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Industrial ethernet fieldbus EtherCAT -- Part 6: Application Layer protocol specification
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Basic data | Standard ID | GB/T 31230.6-2014 (GB/T31230.6-2014) | | Description (Translated English) | Industrial ethernet fieldbus EtherCAT -- Part 6: Application Layer protocol specification | | Sector / Industry | National Standard (Recommended) | | Classification of Chinese Standard | N10 | | Classification of International Standard | 25.040 | | Word Count Estimation | 157,198 | | Date of Implementation | 4/1/2015 | | Quoted Standard | GB/T 9387.1; GB/T 9387.2; GB/T 9387.3; GB/T 9387.4; GB/T 15272; GB/T 17176; GB/T 17966; GB/T 17967; GB/T 31230.3; GB/T 31230.5; ISO/IEC 8802-3; IEEE 802.1D-2004; IEEE 802.1Q-1998; IETF RFC 791 | | 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 protocol IEC fieldbus application layer, and with the OSI Basic Reference Model (GB/T 9387) and OSI application layer structure (GB/T 17176) coincide. The main purpose of this section is to define an application layer protocol | GB/T 31230.6-2014: Industrial ethernet fieldbus EtherCAT -- Part 6: Application Layer protocol specification
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. Industrial ethernet fieldbus EtherCAT Part 6. Application Layer protocol specification
ICS 25.040
N10
National Standards of People's Republic of China
Industrial Ethernet fieldbus EtherCAT
Part 6. Application layer protocol specification
Part 6. ApplicationLayerprotocolspecification
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 Consistency 1
2 Normative references 2
3 Terms, definitions, symbols, abbreviations and conventions 2
Terms and Definitions 3.1 Reference Model 2
3.2 service agreement terms and definitions 3
3.3 Application Layer Definition 4
Common symbols and abbreviations 3.4 8
3.5 Additional symbols and abbreviations 9
3.6 Conventions 10
4 Application Layer Protocol Specification 14
4.1 works 14
4.2 Reference Model node 14
5 FAL Syntax Description 16
16 5.1 Coding Guidelines
5.2 Data Types and Encoding Rules 16
5.3 AR encoder 19
5.4 SII encoder 24
5.5 Isochronous encoding PDI 29
31 5.6 CoE coding
5.7 EoE coding 71
5.8 FoE coding 80
6 FAL protocol state machine 86
6.1 Overall Structure 86
6.2 AP vertical relationship between the State Machine (AP-Contextstatemachine) 87
6.3 FAL service protocol machine (FALserviceprotocolmachine, FSPM) 87
6.4 application protocol machine relationship (ApplicationRelationshipProtocolMachines, ARPM) 87
6.5 DLL mapping protocol machine (DLLmappingprotocolmachine, DMPM) 147
References 148
Public structure 1 specific fields 10
Figure 2 Type Description Example 12
Figure 3 slave node reference model 15
Coding Figure 4 TimeOfDay 16
Coding 5 TimeDifference 17
Figure 6 AL request control structure 19
Figure 7 AL control response of the structure 20
Figure 8 AL status change of structure 22
Figure 9 PDI control Type Description 23
10 depicts the type of configuration synchronization 23
11 distributed clock synchronization and latch Type Description 29
Figure 12 CoE general structure 31
Figure 13 SDO download delivery request structure 32
Figure 14 SDO download delivery response of the structure 34
Figure 15 SDO conventional structure 35 download request
16 download SDO segment request structure 36
17 download SDO segment response structure 37
Figure 18 SDO Upload Request delivery structure 38
Figure 19 SDO Upload response delivery structure 39
Figure 20 SDO Upload response to a conventional structure 40
Figure 21 Upload SDO segment request structure 41
Upload SDO segment Figure 22 Response Structure 42
23 abort SDO transfer request structure 43
Figure 24 SDO information service structure 45
25 Get OD list request structure 47
26 Get OD list response structure 48
Figure 27 Object Description Gets request structure 49
28 Object Description Gets Response Structure 50
29 requests to obtain entry describes the structure 51
30 Get entry describes the response structure 52
Figure 31 SDO error information request structure 54
Figure 32 EoE general structure 71
33 EoE timestamp Chart 72
Figure 34 EoEFragment request structure 73
Figure 35 SetIPParameter request structure 75
36 SetIPParameter Response Chart 76
Figure 37 SetAddressFilter request structure 77
