Powerlink - 7 Mapping of DataTypes

Table 22 shows the mapping between basic data types of both standards.

Table 22 – Mapping of primitive DataTypes

POWERLINK Basic Data Types	OPC UA DataTypes	Description
BOOLEAN	Boolean	1 Bit
INTEGER8	SByte	Signed integer, 8 Bit
INTEGER16	Int16	Signed integer, 16 Bit
INTEGER32	Int32	Signed integer, 32 Bit
INTEGER64	Int64	Signed integer, 64 Bit
UNSIGNED8	Byte	Unsigned integer, 8 Bit
UNSIGNED16	UInt16	Unsigned integer, 16 Bit
UNSIGNED32	UInt32	Unsigned integer, 32 Bit
UNSIGNED64	UInt64	Unsigned integer, 64 Bit
REAL32	Float	Float, 32 Bit
REAL64	Double	Float, 64 Bit
DOMAIN	ByteString	ByteString with variable size
IP_ADDRESS	PowerlinkIpAddressDataType	IPV4 Address
OCTET_STRING	ByteString	ByteString with variable size
VISIBLE_STRING	String	Variable number bytes interpreted as ISO 646-1973(E) 7-bit coded characters

7.2 Enumeration DataTypes

7.2.1 PowerlinkNMTStateEnumeration

This DataType is an enumeration that represents the NMT State. Its values are defined in Table 23. States with the prefix “NMT_XS” represent a state that is existing for the POWERLINK Controlled Node as well as for the POWERLINK Managing Node. For instance, the states NMT_MS_OPERATIONAL and NMT_CS_OPERATIONAL are both represented by the enumeration value NMT_XS_OPERATIONAL_253.

Table 23 – PowerlinkNMTStateEnumeration Values

Value	Description
NMT_GS_OFF_0
NMT_GS_INITIALISING_25	first state after power-on of the POWERLINK Device
NMT_GS_RESET_APPLICATION_41	set manufacturer-specific and standardised device profile area to their power-on values
NMT_GS_RESET_COMMUNICATION_57	set communication profile area (except ERR_History_ADOM) to their power-on values
NMT_GS_RESET_CONFIGURATION_121	generate the active device configuration
NMT_XS_NOT_ACTIVE_28	a non-permanent state which allows a starting device to recognise the current network state
NMT_XS_PRE_OPERATIONAL_1_29	the POWERLINK network operates in reduced cycle
NMT_XS_PRE_OPERATIONAL_2_93	the POWERLINK network operates in isochronous operation, but the device is still in a configuration state
NMT_XS_READY_TO_OPERATE_109	the device configuration is completed and the device is ready to switch over to NMT_XS_OPERATIONAL
NMT_XS_OPERATIONAL_253	normal operating state of a POWERLINK Device
NMT_CS_STOPPED_77	the device is largely passive, NMT_CS_STOPPED shall be used for controlled shutdown of a selected CN while the system is still running
NMT_XS_BASIC_ETHERNET_30	Legacy Ethernet communication according to IEEE 802.3, no POWERLINK specific network traffic control

Its representation in the AddressSpace is defined in Table 24.

Table 24 – PowerlinkNMTStateEnumeration Definition

Attributes	Value
BrowseName	PowerlinkNMTStateEnumeration
Subtype of Enumeration defined in OPC 10000-5.

7.2.2 PowerlinkNMTResetCmdEnumeration

This DataType is an Enumeration that represents the NMT reset commands for POWERLINK. Its values are defined in Table 23.

Table 25 – PowerlinkNMTResetCmdEnumeration Values

Value	Description
NMTResetNode_40	start application initialisation
NMTResetCommunication_41	start communication initialisation
NMTResetConfiguration_42	activate device configuration
NMTSwReset_43	start basic node initialisation
NMTInvalidService_255	readback value for the POWERLINK Object NMT_ResetCmd_U8

Its representation in the AddressSpace is defined in Table 24.

Table 26 – PowerlinkNMTResetCmdEnumeration Definition

Attributes	Value
BrowseName	PowerlinkNMTResetCmdEnumeration
Subtype of Enumeration defined in OPC 10000-5.

7.3 OptionSet DataTypes

7.3.1 PowerlinkAttributes

This DataType is an OptionSet that represents the POWERLINK entry attributes. It is a subtype of OptionSet. Its values are defined in Table 27 and the DataType is used for the Property PowerlinkAttributes in the VariableTypes PowerlinkArrayType (5.2.2) and PowerlinkVariableType (5.2.4).

