GB/T 27960-2011 English PDF
Basic dataStandard ID: GB/T 27960-2011 (GB/T27960-2011)Description (Translated English): Ethernet POWLINK communication profile specification Sector / Industry: National Standard (Recommended) Classification of Chinese Standard: N10 Classification of International Standard: 25.040 Word Count Estimation: 345,367 Date of Issue: 2011-12-30 Date of Implementation: 2012-07-01 Quoted Standard: GB/T 15629.3-1995; GB/T 15969.3-2005; EPSG DS 302-A; EPSG DS 302-B Adopted Standard: EPSG DS 301 " Ethernet POWERLINK communication profile specification " V1.1.0, MOD Regulation (derived from): National Standard Approval Announcement 2011 No.23 Issuing agency(ies): General Administration of Quality Supervision, Inspection and Quarantine of the People's Republic of China, Standardization Administration of the People's Republic of China Summary: This standard specifies the POWERLINK-Real-Time Ethernet (RTE) is a communication line regulation. Based on GB/T 15629. 3 standard Ethernet can be extended to transmit data accurately synchronized with the timing and predictable mechanism. POWERLINK communication line regulation for high performance automation and motion applications, these applications can meet the demanding real-time requirements. GB/T 27960-2011: Ethernet POWLINK communication profile specification---This is a DRAFT version for illustration, not a final translation. Full copy of true-PDF in English version (including equations, symbols, images, flow-chart, tables, and figures etc.) will be manually/carefully translated upon your order.Ethernet POWLINK communication profile specification ICS 25.040 N10 National Standards of People's Republic of China Ethernet POWERLINK communication profile specification 2011-12-30 release 2012-07-01 Implementation General Administration of Quality Supervision, Inspection and Quarantine of the People's Republic of China China National Standardization Management Committee released Directory Preface Ⅺ 1 Scope 1 2 normative reference document 1 3 terms, definitions and abbreviations 1 3.1 Terms and definitions 1 3.2 Abbreviations 5 4 Overview 7 4.1 Time slot communication network management 7 4.2 POWERLINK main features 8 4.3 Integration 8 4.4 Modular machine 9 5 Model 10 5.1 Reference model 10 5.2 Equipment model 11 5.3 Communication model 13 6 physical layer 15 6.1 Topology 15 6.2 Network Guide 16 6.3 ports and connectors 16 6.4 Cables (recommended) 19 7 data link layer7.1 working mode 19 7.2 POWERLINK mode 20 7.3 Basic Ethernet mode 51 7.4 MAC addressing 52 7.5 POWERLINK addressing 52 7.6 frame structure 53 7.7 Data link layer (DLL) error handling 61 8 network/transport layer 96 8.1 IP protocol 96 8.2 POWERLINK compatible with UDP/IP format 102 8.3 POWERLINK sequence layer 103 9 application layer 103 9.1 Data Types and Encoding Rules 103 9.2 Object Dictionary 111 9.3 Service Data Objects (SDO) 116 9.4 Process Data Objects (PDO) 154 9.5 Error signal notification (ErrorSignaling) 165 9.6 Program Download 176 Configuration Management 9.8 Enter 191 from the programmable device Network Management (NMT) 10.1 NMT state machine 194 10.2 NMT object dictionary entry 208 10.3 Network Management Services 248 10.4 Start the management node 269 11 Diagnosis 297 11.1 Diagnostic object dictionary entry 297 12 Routing 301 12.1 Routing Type 1 301 12.2 Route Type 2 325 13 indicator 325 13.1 Indicator status and flicker rate 326 13.2 indicator signal 326 Recommended mark Appendix A (Normative Appendix) List of Object Libraries 328 A.1 object dictionary entries, sorted by index 328 A.2 Object dictionary entries, sorted by name 333 Appendix B (Normative Appendix) Device Description Entry 338 Appendix C (normative appendix) Constant value assignment 343 C.1 POWERLINK message type ID 343 C.2 AsyncSend request priority 343 C.3 ASnd Service ID 343 C.4 SoARequestedServiceID 344 C.5 Object Dictionary Object Type 344 C.6 NMT state 344 C.7 NMT command 345 Common purpose constant C.9 Error code constant 348 C.10 SDO Abort Code 349 Appendix D (Normative Appendix) Data Sheet Requirements 351 Reference 352 Figure 1 Slotted Communication Network Management (SCNM) 7 