PREN 50325-5 : DRAFT 2008

Introduction
1 Scope
2 Normative references
3 Terms, definitions, symbols, abbreviated
   terms and conventions
   3.1 Terms and definitions
   3.2 Symbols and abbreviated terms
   3.3 Conventions
4 Overview of CANopen Safety
5 General
   5.1 External documents providing
       specifications for the profile
   5.2 Safety functional requirements
   5.3 Safety measures
   5.4 Safety communication layer structure
   5.5 Relationships with FAL
6 Safety communication layer services
   6.1 Introduction
   6.2 SR data object (SRDO)
   6.3 Global fail-safe command (GFC)
   6.4 SR communication objects
7 Safety communication layer protocol
   7.1 SRDO
   7.2 GFC
8 Safety communication layer management
   8.1 Overview
   8.2 SR network initialization and system boot-up
   8.3 SR device and network configuration
9 System requirements
   9.1 Indicators and switches
   9.2 Installation guidelines
   9.3 Safety function response time
   9.4 Constraints for the calculation of system
       characteristics
   9.5 Maintenance
   9.6 Safety manual
10 Assessment
11 Conformance
Annex A (informative) - Example SR communication models
      A.1 General
      A.2 Model I
      A.3 Model II
      A.4 Model III
      A.5 Model IV
Bibliography

Describes a safety-related communication layer (services and protocol).