38 SetAddressFilter Response structure 79
Figure 39 FoERead request structure 80
Figure 40 FoEWrite request structure 81
Figure 41 FoEData request structure 81
Figure 42 Ack request structure 82
Figure 43 Error Request Structure 83
Figure 44 Busy request structure 85
86 Figure 45 Relationship between the protocol machine
Figure 46 AR protocol machine 87
Figure 47 ESM 88
The following table describes the elements of Example 1 PDU 11
Table 2 Property Description Example 12
Table 3 describes the state machine element 13
Table 4 illustrate the state machine element 13
13 Table 5 Conventions used in the state machine
Table 6 sequence transfer syntax 17
Table 7 Unsignedn type of data transfer syntax 18
Table 8 Integern type of data transfer syntax 18
Table 9 AL control Description 19
20 Table 10 AL control response
Table 11 AL status codes 20
22 Table 12 AL status change
Table 13 PDI Control 23
Table 14 PDI configuration 23
24 Table 15 Configuration Synchronization
Table 16 Slave interface information area 24
Table 17 Slave interface class information 25
Table 18 Supported mailbox protocol type 25
Table 19 Type 25 Type
Table 20 String class structure 26
Table 21 General category structure 26
Table 22 FMMU category structure 27
Table SyncM Class 23 of each element of the structure 28
Table 24 each PDO TXPDO and RXPDO category structure 28
Table 25 PDOEntry structure 28
Table 26 distributed clock synchronization parameter 30
Table 27 distributed data latch clock 30
Table 28 CoE element 32
Table 29 SDO download delivery request 33
Table 30 SDO download delivery response 34
Table 31 SDO conventional download request 35
Table 32 SDO segment download request 36
Table 33 download SDO segment in response to 37
Table 34 SDO Upload delivery request 38
Table 35 SDO Upload response Jisong 39
Table 36 SDO Upload response routine 41
Table 37 SDO segment upload request 42
Table 38 Response 42 Upload SDO segment
Table 39 SDO abort transfer request 44
Table 40 SDO abort code 44
Table 41 SDO Information Service 46
Table 42 Get OD list request 47
Table 43 lists response Get OD 48
Table 44 Object Description Gets Request 49
Being Object Description Table 45 Response 50
Get Entry Description Table 46 request 51
Get Entry Description Table 47 Response 52
Table 48 SDO error information request 54
Table 49 urgent request 55
Table 50 Emergency error code 55
Table 51 Error Code 56
Table 52 Diagnostic data 57
Table 53 Length error 57 Synchronization Manager
Table 54 Synchronization Manager Address Error 57
Table 55 Synchronization Manager to set error 57
Table 56 through 58 transmission mailbox RxPDO
Table 57. TxPDO transmission 58 by mail
Table 58 RxPDO remote transmission request 59
Table 59 TxPDO remote transmission request 59
Table 60 Command object structure 60
Table 61 Object Dictionary structure 60
Table 62 define the object code 61
Table 63 Basic data type region 61
Table 64 Extended Data type region 62
Table 65 enumeration defines 63
Table 66 CoE Communication Area 64
Table 67 DeviceType 65
Table 68 ErrorRegister 65
Table 69 ManufacturerDeviceName 66
Table 70 ManufacturerHardwareVersion 66
Table 71 ManufacturerSoftwareVersion 67
Table 72 IdentityObject 67
Table 73 ReceivePDOMapping 68
Table 74 TransmitPDOMapping 68
Table 75 SyncManagerCommunicationType 69
Table 76 SyncManagerChannel0 ~ 31 70
Table 77 SyncManagerSynchronization 70
71 Table 78 InitiateEoE request
Table 79 InitiateEoE response 72
73 Table 80 EoEFragment request
Table 81 EoE data 74
75 Table 82 SetIPParameter request
Table 83 SetIPParameter response 76
Table 84 EoEResult parameters 77
78 Table 85 SetAddressFilter request
Table 86 SetAddressFilter response 79
80 Table 87 FoERead request
81 Table 88 FoEWrite request
82 Table 89 FoEData request
Table 90 Ack Request 83
Table 91 Error Request 84
Table 92 FoE error code 84
85 Table 93 Busy request
Table 94 local and state transition management service 89
Table 95 ESM to DL primitives 90
Table 96 DL primitives to ESM 90
Table 97 apply to ESM primitives 90
Table 98 ESM primitive to the application of 90
Table 99 ESM variable 91
Table 100 ESM macro 92
Table 101 ESM function 92
Table 102 ESM state table 93
Table 103 ESM function 112
Primitive table 104 mail processing program given to the DL 112
Table 105 DL primitive issued to the mailbox handler 113
