IO-Link技术规范V1.1.3：接口与系统详细解析

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"IO-Link IOL-Interface-Spec_10002_V113_Jun19.pdf" IO-Link协议规范是IEC 61131-9标准的第9部分，专注于小型传感器和执行器的单线数字通信接口技术，即SDCI，通常称为IO-Link。此规范的最新版本为V1.1.3，旨在为开发者提供编写IO-Link协议栈代码的依据。文档内容广泛，涵盖多个关键领域： 1. SDCI（IO-Link）接口定义与标准：这部分详细阐述了IO-Link接口的技术规格，包括其基本架构和如何与其他系统组件交互。 2. 物理层（Physical Layer）：描述了物理层的结构，如唤醒功能（wakeup）、信号电平定义（高低电平）、以及数据的传输机制，这些都是确保IO-Link设备间可靠通信的基础。 3. 标准输入输出规范：规定了IO-Link设备的标准输入输出行为，确保不同设备之间的互操作性。 4. 数据链路层（Data Link Layer, DL）：处理数据在物理层之上的传输，包括错误检测与纠正，确保数据的完整性和准确性。 5. 应用层（Application Layer, AL）：定义了用户级别的接口，允许上层应用程序访问和控制IO-Link设备。 6. 系统管理（System Management, SM）：包含了对整个IO-Link系统的配置、管理和监控。 7. 设备功能：详细介绍了设备端实现的功能，如参数管理、过程数据交换、数据存储（DS）、IODD（IO-Link Device Description）、事件处理和设备诊断。 8. 主站功能：描述了主站设备的角色，如SMI接口规范、配置管理器、数据存储、请求数据交换和诊断单元等，这些都是主站与IO-Link设备通信的关键组件。 9. 附录：包含了大量的技术细节，如数据编码结构、数据类型定义、事件和错误代码、数据存储结构、ISDU（Information Service Data Unit）数据结构及传输示例等，这些都为实际开发提供了参考。 IO-Link社区是IEC相应工作小组的D-Liaison成员，负责维护和更新标准。任何关于该文档的评论、提案或请求可通过IO-Link CR数据库提交。需要注意的是，在开发和营销IO-Link产品前，必须遵循IO-Link社区的规则。通过理解并遵循这个规范，开发者能够创建符合标准的IO-Link设备和主站，确保设备间的兼容性和互操作性，从而实现自动化系统中的高效数据交换和设备控制。

Version 1.1.3 – 16 – IO-Link Interface and System © IO-Link

Table 26 – DL_PDInputTransport .......................................................................................... 61

Table 27 – DL_PDCycle ........................................................................................................ 61

Table 28 – DL_SetMode ....................................................................................................... 61

Table 29 – DL_Mode ............................................................................................................. 62

Table 30 – DL_Event ............................................................................................................ 63

Table 31 – DL_EventConf ..................................................................................................... 63

Table 32 – DL_EventTrigger ................................................................................................. 63

Table 33 – DL_Control .......................................................................................................... 64

Table 34 – DL-A services within Master and Device .............................................................. 64

Table 35 – OD ...................................................................................................................... 65

Table 36 – PD ....................................................................................................................... 66

Table 37 – EventFlag ............................................................................................................ 67

Table 38 – PDInStatus .......................................................................................................... 67

Table 39 – MHInfo ................................................................................................................ 67

Table 40 – ODTrig ................................................................................................................ 68

Table 41 – PDTrig ................................................................................................................. 68

Table 42 – Wake-up procedure and retry characteristics ....................................................... 70

Table 43 – Fallback timing characteristics ............................................................................. 71

Table 44 – State transition tables of the Master DL-mode handler ........................................ 73

Table 45 – State transition tables of the Device DL-mode handler ........................................ 75

Table 46 – State transition table of the Master message handler .......................................... 80

Table 47 – State transition tables of the Device message handler ......................................... 83

