Ethernet POWERLINK 通信配置规范 V1.2.0

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Powerlink 协议规范详解 Powerlink 协议是一种实时以太网协议栈，用于工业自动化、机器人控制、运动控制等领域。下面我们将详细介绍 Powerlink 协议规范的内容。 **概述** Powerlink 协议是一种开放式的实时以太网协议栈，由 Ethernet POWERLINK Standardisation Group (EPSG) 开发和维护。该协议规范的目的是为了提供一个通用的、开放式的实时以太网协议栈，用于工业自动化、机器人控制、运动控制等领域。 **Powerlink 协议架构** Powerlink 协议架构主要由三部分组成： 1. 应用层：负责处理应用程序之间的通信。 2. 实时层：负责处理实时数据的传输。 3. 数据链路层：负责处理数据的传输和接收。 **Powerlink 协议特点** Powerlink 协议具有以下特点： 1. 实时性：Powerlink 协议可以提供高速的实时数据传输，满足工业自动化、机器人控制、运动控制等领域的需求。 2. 可靠性：Powerlink 协议具有高可靠性的数据传输机制，确保数据的正确传输。 3. 灵活性：Powerlink 协议支持多种网络拓扑结构和协议，能够满足不同的应用场景。 **Powerlink 协议规范** Powerlink 协议规范包括以下几个方面： 1. 通信协议：定义了 Powerlink 协议的通信机制，包括数据传输、数据接收、错误检测和纠正等。 2. 实时机制：定义了 Powerlink 协议的实时机制，包括时钟同步、数据传输延迟等。 3. 网络管理：定义了 Powerlink 协议的网络管理机制，包括网络配置、网络监控等。 **EPSG 规范** EPSG 规范是 Powerlink 协议的官方规范，定义了 Powerlink 协议的所有方面，包括通信协议、实时机制、网络管理等。EPSG 规范是 Powerlink 协议的基础，确保 Powerlink 协议的可靠性和可靠性。 **结论** Powerlink 协议是一种开放式的实时以太网协议栈，用于工业自动化、机器人控制、运动控制等领域。Powerlink 协议具有实时性、可靠性、灵活性等特点，满足了工业自动化、机器人控制、运动控制等领域的需求。EPSG 规范是 Powerlink 协议的官方规范，定义了 Powerlink 协议的所有方面。

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EPSG DS 301 V1.2.0

-16-

Read by Name request field interpretation 150 Tab. 70

Command: File Write request 151 Tab. 71

File Write request field interpretation 151 Tab. 72

Command: File Read request 151 Tab. 73

File Read request field interpretation 151 Tab. 74

Command: Write Multiple Parameter by Index Request 152 Tab. 75

Write Multiple Parameter by Index request field interpretation 152 Tab. 76

Command: Write Multiple Parameter by Index Response 152 Tab. 77

Write Multiple Parameter by Index response field interpretation 153 Tab. 78

Command: Read Multiple Parameter by Index request 153 Tab. 79

Read Multiple Parameter by Index request field interpretation 153 Tab. 80

Command: Read Multiple Parameter by Index response 154 Tab. 81

Read Multiple Parameter by Index response field interpretation 154 Tab. 82

Command: Maximum Segment Size 155 Tab. 83

Maximum Segment Size field interpretation 155 Tab. 84

SDO embedded in PDO 155 Tab. 85

SDO embedded in PDO field interpretation 156 Tab. 86

POWERLINK sequence layer for embedding of SDO in cyclic data 156 Tab. 87

Fields of POWERLINK sequence layer for embedding of SDO in cyclic data 157 Tab. 88