Figure 2 POWERLINK-based machine integrated into the end user's IT network infrastructure 9 Figure 3 Typical centralized and decentralized controller structure Figure 4 Reference model 10 Figure 5 Service Type 11 Figure 6 Device model 12 Figure 7 Non-authenticated master-slave communication 14 Figure 8 confirmed master-slave communication 14 Figure 9 Client/server communication 14 Figure 10 "push" model 15 Figure 11 "pull" model 15 Figure 12 Star topology and bus topology Figure 13 RJ45 pin assignment (left. connector; right. port) 17 Figure 14 IP67 Port Pin Assignment 17 Figure 15 Recommended pin assignment for RJ45 to RJ45 connections Figure 16 Not recommended RJ45 to RJ45 connection pin assignment 18 Figure 17 Pin assignment for M12 to M12 connections Figure 18 Pin assignment for M12 to RJ45 connections Figure 19 POWERLINK cycle 21 Figure 20 POWERLINK isochronous process Figure 21 Multiplexing class POWERLINK cycle 23 Figure 22 Asynchronous scheduling 24 Figure 23 Asynchronous Transfer Priority Processing (Priority PR. 7 = PRIO_NMT_REQUEST, 3 = PRIO_GENERIC_ REQUEST) 26 Figure 24 POWERLINK short period 27 Figure 25 POWERLINK cycle timing, start phase and isochronous phase 28 Figure 26 POWERLINK cycle timing, asynchronous phase and CN AsyncSend transmission 29 Figure 27 POWERLINK cycle timing, asynchronous phase and MN AsyncSend transmission 30 Figure 28 Multiplexed slot assignment Figure 29 CN cycle state machine, and state NMT_GS_INITIALISATION, NMT_CS_NOT_ACTIVE, NMT_CS_BASIC_ETHERNET and NMT_CS_PRE_OPERATIONAL_1 42 Figure 30 CN periodic state machine (DLL_CS), state NMT_CS NMT_CS_PRE_OPERATIONAL_2, NMT_CS_READY_TO_OPERATE and NMT_CS_OPERATIONAL Valid 43 Figure 31 MN cycle state machine, NMT_MS_PRE_OPERATIONAL_1 state 47 Figure 32 MN cycle state machine, and NMT_MS_OPERATIONAL, NMT_MS_READY_TO_OPERATE And NMT_MS_PRE_OPERATIONAL_2 state 49 Figure 33 Incorrect registration 65 Figure 34 Threshold counter 66 Figure 35 Timeout 69 Figure 36 Timely violation 70 Figure 37 Out of cycle time 72 Figure 38 Structure of IPv4 Addresses Figure 39 POWERLINK frame structure Figure 40 POWERLINK-compliant UDP/IP frame structure Figure 41 Traditional Ethernet frame structure 103 Figure 42 SDO layer model Figure 43 POWERLINKSDO 118 embedded in UDP/IP frames Figure 44 UDP socket 119 Figure 45 Initialization of asynchronous join 121 Figure 46 Close of an asynchronous connection Figure 47 Normal asynchronous communication 122 Figure 48 Delayed asynchronous communication 123 Figure 49 Asynchronous communication when the sender's historical cache is full Figure 50 Asynchronous frame loss error 124 Figure 51 Asynchronous acknowledgment frame loss error 125 Figure 52 Asynchronous frame repeat error 125 Figure 53 Asynchronous communication break error 126 Figure 54 Asynchronous command overflow error 126 Figure 55 POWERLINK command layer information structure Figure 56 Segment size definition 129 Figure 57 POWERLINK Command Layer. Typical Download Transfer 129 Figure 58 POWERLINK command layer. Typical upload transmission 130 Figure 59 aborts transmission 131 Figure 60 Initialization of embedded connections 146 Figure 61 closes the connection 146 Figure 62 Normal embedded communication 147 Figure 63 Embedded request missing error 148 Figure 64 Embedded Response Lost Error 149 Figure 65 Embedded Segment Download Figure 66 embedded segmented upload 150 Figure 67 "Error Signal Notification" Reference Model 165 Figure 68 "Error Signal Notification" Overview 166 Figure 69 Initialization of "Error Signal Notification" 169 Figure 70 informs the error signal by PReq frame and PRes frame Figure 71 Error signal notification for asynchronous CN only and CN in NMT_CS_PRE_OPERATIONAL_1 state Figure 72 Generic Initialization NMT State Machine 195 Figure 73 NM NM state diagram of MN Figure 74 CN Statechart 202 Figure 75 NMT_RestoreDefParam_REC Recovery step 217 Figure 76 POWERLINK communication slot 241 Figure 77 Implicit NMT Status Command Service Protocol 249 Figure 78 Explicit NMT Status Command Service Protocol 250 Figure 79 NMT Management Command Service Protocol 255 Figure 80 NMT Status Response Service Protocol (Isochronous CN) 257 Figure 81 NMT Status Response Service Protocol (asynchronous CN only) 257 Figure 82 IdentResponse service protocol Figure 83 StatusResponse service agreement 261 Figure 84 NMT Information Services Protocol Figure 85 NMT_MS_NOT_ACTIVE state Figure 86 NMT_MS_PRE_OPERATIONAL_1 verbose status 271 Figure 87 NMT_MS_PRE_OPERATIONAL_2 detailed status Figure 88 NMT_MS_READY_TO_OPERATE verbose status 273 Figure 89 NMT_MS_OPERATIONAL detailed status Figure 90 Startup process in NMT super state NMT_MS Figure 91 Correlation between the optional CN and the CN start-up process and NMT_MS Figure 92 BOOT_STEP1 Substate 278 Figure 93 CHECK_IDENTIFICATION [NodeID] Substate 279 Figure 94 CHECK_SOFTWARE [NodeID] Sub-state 280 Figure 95 CHECK_CONFIGURATION [NodeID] Substate 282 Figure 96 GET_IDENT [NodeID] Substate 283 Figure 97 BOOT_STEP2 [NodeID] Sub-state 284 Figure 98 CHECK_COMMUNICATION [NodeID] Substate 285 Figure 99 START_CN [NodeID] Substate 286 Figure 100 START_ALL Sub-status 287 Figure 101 CHECK_STATE Sub-state 288 Figure 102 CHANGE_NMT_STATE Sub-state 289 Figure 103 ERROR_TREATMENT Sub-state 290 Figure 104 Minimum NMT Startup Process 295 Figure 105 Example of a single CN startup program Figure 106 POWERLINK router, black box model 302 Figure 107 Possible communication relationship via POWERLINK router Figure 108 POWERLINK Router Reference Model 303 Figure 109 Symmetry n to nNAT 306 Figure 110 NAT structure Figure 111 Integration of NAT in POWERLINK router 307 Figure 112 Filter filter for packet filter table 309 Figure 113 POWERLINK router type 2 325 Figure 114 ERRORLED state machine 326 Table 1 Object dictionary structure 12 Table 2 RJ45 Port Pin Assignments 17 Table 3 IP67 Port Pin Assignment 18 Table 4 POWERLINK cycle timing parameter 31 Table 5 POWERLINK cycle timing verification. error code and processing 38 Table 6 CN Cycle State Machine Transition, and Status NMT_GS_INITIALISATION, NMT_CS_NOT_ ACTIVE, NMT_CS_PRE_OPERATIONAL_1 and NMT_CS_BASIC_ETHERNET 42 Table 7 CN cycle state machine conversion, and NMT_CS_OPERATIONAL, NMT_CS_PRE_OPERATIONAL_2 And NMT_CS_READY_TO_OPERATE state 44 Table 8 MN Period State Machine Transition, and NMT_MS_PRE_OPERATIONAL_1 State 47 Table 9 MN cycle state machine conversion, and NMT_MS_OPERATIONAL, NMT_MS_READY_TO_ OPERATE and NMT_MS_PRE_OPERATIONAL_2 states 49 Table 10 Assigning Multicast Addresses 52 Table 11 NodeID assignment for POWERLINK 53 Table 12 POWERLINK frame structure Table 13 Fields of POWERLINK Frames Table 14 POWERLINK message types Table 15 SoC frame structure Table 16 SoC frame data field Table 17 PReq frame structure 56 Table 18 PReq frame data field 57 Table 19 PRes frame structure Table 20 PRes frame data field 58 Table 21 SoA Frame Structure Table 22 SoA Frame Data Fields 59 Table 23 Definition of RequestedServiceID in SoA Frames Table 24 ASnd frame structure Table 25 ASnd frame data field 61 Table 26 ServiceID values in ASnd frame 61 Table 27 CN Error Handling Table 62 Table 28 Error handling of MN Table 63 Table 29 IP parameters of the POWERLINK node 98 Table 30 POWERLINK compliant UDP/IP frame format 102 Table 31 Bit Sequence Transfer Syntax 105 Table 32 Transmission syntax for UNSIGNEDn data types 107 Table 33 Data type INTEGERn transmission syntax 107 Table 34 Data type REAL32 Transmission syntax 108 Table 35 MAC Address Encoding Example 109 Table 36 Example of IP Address Encoding Table 37 Object Type Definitions Table 38 Access properties for data objects 113 Table 39 PDO Mapping Properties for Data Objects 113 Table 40 Static data object definition example 113 Table 41 Complex Data Type Object Definition Example 114 Table 42 NumberOfEntries Subindex Descriptions Example 114 Table 43 Record Type Object Subindex Descriptions Example 114 Table 44 Array Type Object Subindex Descriptions Example 115 Table 45 Sub-index FFh structure 115 Table 46 Complex Data Type Description Example 116 Table 47 Transfer SDO 118 over UDP/IP Table 48 Field description of SDO transmitted over UDP/IP 118 Table 49 UDP header 119 Table 50 SDO 120 transmitted via POWERLINKASnd frame Table 51 SDO field description via POWERLINKASnd frame 120 