Table 48 – State transition tables of the Master Process Data handler .................................. 85

Table 49 – State transition tables of the Device Process Data handler .................................. 86

Table 50 – State transition tables of the Master On-request Data handler ............................. 87

Table 51 – State transition tables of the Device On-request Data handler ............................. 88

Table 52 – FlowCTRL definitions .......................................................................................... 89

Table 53 – State transition tables of the Master ISDU handler .............................................. 90

Table 54 – State transition tables of the Device ISDU handler .............................................. 92

Table 55 – Control codes ...................................................................................................... 93

Table 56 – State transition tables of the Master command handler ........................................ 94

Table 57 – State transition tables of the Device command handler ........................................ 95

Table 58 – Event memory ..................................................................................................... 95

Table 59 – State transition tables of the Master Event handler .............................................. 96

Table 60 – State transition tables of the Device Event handler .............................................. 97

Table 61 – AL services within Master and Device ................................................................. 99

Table 62 – AL_Read ........................................................................................................... 100

Table 63 – AL_Write ........................................................................................................... 101

Table 64 – AL_Abort ........................................................................................................... 102

Table 65 – AL_GetInput ...................................................................................................... 102

Table 66 – AL_NewInput ..................................................................................................... 103

Table 67 – AL_SetInput ...................................................................................................... 103

Table 68 – AL_PDCycle ...................................................................................................... 104

IO-Link Interface and System © IO-Link – 17 – Version 1.1.3

Table 69 – AL_GetOutput ................................................................................................... 104

Table 70 – AL_NewOutput .................................................................................................. 104

Table 71 – AL_SetOutput .................................................................................................... 105

Table 72 – AL_Event .......................................................................................................... 105

Table 73 – AL_Control ........................................................................................................ 106

Table 74 – States and transitions for the OD state machine of the Master AL ..................... 107

Table 75 – States and transitions for the OD state machine of the Device AL ..................... 109

Table 76 – State and transitions of the Event state machine of the Master AL..................... 112

Table 77 – State and transitions of the Event state machine of the Device AL..................... 113

Table 78 – SM services within the Master ........................................................................... 119

Table 79 – SM_SetPortConfig ............................................................................................. 119

Table 80 – Definition of the InspectionLevel (IL) ................................................................. 120

Table 81 – Definitions of the Target Modes ......................................................................... 120

Table 82 – SM_GetPortConfig ............................................................................................ 121

Table 83 – SM_PortMode ................................................................................................... 122

Table 84 – SM_Operate ...................................................................................................... 122

Table 85 – State transition tables of the Master System Management ................................. 124

Table 86 – State transition tables of the Master submachine CheckCompatibility_1 ............ 126

Table 87 – State transition tables of the Master submachine checkSerNum_3 .................... 129

Table 88 – SM services within the Device ........................................................................... 132

Table 89 – SM_SetDeviceCom ........................................................................................... 133

Table 90 – SM_GetDeviceCom ........................................................................................... 134

Table 91 – SM_SetDeviceIdent ........................................................................................... 135

Table 92 – SM_GetDeviceIdent .......................................................................................... 136

Table 93 – SM_SetDeviceMode .......................................................................................... 136

Table 94 – SM_DeviceMode ............................................................................................... 137

Table 95 – State transition tables of the Device System Management ................................. 138

Table 96 – State transition tables of the PM state machine ................................................. 145

Table 97 – Sequence of parameter checks ......................................................................... 147

Table 98 – Steps and rules for Block Parameter checking ................................................... 149

Table 99 – Prioritized ISDU responses on command parameters ........................................ 150

Table 100 – State transition table of the Data Storage state machine ................................. 151

Table 101 – Overview on reset options and their impact on Devices ................................... 156

Table 102 – Overview of the protocol constants for Devices ............................................... 159

Table 103 – Classification of Device diagnosis incidents ..................................................... 160

Table 104 – Timing for LED indicators ................................................................................ 162