Command: Write by Index Request via PDO 162 Tab. 89

Command: Read by Index Request via PDO 163 Tab. 90

Structure of PDO Mapping version 168 Tab. 91

Structure of PDO Mapping Entry 173 Tab. 92

Internal bit mapping of PDO mapping entry 173 Tab. 93

Format of one entry 179 Tab. 94

Description of one entry 179 Tab. 95

Format of the field entry type 179 Tab. 96

Error signaling bits 180 Tab. 97

Static error bit field 183 Tab. 98

Abbreviations for the following examples 184 Tab. 99

PDL_ProgCtrl_AU8 sub-index value interpretation 189 Tab. 100

Device description file and device configuration storage formats 196 Tab. 101

Concise DCF stream format 198 Tab. 102

CNConfigurationRequest write access signature 200 Tab. 103

Structure of SelectedRange_U32 204 Tab. 104

Common initialisation NMT state transitions 208 Tab. 105

MN specific state transitions 212 Tab. 106

CN specific state transitions 216 Tab. 107

States and communication objects 217 Tab. 108

NMT_DeviceType_U32 value interpretation 218 Tab. 109

Structure of Revision number 220 Tab. 110

NMT_FeatureFlags_U32 interpretation 222 Tab. 111

NMT_EPLVersion_U8 encoding 223 Tab. 112

NMT_StoreParam_REC storage write access signature 224 Tab. 113

NMT_StoreParam_REC storage read access structure 224 Tab. 114

NMT_StoreParam_REC structure of read access 224 Tab. 115

NMT_RestoreDefParam_REC restoring write access signature 226 Tab. 116

NMT_RestoreDefParam_REC restoring default values read access structure 226 Tab. 117

NMT_RestoreDefParam_REC structure of restore read access 226 Tab. 118

NMT_NodeAssignment_AU32 interpretation 233 Tab. 119

HeartbeatDescription value interpretation 238 Tab. 120

NMT_StartUp_U32 interpretation 241 Tab. 121

Implicit NMT state commands 259

Tab. 122

NMT state command service, NMT managing command service and NMT info service structure of the NMT Tab. 123

Service Slot field 260

NMT Service Slot fields of explicit NMT state command services 260 Tab. 124

Plain NMT state commands 261 Tab. 125

Extended NMT state commands 262 Tab. 126

POWERLINK node list: Node ID to bit assignment 263 Tab. 127

NMT Service Slot fields of NMT managing command services 264 Tab. 128

NMT managing command services 264 Tab. 129

NMTCommandData structure of NMTNetHostNameSet 264 Tab. 130

NMTCommandData data fields of NMTNetHostNameSet 264 Tab. 131

NMTFlushArpEntry ASnd service slot structure 265 Tab. 132

NMTCommandData data fields of NMTFlushArpEntry 265 Tab. 133

NMT Service Slot structure of IdentResponse 267 Tab. 134

NMT Service Slot data fields of IdentResponse 269 Tab. 135

NMT Service Slot structure of StatusResponse 269 Tab. 136

NMT Service Slot data fields of StatusResponse 270 Tab. 137

NMT Service Slot data fields of NMT managing info services 270 Tab. 138

NMT info services 271

Tab. 139

NMTCommandData structure of NMTPublishNodeStates 272 Tab. 140

NMTCommandData data fields of NMTPublishNodeStates 272 Tab. 141

NMTCommandData structure of NMTPublishTime 273 Tab. 142

NMTCommandData data fields of NMTPublishTime 273 Tab. 143

NMT Service Slot structure of NMTRequest 274 Tab. 144

EPSG DS 301 V1.2.0

-18-

Pre. 6 Figures

Fig. 1. Slot Communication Network Management (SCNM) 25

Fig. 2. Integration POWERLINK based machines into the IT infrastructure of end customer 27

Fig. 3. Typical centralized and decentralized controller structures 27

Fig. 4. Reference model 28

Fig. 5. Service types 29

Fig. 6. Device model 30

Fig. 7. Unconfirmed master slave communication 32

Fig. 8. Confirmed master slave communication 33

Fig. 9. Client/Server communication 33

Fig. 10. Push model 33

Fig. 11. Pull model 34

Fig. 12. Star topology and line topology 35

Fig. 13. RJ45 pin assignment (left: connector, right: port) 36

Fig. 14. IP67 port pin assignment. 37

Fig. 15. recommended RJ45 to RJ45 pin assignment 37

Fig. 16. not recommended RJ45 to RJ45 pin assignment 37

Fig. 17. M12 to M12 pin assignment 37

Fig. 18. M12 to RJ45 pin assignment 38

Fig. 19. POWERLINK Cycle 41

Fig. 20. POWERLINK - an isochronous process 41

Fig. 21. Multiplexed POWERLINK cycle 42

Fig. 22. Asynchronous scheduling 44

Fig. 23. Asynchronous transmit priority handling (Priority level PR: 7 = PRIO_NMT_REQUEST, 3 =

PRIO_GENERIC_REQUEST) 46

Fig. 24. Reduced POWERLINK cycle 47

Fig. 25. POWERLINK cycle timing, start phase and isochronous phase 48

Fig. 26. POWERLINK cycle timing, asynchronous phase, AsyncSend transmission by CN 49

