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Industrial ethernet fieldbus Ether CAT -- Part 4: Data Link Layer protocol specification
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Basic data | Standard ID | GB/T 31230.4-2014 (GB/T31230.4-2014) | | Description (Translated English) | Industrial ethernet fieldbus Ether CAT -- Part 4: Data Link Layer protocol specification | | Sector / Industry | National Standard (Recommended) | | Classification of Chinese Standard | N10 | | Classification of International Standard | 25.040 | | Word Count Estimation | 147,123 | | Date of Issue | 9/30/2014 | | Date of Implementation | 4/1/2015 | | Quoted Standard | GB/T 15272; GB/T 17967; GB/T 25931; ICE 61158-2-2010; IEC 61158-3-12; ISO/IEC 8802-3; IEEE 802.1Q; IETF RFC 768; IETF RFC 791; GB/T 9387.1; GB/T 9387.2; GB/T 9387.3; GB/T 9387.4 | | Regulation (derived from) | People's Republic of China Announcement of Newly Approved National Standards 2014 No. 22 | | 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 user from a data link layer entity to one or more entities to transmit data or control information of the process; the structure used in the present standard protocol for transferring data and control information DLPDU and repr | GB/T 31230.4-2014: Industrial ethernet fieldbus Ether CAT -- Part 4: Data Link Layer protocol specification
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. Industrial ethernet fieldbus Ether CAT Part 4. Data Link Layer protocol specification
ICS 25.040
N10
National Standards of People's Republic of China
Industrial Ethernet fieldbus EtherCAT
Part 4. Data link layer protocol specification
Part 4. DataLinkLayerprotocolspecification
Issued on. 2014-09-30
2015-04-01 implementation
Administration of Quality Supervision, Inspection and Quarantine of People's Republic of China
Standardization Administration of China released
Table of Contents
Preface Ⅶ
1 Scope 1
1.1 Relationship with the IEC standard part 1
1.2 Overview 1
1.3 specification 1
1.4 Practice 1
1.5 Applicability 1
1.6 Consistency 1
2 Normative references 1
3 Terms, definitions, symbols and abbreviations 2
Terms and Definitions 3.1 Reference Model 2
3.2 Service agreement terms and definitions 3
3.3 General terms and definitions 4
Additional EtherCAT 3.4 Definition 5
3.5 General Symbols and Abbreviations 7
Other symbols and abbreviations 3.6 EtherCAT 8
3.7 Conventions 9
4 DL Protocol Overview 13
4.1 works 13
4.2 Topology 14
4.3 principles 14
4.4 Overview of the data link layer 15
15 4.5 Overview of error detection
4.6 Reference Model node 15
4.7 Operational Overview 16
5 Structure 17
5.1 Coding Guidelines 17
5.2 Data Types and Encoding Rules 17
5.3 DLPDU structure 19
5.4 EtherCATDLPDU structure 22
5.5 network variable structure 36
5.6 EtherCAT mailbox structure 36
6 Properties 38
6.1 Management 38
6.2 Statistics 50
54 6.3 Watchdog
6.4 slave interface information 57
6.5 Media Independent Interface (MII) 60
6.6 fieldbus memory management unit (FMMU) 63
6.7 Synchronization Manager 66
6.8 Distributed clocks 71
7 DL user memory area 75
7.1 Overview 75
7.2 Mailbox Access Type 75
7.3 Cache Access Type 77
8 EtherCAT. FDL protocol state machine 78
8.1 Overview of the slave state machine 78 DL
Description 79 8.2 State Machine
Appendix A (Informative Appendix) EtherCAT. DL additional specifications of the protocol state machine 85
A.1 DHSM 85
A.1.1 primitive defines 85
A.1.2 The state machine describes 86
A.1.3 DHSM Table 87
A.1.4 function 113
A.2 SYSM 114
A.2.1 primitive defines 114
A.2.2 The state machine describes 116
A.2.3 SYSM table 116
A.2.4 function 133
A.3 RMSM 133
A.3.1 primitive defines 133
A.3.2 The state machine describes 134
A.3.3 RMSM table 134
A.3.4 function 137
References 138
Figure 1 Type Description Example 10
Public structure Figure 2 specific fields 11
Figure 3 Structure 14
Figure 4 a single frame of data mapping 15
5 slave node reference model 16
Figure 6 EtherCATPDU embedded Ethernet frame 17
Figure 7 EtherCATPDU embedded in UDP/IP 17
Figure 8 DL information Type Description 39
9 Address Type Description 41
Figure 10 DL control Type Description 42
Figure 11 DL Status Type Description 44
12 DL user successfully write sequence control register 46
13 successful reading sequence DL user status register 46
Figure 14 RX error counter Type Description 51
15 missing link counter Type Description 52
16 additional counter Type Description 53
17 Type Description 54 Watchdog divider
Figure 18 DLS user watchdog Type Description 55
19 Synchronization Manager Watchdog Type Description 55
20 Synchronization Manager watchdog status Type Description 56
21 Watchdog Timer Type Description 56