Table 105 – SMI services .................................................................................................... 165

Table 106 – SMI_MasterIdentification ................................................................................. 167

Table 107 – SMI_PortConfiguration .................................................................................... 168

Table 108 – SMI_ReadbackPortConfiguration ..................................................................... 170

Table 109 – SMI_PortStatus ............................................................................................... 171

Table 110 – SMI_DSToParServ .......................................................................................... 172

Table 111 – SMI_ParServToDS .......................................................................................... 173

Version 1.1.3 – 18 – IO-Link Interface and System © IO-Link

Table 112 – SMI_DeviceWrite ............................................................................................. 174

Table 113 – SMI_DeviceRead ............................................................................................. 176

Table 114 – SMI_ParamWriteBatch .................................................................................... 177

Table 115 – SMI_ParamReadBatch .................................................................................... 178

Table 116 – SMI_PortPowerOffOn ...................................................................................... 180

Table 117 – SMI_DeviceEvent ............................................................................................ 181

Table 118 – SMI_PortEvent ................................................................................................ 182

Table 119 – SMI_PDIn ........................................................................................................ 182

Table 120 – SMI_PDOut ..................................................................................................... 184

Table 121 – SMI_PDInOut .................................................................................................. 185

Table 122 – SMI_PDInIQ .................................................................................................... 186

Table 123 – SMI_PDOutIQ .................................................................................................. 187

Table 124 – SMI_PDReadbackOutIQ .................................................................................. 188

Table 125 – Internal variables and Events controlling Master applications .......................... 190

Table 126 – State transition tables of the Configuration Manager ........................................ 193

Table 127 – States and transitions of the Data Storage state machines .............................. 199

Table 128 – State transition table of the ODE state machine ............................................... 202

Table 129 – Recommended Data Storage Backup Levels ................................................... 211

Table 130 – Criteria for backing up parameters ("Backup/Restore") .................................... 211

Table 131 – Criteria for backing up parameters ("Restore") ................................................. 212

Table A.1 – Values of communication channel .................................................................... 217

Table A.2 – Values of R/W .................................................................................................. 217

Table A.3 – Values of M-sequence types ............................................................................ 218

Table A.4 – Data types for user data ................................................................................... 218

Table A.5 – Values of PD status ......................................................................................... 219

Table A.6 – Values of the Event flag ................................................................................... 219

Table A.7 – M-sequence types for the STARTUP mode ...................................................... 224

Table A.8 – M-sequence types for the PREOPERATE mode ............................................... 224

Table A.9 – M-sequence types for the OPERATE mode (legacy protocol) ........................... 225

Table A.10 – M-sequence types for the OPERATE mode .................................................... 225

Table A.11 – Recommended MinCycleTimes ...................................................................... 227

Table A.12 – Definition of the nibble "I-Service" .................................................................. 229

Table A.13 – ISDU syntax ................................................................................................... 229

Table A.14 – Definition of nibble Length and octet ExtLength .............................................. 230

Table A.15 – Use of Index formats ...................................................................................... 230

Table A.16 – Mapping of EventCodes (type 1) .................................................................... 233

Table A.17 – Values of INSTANCE ..................................................................................... 234

Table A.18 – Values of SOURCE ........................................................................................ 235

Table A.19 – Values of TYPE .............................................................................................. 235

Table A.20 – Values of MODE ............................................................................................ 235

Table B.1 – Direct Parameter page 1 and 2 ........................................................................ 237

Table B.2 – Types of MasterCommands .............................................................................. 237

Table B.3 – Possible values of MasterCycleTime and MinCycleTime .................................. 238

IO-Link Interface and System © IO-Link – 19 – Version 1.1.3

Table B.4 – Values of ISDU ................................................................................................ 239

Table B.5 – Values of SIO................................................................................................... 240

Table B.6 – Permitted combinations of BYTE and Length ................................................... 240

Table B.7 – Implementation rules for parameters and commands ........................................ 242