Fig. 27. POWERLINK cycle timing, asynchronous phase, AsyncSend transmission by MN 49

Fig. 28. Multiple slot assignment 58

Fig. 29. CN cycle state machine, states NMT_GS_INITIALISATION, NMT_CS_NOT_ACTIVE,

NMT_CS_PRE_OPERATIONAL_1, NMT_CS_BASIC_ETHERNET 60

Fig. 30. CN cycle state machine (DLL_CS), valid for NMT_CS_PRE_OPERATIONAL_2,

NMT_CS_READY_TO_OPERATE, NMT_CS states NMT_CS_OPERATIONAL 61

Fig. 31. MN cycle state machine, state NMT_MS_PRE_OPERATIONAL_1 64

Fig. 32. MN cycle state machine, States NMT_MS_OPERATIONAL, NMT_MS_READY_TO_OPERATE and

NMT_MS_PRE_OPERATIONAL_2 66

Fig. 33. Error registration 80

Fig. 34. Threshold counter 81

Fig. 35. Timeouts 84

Fig. 36. Timing violation 85

Fig. 37. Cycle time exceeded 87

Fig. 38. Construction of the IPv4 address 113

Fig. 39. POWERLINK frame structure 119

Fig. 40. POWERLINK compliant UDP/IP frame structure 119

Fig. 41. Legacy Ethernet frame structure 119

Fig. 42. SDO layer model 131

Fig. 43. POWERLINK SDO embedded in UDP/IP frame 132

Fig. 44. UDP socket 134

Fig. 45. Initialisation of a asynchronous connection 136

Fig. 46. Closing of asynchronous connection 136

Fig. 47. Normal asynchronous communication 137

Fig. 48. Delayed asynchronous communication 138

Fig. 49. Asynchronous communication when history buffer gets full 138

Fig. 50. Error loss of asynchronous frame 139

Fig. 51. Error loss of asynchronous acknowledge 139

Fig. 52. Error duplication of asynchronous frame 140

Fig. 53. Error asynchronous communication broken 141

Fig. 54. Error flooding with asynchronous commands 141

Fig. 55. Information structure of POWERLINK command layer 142

Fig. 56. Definition of segment size 143

Fig. 57. POWERLINK command layer: Typical download transfer 144

Fig. 58. POWERLINK command layer: Typical upload transfer 145

Fig. 59. Abort transfer 146

Fig. 60. Initialisation of embedded connection 157

Fig. 61. Closing of connection 158

Fig. 62. Normal embedded communication 159

Fig. 63. Error embedded request lost 160

Fig. 64. Error embedded response lost 161

Fig. 65. Embedded segmented download 161

Fig. 66. Embedded segmented upload 162

Fig. 67. Error signaling – Reference model 178

Fig. 68. Error signaling – Overview 178

EPSG DS 301 V1.2.0

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Fig. 69. Error signaling initialisation 181

Fig. 70. Error signaling with PReq and PRes 182

Fig. 71. Error signaling for Async-only CNs and CNs in state NMT_CS_PRE_OPERATIONAL_1 183

Fig. 72. Common initialisation NMT state machine 206

Fig. 73. NMT state diagram of an MN 209

Fig. 74. State diagram of an CN 213

Fig. 75. NMT_RestoreDefParam_REC restore procedure 227

Fig. 76. POWERLINK communication slots 251

Fig. 77. Implicit NMT state command service protocol 259

Fig. 78. Explicit NMT state command service protocol 260

Fig. 79. NMT managing command service protocol 264

Fig. 80. NMT state response service protocol (isochronous CN) 265

Fig. 81. NMT state response service protocol (async-only CN) 266

Fig. 82. IdentResponse service protocol 266

Fig. 83. StatusResponse service protocol 269

Fig. 84. NMT info service protocol 270

Fig. 85. State NMT_MS_NOT_ACTIVE 276

Fig. 86. Detail state NMT_MS_PRE_OPERATIONAL_1 278

Fig. 87. Detail state NMT_MS_PRE_OPERATIONAL_2 279

Fig. 88. Detail state NMT_MS_READY_TO_OPERATE 280

Fig. 89. Detail state NMT_MS_OPERATIONAL 282

Fig. 90. Overview of the boot process in NMT super-state NMT_MS 283

Fig. 91. Network boot process dependencies to the NMT_MS for optional and mandatory CNs 284