Table 52 POWERLINK sequence layer 120 of asynchronous data frame Table 53 Field Description of POWERLINK Sequential Layer in Asynchronous Data Frame Table 54 POWERLINK Command Layer 127 Table 55 Description of the POWERLINK command layer field The table 56 aborts the transmission frame 131 Table 57 Field Description of Aborting Transmission Frames Table 58 Command Service and Command ID 132 Table 59 Command. Write a request by index 133 Table 60 Description of fields by index write request 134 Table 61 Command. Read Request by Index 134 Table 62 Description of fields by index request 134 Table 63 Command. Write all requests by index 134 Table 64 writes all requested field descriptions by index 135 Table 65 Command. Read all requests by index 135 Table 66 Read all requested field descriptions by index 135 Table 67 Command. Write a request by name Table 68 Description of Fields by Name Description 136 Table 69 Command. Read Request by Name Table 70 Description of the field by name Table 71 Command. File Write Request Table 72 Field Description of File Write Request Table 73 Command. File Read Request 138 Table 74 Field Description of File Read Request Table 75 Command. Write multiple parameter requests by index 139 Table 76 Description of fields by indexing multiple parameters request 140 Table 77 Command. Write multiple parameter responses by index 140 Table 78 Field descriptions of multiple parameters to be indexed by index Table 79 Command. Read multiple parameter requests by index Table 80 reads the fields of the request for multiple parameters by index Table 81 Command. Read multiple parameter responses by index Table 82 Field descriptions of multiple parameter responses by index Table 83 Command. Maximum Segment Size 143 Table 84 Field description for maximum segment size Table 85 embeds SDO 144 in PDO Table 86 Field Description of SDO Embedded in PDO Table 87 embeds the POWERLINK sequence layer 145 of SDO in the loop data Table 88 POWERLINK sequential layer fields for SDO embedded in circular data Table 89 Command. Write the command 150 by index on the PDO Table 90 Command. Read command via index of PDO 151 Table 91 PDO Mapping Version Structure Table 92 Structure of PDO Mapping Entries Table 93 Internal Bit Mapping of PDO Mapping Entries Table 94 Entry Format 166 Table 95 Description of the entry 166 Table 96 Format of Entry Type Fields 167 Table 97 Bit Definitions for Error Signal Notification 168 Table 98 Static Error Bit Fields 171 Table 17 Abbreviations used in the example 172 Table 100 PDL_ProgCtrl_AU8 Subindex Value Description 177 Table 101 Device description file and device configuration Storage format 184 Table 102 Simple DCF Data Stream Format Table 103 CNConfigurationRequest write access flag 189 Table 104 Structure of SelectedRange_U32 Table 105 General Initialization NMT State Transition 196 Table 106 MN Specific State Transition.201 Table 107 CN specific state transition 205 Table 108 Status and communication object 206 Table 109 Meaning of the NMT_DeviceType_U32 value Table 110 structure of the version number 210 Table 111 Meaning of the NMT_FeatureFlags_U32 value Table 112 NMT_EPLVersion_U8 Code 212 Table 113 NMT_StoreParam_REC Store Write Access Tag 214 Table 114 NMT_StoreParam_REC Store Read Access Structure 214 Table 115 NMT_StoreParam_REC read access structure Table 116 NMT_RestoreDefParam_REC Recovery Write Access Marker Table 117 NMT_RestoreDefParam_REC Restore Default Read Read Structure 216 Table 118 NMT_RestoreDefParam_REC Recovery Read Access Structure 216 Table 119 Meaning of the NodeAssignment_AU32 value Table 120 Description of the HeartbeatDescription value Table 121 Meaning of the NMT_StartUp_U32 value Table 122 Implicit NMT Status Command 249 Table 123 NMT status of the NMT service slot field Structure of the command service, the NMT management command service, and the NMT information service 250 Table 124 explicit NMT status command service NMT service slot field 250 Table 125 Common NMT Status Commands 251 Table 126 extends the NMT status command 253 Table 127 POWERLINK node list. NodeID bit allocation 253 Table 128 NMT Service Command Service NMT