Table B.8 – Index assignment of data objects (Device parameter) ...................................... 242

Table B.9 – Coding of SystemCommand (ISDU) ................................................................. 244

Table B.10 – DataStorageIndex assignments ...................................................................... 245

Table B.11 – Structure of Index_List ................................................................................... 246

Table B.12 – Device locking possibilities............................................................................. 247

Table B.13 – DeviceStatus parameter ................................................................................. 249

Table B.14 – DetailedDeviceStatus (Index 0x0025) ............................................................. 250

Table B.15 – Time base coding and values of OffsetTime ................................................... 251

Table C.1 – ErrorTypes ....................................................................................................... 252

Table C.2 – Derived ErrorTypes .......................................................................................... 254

Table C.3 – SMI related ErrorTypes .................................................................................... 255

Table D.1 – EventCodes for Devices ................................................................................... 257

Table D.2 – EventCodes for Ports ....................................................................................... 259

Table E.1 – ArgBlock types and their ArgBlockIDs .............................................................. 261

Table E.2 – MasterIdent ...................................................................................................... 262

Table E.3 – PortConfigList .................................................................................................. 263

Table E.4 – PortStatusList .................................................................................................. 264

Table E.5 – On-request_Data ............................................................................................. 266

Table E.6 – DS_Data .......................................................................................................... 266

Table E.7 – DeviceParBatch ............................................................................................... 266

Table E.8 – IndexList .......................................................................................................... 267

Table E.9 – PortPowerOffOn ............................................................................................... 268

Table E.10 – PDIn .............................................................................................................. 268

Table E.11 – PDOut ............................................................................................................ 269

Table E.12 – PDInOut ......................................................................................................... 269

Table E.13 – PDInIQ ........................................................................................................... 270

Table E.14 – PDOutIQ ........................................................................................................ 270

Table E.15 – DeviceEvent ................................................................................................... 270

Table E.16 – PortEvent ....................................................................................................... 271

Table E.17 – VoidBlock ....................................................................................................... 271

Table E.18 – JobError ......................................................................................................... 271

Table F.1 – BooleanT ......................................................................................................... 272

Table F.2 – BooleanT coding .............................................................................................. 272

Table F.3 – UIntegerT ......................................................................................................... 273

Table F.4 – IntegerT ........................................................................................................... 273

Table F.5 – IntegerT coding (8 octets) ................................................................................ 273

Table F.6 – IntegerT coding (4 octets) ................................................................................ 274

Table F.7 – IntegerT coding (2 octets) ................................................................................ 274

Table F.8 – IntegerT coding (1 octet) .................................................................................. 274

Table F.9 – Float32T .......................................................................................................... 274

Table F.10 – Coding of Float32T ......................................................................................... 275

Table F.11 – StringT ........................................................................................................... 275

Table F.12 – OctetStringT ................................................................................................... 276

Table F.13 – TimeT............................................................................................................. 277

Table F.14 – Coding of TimeT ............................................................................................. 277

Table F.15 – TimeSpanT..................................................................................................... 277

Table F.16 – Coding of TimeSpanT ..................................................................................... 277

Table F.17 – Structuring rules for ArrayT ............................................................................ 278

Table F.18 – Example for the access of an ArrayT .............................................................. 278

Table F.19 – Structuring rules for RecordT ......................................................................... 279

Table F.20 – Example 1 for the access of a RecordT .......................................................... 279

Table F.21 – Example 2 for the access of a RecordT .......................................................... 279

Table F.22 – Example 3 for the access of a RecordT .......................................................... 280

Table G.1 – Structure of the stored DS data object ............................................................. 281

Table G.2 – Associated header information for stored DS data objects ............................... 281

Table H.1 – EMC test conditions for SDCI........................................................................... 282

Table H.2 – EMC test levels ................................................................................................ 283

Table K.1 – Proper CRC generator polynomials .................................................................. 292

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