Fig. 92. Sub-state BOOT_STEP1 285

Fig. 93. Sub-state CHECK_IDENTIFICATION[Node ID] 286

Fig. 94. Sub-state CHECK_SOFTWARE[Node ID] 287

Fig. 95. Sub-state CHECK_CONFIGURATION[Node ID] 288

Fig. 96. Sub-state GET_IDENT[Node ID] 289

Fig. 97. Sub-state BOOT_STEP2[Node ID] 290

Fig. 98. Sub-state CHECK_COMMUNICATION[Node ID] 291

Fig. 99. Sub-state START_CN[Node ID] 292

Fig. 100. Sub-state START_ALL 293

Fig. 101. Sub-state CHECK_STATE 294

Fig. 102. Sub-state CHANGE_NMT_STATE 295

Fig. 103. Sub-state ERROR_TREATMENT 296

Fig. 104. Minimal NMT boot-up process 301

Fig. 105. Boot procedure example for a single CN 302

Fig. 106. POWERLINK router, black box model 309

Fig. 107. Possible communication relations via a POWERLINK router 310

Fig. 108. POWERLINK router reference model 310

Fig. 109. Symmetrical n-to-n NAT 313

Fig. 110. NAT architecture 313

Fig. 111. Integration of NAT in the POWERLINK router 314

Fig. 112. Filter tables of the packet filter 315

Fig. 113. POWERLINK router type 2 330

Fig. 114. ERROR LED state machine 332

EPSG DS 301 V1.2.0

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Pre. 7 Definitions and Abbreviations

Pre 7.1 Definitions

Ageing

Ageing is a common mechanism to maintain (cache) tables. Entries

which are not used or refreshed are removed after a specified time.

Application Process

The Application Process is the task on the Application Layer

Async-only CN

An Async-only CN is operated in a way, that it isn’t accessed cyclically

in the isochronous slot by the MN. It is polled during the asynchronous

period by a StatusRequest message.

Asynchronous Data

Data in a POWERLINK network which is not time critical. Within the

POWERLINK cycle there is a specific period reserved for

Asynchronous Data which is shared by all nodes. Each node connected

to the network can send asynchronous data by requesting it to the

Managing Node. The Managing Node keeps a list of all asynchronous

data requests and will subsequently grant the network access to one

node after the other.

Asynchronous Period

The Asynchronous Period is the second part of the POWERLINK cycle,

starting with a Start of Asynchronous (SoA) frame.

Asynchronous Scheduling

The MN’s asynchronous scheduler decides when a requested

asynchronous data transfer will happen.

Basic Ethernet Mode

Basic Ethernet Mode provides the Legacy Ethernet communication.

CANopen

CANopen is a network technology optimized for the usage in industrial

control environments, in machine internal networks and in embedded

systems (any control unit deeply "embedded" in a device with

electronics). The lower-layer implementation of CANopen is based

upon CAN (Controller Area Network).

Continuous

Continuous is a POWERLINK communication class where isochronous

communication takes place every cycle (the opposite to multiplexed).

Controlled Node (CN)

Node in a POWERLINK network without the abilty to manage the

SCNM mechanism.

Cycle State Machine

The Cycle State Machine controls the POWERLINK cycle on the Data

Link Layer and is itself controlled by the NMT state machine defining

the current operating mode.

Cycle Time

The time between two consecutive Start of Cyclic (SoC) frames – i.e.

repeating – process. The Cycle Time includes the time for data

transmission and some idle time before the beginning of the next cycle.

Deterministic Communication

Describes a communication process whose timing behaviour can be

predicted exactly. I.e. the time when a message reaches the recipient is

predictable.

Device Configuration File

The configuration parameters of a specific device are stored in the

Device Configuration File (XDC).

Device Description File

All device dependent information is stored in the Device Description File

(XDD) of each device.

Destination NAT (D-NAT)

D-NAT (Destination- Network Address Translation) changes the

destination address of the IP / ICMP packet.

Domain

In the context of CANopen: A Domain is a data object of arbitrary type

and length which can be transferred over a POWERLINK network.

In the context of internet protocols: A Domain is a part of the internet

name space which is supported by the Domain Name System (DNS).

Ethernet POWERLINK (EPL)

An extension to Legacy Ethernet on layer 2, to exchange data under

hard real-time constraints. It was developed for deterministic data

exchange, short cycle time and isochronous operation in industrial

automation.

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Ethernet POWERLINK 通信配置规范 V1.2.0

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