Service Slot Field 255 Table 129 NMT Management Command Service 255 Table NM NMTCommandData structure of NMTNetHostNameSet 255 Table NM NMTCommandData data field 256 for NMTNetHostNameSet Table 132 NMTFlushArpEntryASnd service slot structure Table NM NMTCommandData data field for NMTFlushArpEntry 256 Table 134 NMT service slot structure for IdentResponse Table 135 IdentResponse NMT service slot data field 259 Table 18 Status of the NMT service slot for StatusResponse Table 137 StatusResponse NMT service slot data field 262 The NMT service slot data field 263 of the NMT management information service Table 139 NMT Information Service Table 140 NMTCublishNodeStates NMTCommandData structure 265 Table 141 NMTCommandData data field for NMTPublishNodeStates 265 Table 142 NMTCommandData structure for NMTPublishTime 266 Table 143 NMTCommandData data field for NMTPublishTime 266 Table 144 NMTR Service of NMTRequest Table 145 NMT service slot data field for NMTRequest frame 268 Table 146 LED Indicator Status 326 Table 147 STATUSLED Status 326ForewordThis standard is drafted in accordance with the rules given in GB/T 1.1-2009. This standard uses the re-drafting method to modify the technical specifications of the POWERLINK International Organization for Standardization (EPSG). DS301 "Ethernet POWERLINK communication profile specification" (V1.1.0). This standard is structured with EPSGDS301 "Ethernet POWERLINK communication specification" (V1.1.0) Under adjustment. - the preparation of the preamble of this standard; - Prepare Chapter 3 terms, definitions and abbreviations for this standard in accordance with EPSGDS301 (V1.1.0) Pre.8 definitions and abbreviations; - According to the standard text of the reference to other standards and EPSGDS301 (V1.1.0) Pre.9, the preparation of the normative standards Reference documents and references; --- Chapter 1 of EPSGDS301 (V1.1.0) is the fourth chapter of this standard and the subsequent text of the subsequent text is arranged. This standard has also made the following editorial changes. --- Deleted EPSGDS301 (V1.1.0) Preface (Pre.1 ~ Pre.9). This standard is proposed by the Machinery Industry Federation. This standard is nationalized by the National Industrial Process Measurement and Control Standardization Technical Committee (SAC/TC124). The drafting of this standard. mechanical industry instrumentation integrated technology and economic research institute, Shanghai Automation Instrumentation Co., Ltd., Shenzhen step Technology Co., Ltd., Southwest University, Tsinghua University, Shenyang Institute of Automation, Chinese Academy of Sciences, Shandong University, Beijing Jiaotong University, Shanghai Industry Automation Instrumentation Research Institute, B & R Industrial Automation (Shanghai) Co., Ltd. The main drafters of this standard. Liu Dan, Xie Sufen, Pan Changqing, Ding Lu, Bao Weihua, Chi Jiuwu, Liu Feng, Wang Xue, Yang Zhijia, Zhang Chengrui, Sun Xin, Peng Yu, Zhang Jipei, Song Huazhen, Shangguan Xiaojing, Zhou Jing, Zhang Guiling. Ethernet POWERLINK communication profile specification1 ScopePOWERLINK is a communication profile for real-time Ethernet (RTE). It is based on GB/T 15629.3 standard Ethernet entry Line expansion, so that the transmission of data with predictable timing and precise synchronization mechanism. The POWERLINK communication profile is designed for high performance automation and motion applications to meet the demanding real-time requirements of these applications.2 normative reference documentsThe following documents are indispensable for the application of this document. For dated references, only the dated edition applies to this article Pieces. For undated references, the latest edition (including all modifications) applies to this document. GB/T 15629.3-1995 Information processing systems - Local area networks - Part 3. Carrier - controlled multiple access with collision detection (CS - MA/CD) access method and physical layer specification (idtISO /IEC 8802-3..1990) GB/T 15969.3-2005 Programmable controllers - Part 3. Programming languages (IEC 61131-3..2002, IDT) EPSGDS302-A Ethernet POWERLINK Part A. ...... |
