannelFault Acknowledgment 333

334

4.6 Timeliness (watchdog timer and mapping) 335

FSCP-3 and IO-Link Safety are both responsible for timeliness of their protocols. Thus, it is 336 the responsibility of mapping concepts and implementations to guarantee latest data updates 337 in time. 338

ChF_Ack_Req

F user program

FSCP-3 Trailer

FSCP-3 Trailer

F-Host Driver

ChF_Ack

Process imageChF_Ack_Req ChF_Ack

PS_AckPS_Ack_Req

Data Qualifier

Data Qualifier

Data Qualifier

Data Qualifier

Data Qualifier

Data Qualifier

Data Qualifier FSCP-3 Trailer FSCP-3 Trailer


Bibliography 339

[1] IEC 61131-9, Programmable controllers – Part 9: Single-drop digital communication 340 interface for small sensors and actuators (SDCI) 341

[2] IO-Link Community, IO-Link Interface and System Specification, Draft V1.1.3, 342 September 2018, Order No. 10.002 343

[3] IO-Link Community, IO-Link Safety – System Extensions, V1.1, April 2018, Order No. 344 10.092 345

[4] PI Specification, IO-Link Integration for PROFINET – Edition 2, Draft V1.1, February 346 25th 2019, WG distribution 347

[5] PI Specification, PROFIsafe – Profile for Safety Technology on PROFIBUS DP and 348 PROFINET IO, V2.6 MU1, August 2018, Order No. 3.192 349

[6] IO-Link Community, IO-Link Safety – Test and Assessment, Draft V0.9.0, December 350 2018, Order No. 10.162 351

________ 352

Copyright by:

IO-Link Community c/o PROFIBUS Nutzerorganisation e.V. Haid-und-Neu-Str. 7 76131 Karlsruhe Germany Phone: +49 (0) 721 / 96 58 590 Fax: +49 (0) 721 / 96 58 589 e-mail: [email protected] http://www.io-link.com/


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