Figure 22 depicts the type of interface to access information from the station 57
Figure 23 illustrates the interface slave control/status type 58
Figure 24 depicts the interface slave address type 60
Figure 25 depicts a slave interface data type information 60
Figure 26 MII control/status Type Description 61
Figure 27 MII Address Type Description 62
Figure 28 MII Data Type Description 63
Figure 29 FMMU mapping example 63
Figure 30 FMMU Entity Type Description 64
Figure 31 Synchronization Manager interacts mailbox 66
32 Synchronization Manager cache allocation 67
33 Synchronization Manager cache 67 to each other
34 mailbox read write/read switching process 68
35 Synchronization Manager Channel Type Description 69
Figure 36 Distributed clock to local time Parameter Type Description 73
Fig. 37 to a mailbox successfully write sequence 75
38 on the mailbox failed write sequence 76
39 to a mailbox successfully read sequence 76
40 Failure to read mail sequences 77
41 Successful write cache sequence 77
42 Successful read cache sequence 78
Figure 43 Structure of slave protocol machine 79
Figure 44 SII read 80
Figure 45 SII writes 81
Figure 46 SII reload the operating 82
47 distributed clocks 83
48 delay measurement sequence 84
Table 1 PDU element formulation Example 10
Table 2 Property Description Example 11
Table 3 describes the state machine element 12
Table 4 state machine description of the element 12
13 Table 5 Conventions used in the state machine
Table 6 serial transfer syntax 17
Table 7 Unsignedn type of data transfer syntax 18
Table 8 Integern type of data transfer syntax 19
Table 9 EtherCAT frame embedded Ethernet frame 19
Table 10 EtherCAT frame embedded UDPPDU 20
Table 11 EtherCAT frame structure contains 21 EtherCATPDU
Table 12 EtherCAT frame structure includes a network of 21 variables
Table 13 EtherCAT frame structure contains the mailbox 21
Table 14 increment physical read formula (APRD) 22
Table 15 configurable physical address read (FPRD) 23
Table 16 broadcast read (BRD) 24
Table 17 logical reads (LRD) 25
Table 18 self-energizing type physical write (APWR) 26
Table 19 configured address physical write (FPWR) 27
Table 20 broadcast write (BWR) 28
Table 21 Logical write (LWR) 29
Table 22 self-energizing type of physical literacy (APRW) 30
Table 23 configured to read and write physical address (FPRW) 31
Table 24 broadcast read (BRW) 32
Table 25 Logical write (LRW) 33
Table 26 increment physical read many write formula (ARMW) 34
Table 27 configurable physical address read many write (FRMW) 35
Table 28 network variables 36
Table 29 Mailbox 36
Table 30 error recovery services data 37
Table 31 DL information 40
Table 32 is configured station address 42
Table 33 DL control 43
Status 45 Table 34 DL
Table 35 DLS user special register 47
Table 36 DLS user event 48
Table 37 DLS user event mask 49
50 Table 38 external events
Table 39 external event mask 50
Table 40 RX error counter 51
Table 41 missing link counter 52
Table 42 additional counter 53
Table 43 Watchdog divider 54
55 Table 44 DLS user watchdog
Table 45 Synchronization Manager Watchdog channel 55
Table 46 Synchronization Manager watchdog state 56
Table 47 Watchdog counter 56
Table 48 to access information from the station interface 57
Table 49 Slave Information Interface Control/Status 58
Table 50 Actual slave interface address information 60
Table 51 actual data information from the station interface 60
Table 52 MII control/status 61
Table 53 Actual MII address 62
63 Table 54 MII actual data
Table 55 fieldbus memory management unit (FMMU) entity 65
Table 56 fieldbus memory management unit (FMMU) 65
Table 57 Synchronization Manager Channel 70
Table 58 Structure Synchronization Manager 71
Table 59 local distributed clock parameters 73
Table 60 distributed clocks DLS user parameters 74
Table A.1 DHSM to PSM by the primitive 85
Table A.2 by the PSM to DHSM primitives 85
Table A.3 DHSM all parameters between PSM and primitives exchanged 85
Table A.4 Ethernet frame identifier octet 86
Table A.5 DHSM state table 87
Table A.6 DHSM function table 113
Table A.7 by the SYSM to DHSM primitives 114
Table A.8 by the DHSM to SYSM primitives 115
Table A.9 by the DL user to SYSM primitives 115
Table A.10 SYSM by the user to the DL primitives 115
Table A.11 primitive parameters for switching between SYSM and DHSM used by the 116
Table A.12 SYSM state table 117
Table A.13 SYSM function table 133
Table A.14 by the RMSM to SYSM primitives 133
Table A.15 by the SYSM to RMSM primitives 134
All parameters Table 134 primitives used between A.16 RMSM and SYSM
Table A.17 RMSM state table 135
Table A.18 RMSM function table 137
Foreword
GB/T 31230 "Industrial Ethernet fieldbus EtherCAT" is divided into six sections.
