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Ethernet POWLINK communication profile specification
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Basic data | Standard 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 layer
7.1 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 326
Foreword
This 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 specification
1 Scope
POWERLINK 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 documents
The 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. High Availability (V1.0.0) [EthernetPOWER-
LINK, PartA. HighAvailability (Version1.0.0)]
EPSGDS302-B Ethernet POWERLINK Part B. Multi-Asynchronous Transmission (V1.0.0) [EthernetPOWER-
LINK, PartB. Multiple-ASnd (Version1.0.0)]
3 terms, definitions and abbreviations
3.1 Terms and definitions
The following terms and definitions apply to this document.
3.1.1
Aging
Aging is a common mechanism for maintaining (caching) tables. Unused or unread entries will be removed after a specified period of time.
3.1.2
Application Process
The application process is a task on the application layer.
3.1.3
Only asynchronous CN Async-onlyCN
Work in the isochronous time slot, it is not MN periodic access; in the asynchronous phase, through the StatusRequest message round
Asked the CN.
3.1.4
AsynchronousData AsynchronousData
There is no strict data on the POWERLINK network for time. Keep a specific phase in the POWERLINK cycle
Used for asynchronous data, which is shared by all nodes. Each node connected to the network can send a different request from the management node
Step data. The management node saves a list of all asynchronous data requests, and then grants access to the network to each node.
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