Primitive table 106 protocol handler sent to the mailbox handler 113
Table primitives 107 mail handler sent to protocol handler 113
Table primitives 108 applications sent to CoESM 114
Table primitives 109 CoESM sent to the application 115
Status Table 116 Table 110 CoESM
Table primitives 111 applications sent to EoESM 131
Table primitives 112 EoESM sent to the application 132
Status Table 133 Table 113 EoESM
Table primitives 114 applications sent to FoESM 140
Table primitives 115 FoESM sent to the application 140
Status Table 141 Table 116 FoESM
Foreword
GB/T 31230 "Industrial Ethernet fieldbus EtherCAT" is divided into six sections.
--- Part 1. General;
--- 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 631,230.
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 6. Application 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
Fieldbus Application Layer (FAL) program for the user to provide an access method Fieldbus communication environment, FAL shall be deemed appropriate
With the "window" between programs.
For EtherCAT fieldbus automation environment and materials, the Department is divided into the basic time between application and non-time critical Off
Public key information exchange elements. The term "time-critical" represents the presence of a time window within this time window, there are required to complete one or more
A clear definition of the specified action. When the window is not completed within a specified action, it may result in the need for the action fails to be applied, and even affect
Equipment, plant and personal safety.
This part is defined in an abstract way the externally visible service provided by different types of fieldbus application layer, contains the following aspects.
Abstract Syntax application layer protocols a) the definition of the communication between the application entities transmitting data unit;
Transfer Syntax application layer protocol b) the definition of the communication between the application entities transmitting data unit;
c) defines the communication between application entities visualization application service behavior of the vertical relationship between the application state machine;
d) defines the communication between application entities visual communication behavior of the application state machine relationship.
The purpose of this section is to define the following protocol.
1) the definition of GB/T 31230.5 defined service primitives wire-representation;
2) the definition of the externally visible behavior of transport-related.
This section provides an application layer protocol IEC fieldbus, and with the OSI Basic Reference Model (GB/T 9387) and OSI Application Layer Structure
(GB/T 17176) coincide.
Contained in the application process FAL application entity (AE) provides FAL services and protocols. FALAE shall be composed of a set of object-oriented
AE and a management layer management entity (LME) composition with service unit (ASE). ASE provides a set of application operating process objects
(APO) on a communications service. There is a management ASE in FALASE, it can provide a common set of instance management class for FAL
service.
From the application point of view, even though these services define how requests and responses are published and transmitted, but they do not include information on requests and responses
The specification should be published and the application to transfer content. That is, the aspect of application behavior is not defined. Only they can send/receive
What kind of requests and responses have been clearly defined. This allows the user more flexibility in FAL standardized objects such behavior. apart from
Addition to these services, this section also defines a number of support services, to provide access to FAL certain aspects of the operation of the control.
1.3 specification
The main purpose of this section is to define an application layer protocol syntax and behavior, for transmitting the application layer GB/T 31230.5 defined
service.
Another purpose of this section is to provide an upgrade path for the pre-existing industrial communication protocols.
1.4 Consistency
This section does not specify a specific device or product, not particularly limited industrial automation system application layer entities.
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