--- Part 1. Overview
--- Part 2. Physical layer service and protocol specification
--- Part 3. Data link layer service definition
--- Part 4. Data link layer protocol specification
--- Part 5. Application layer service definition
--- Part 6. Application layer protocol specification
This section GB/T Part of 431,230.
This section drafted in accordance with GB/T 1.1-2009 given rules.
This part is proposed by China Machinery Industry Federation.
This part of the measurement and control of Standardization Technical Committee (SAC/TC124) is administered by the National industrial processes.
This section is drafted. Machinery Industrial Instrumentation Technology and Economy Institute, comprehensive measurement instrument Beijing Technology Development Co., Southwest
University, Shanghai Automation Instrumentation Co., Ltd., Chinese Academy of Sciences (Shenyang) Institute of Automation, Tsinghua University, Beijing University of Aeronautics and Astronautics, Beijing
Jiaotong University, when Beijing and advantage systems engineering Co., Ltd., Shunde Branch of CAS Institute of Computing, Omron Industrial Automation, Beckhoff Beijing stars
The company, ETG China.
The main drafters of this section. Xiesu Fen, high mirror Mei, Liu Dan, Liu Feng, including Wei-hua, Yang family, Wang Xue, Liu Yanjiang, Fan Yu, Luo, Chen Bingbing,
Tianbing Li, Guan Peng, Fan Bin, Cheng Geng.
Industrial Ethernet fieldbus EtherCAT
Part 4. Data link layer protocol specification
1 Scope
Relations section 1.1 and IEC standards
GB/T 31230 in this section depends on the IEC 61158 series of 12 file types in the corresponding section.
1.2 Overview
In the automation environment, the data link layer provides the basic time-critical communication between devices.
This Agreement in the specification of the communication will apply to all participating data link entity.
a) the communication cycle started simultaneously;
b) the corresponding week of the requirements of the data link entities, periodic or non periodic asynchronous communication.
Thus we can see, this agreement has the following features. asynchronous access cycles or cycle, but there is a restart synchronized each cycle.
1.3 specification
This section provides.
a) from a data link layer of the user entity to one or more entities to transmit data or control information process;
Structure b) used in the present standard protocol for transferring data and control information DLPDU and representation as physical interface data units.
1.4 Regulations
By the following way to define each procedure.
a) interaction DL- entity (DLE) generated by the switching DLPDU between;
B) between a DL- service in the same system by a DLS primitive exchange generated (DLS) DLS provider and a user
Interaction;
c) interaction DLS- provider and ISO /IEC 8802-3 MAC's services.
1.5 Applicability
These procedures are applicable to instances of communication between two systems. support time data link layer of the OSI model in critical communications services
Instances of communication between systems and capabilities need to be interconnected in OSI environment system.
Line regulation provides a simple, multi-attribute approach a summary of equipment capacity, in this way can be applied to different time-critical communications
demand.
1.6 Consistency
This section also provides procedures to achieve these system conformance requirements. This section does not contain a test to demonstrate compliance with these requirements.
2 Normative references
The following documents for the application of this document is essential. For dated references, only the dated version suitable for use herein
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