Table 27 – PowerlinkAttributes Values

Value	Bit	Abbreviation	Description
Const	0	CONST	Read access only, the value is not changing
Read	1	R	Read access
Write	2	W	Write access
Input	3	I	Represents process input data, object can be used in PDO mapping
Output	4	O	Represents process output data, object can be used in PDO mapping
Store	5	S	Can be stored to non-volatile memory
ValidOnReset	6	VR	Only valid after reset
DefaultMapping	7	DEF	Variable is included in default mapping
RPDO	8	RPDO	Variable may be mapped into receive PDO
TPDO	9	TPDO	Variable may be mapped into transmit PDO

The expressions in the column ‘Abbreviation’ are used in the OPC UA object definitions.

The Field CurrentRead of the Variables Attribute AccessLevel shall be contain the same value as the Field Read in the Variables Attribute PowerlinkAttributes.

The Field CurrentWrite of the Variables Attribute AccessLevel shall be contain the same value as the Field Write in the Variables Attribute PowerlinkAttributes.

Table 28 – PowerlinkAttributes Definition

Attributes	Value
BrowseName	PowerlinkAttributes
Subtype of OptionSet defined in OPC 10000-3.

7.3.2 ErrorRegisterBits

This DataType is an OptionSet that represents the values of the Variable ERR_ErrorRegister_U8. It is a subtype of Byte. Its values are defined in Table 29.

Table 29 – ErrorRegisterBits Values

Value	Bit	Description
Generic_error	0	This bit shall be set if any error is present. Additionally to this bit, the following bits may be used to signal more detailed error information.
Current	1
Voltage	2
Temperature	3
Communication_error	4
Device_profile_specific	5
Reserved	6	always 0
Manufacturer_specific	7

Table 30 – ErrorRegisterBits Definition

Attributes	Value
BrowseName	ErrorRegisterBits
Subtype of OptionSet defined in OPC 10000-3.

7.4 VariableTypes

7.4.1 DIA_ERRStatistics_Type Definition

Table 31 formally defines the VariableType to represent the POWERLINK Record DIA_ERRStatistics_TYPE.

Table 31 – DIA_ERRStatistics_Type Definition

7.4.2 DIA_NMTTelegrCount_Type Definition

Table 32 formally defines the VariableType to represent the POWERLINK Record DIA_NMTTelegrCount_TYPE.

Table 32 – DIA_NMTTelegrCount_Type Definition

Attribute	Value
BrowseName	DIA_ERRStatistics_Type
IsAbstract	False
References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule	Powerlink Attributes
Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent	Variable	HistoryEntryWrite_U32	UInt32	Powerlink‌Variable‌Type	Optional	R
HasComponent	Variable	EmergencyQueueWrite_U32
HasComponent	Variable	EmergencyQueueOverflow_U32
HasComponent	Variable	StatusEntryChanged_U32
HasComponent	Variable	StaticErrorBitFieldChanged_U32
HasComponent	Variable	ExceptionResetEdgePos_U32
HasComponent	Variable	ExceptionNewEdge_U32

7.4.3 DLL_ErrorCntRec_Type Definition

Table 33 formally defines the VariableType to represent the POWERLINK Record DLL_ErrorCntRec_TYPE.

Table 33 – DLL_ErrorCntRec_Type Definition

Attribute	Value
BrowseName	DIA_NMTTelegrCount_Type
IsAbstract	False
References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule	Powerlink Attributes
Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent	Variable	IsochrCyc_U32	UInt32	Powerlink‌Variable‌Type	Optional	R
HasComponent	Variable	IsochrRx_U32
HasComponent	Variable	IsochrTx_U32
HasComponent	Variable	AsyncRx_U32
HasComponent	Variable	AsyncTx_U32
HasComponent	Variable	SdoRx_U32
HasComponent	Variable	SdoTx_U32
HasComponent	Variable	Status_U32

Attribute	Value
BrowseName	DLL_ErrorCntRec_Type
IsAbstract	False
References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule	Powerlink Attributes
Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent	Variable	CumulativeCnt_U32	UInt32	Powerlink‌Variable‌Type	Mandatory	RW
HasComponent	Variable	Threshold_U32	UInt32		Mandatory	RW,S,VR
HasComponent	Variable	ThresholdCnt_U32	UInt32		Mandatory	R

7.4.4 IDENTITY_Type Definition

Table 34 formally defines the VariableType to represent the POWERLINK Record IDENTITY.

Table 34 – IDENTITY_Type Definition

Attribute	Value
BrowseName	IDENTITY_Type
IsAbstract	False
References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule	Powerlink Attributes
Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent	Variable	VendorId_U32	UInt32	Powerlink‌Variable‌Type	Mandatory	CONST
HasComponent	Variable	ProductCode_U32	UInt32		Optional	CONST
HasComponent	Variable	RevisionNo_U32	UInt32		Optional	CONST
HasComponent	Variable	SerialNo_U32	UInt32		Optional	CONST

7.4.5 INP_ProcessImage_Type Definition

Table 35 formally defines the VariableType to represent the POWERLINK Record INP_ProcessImage_TYPE.

Table 35 – INP_ProcessImage_Type Definition

Attribute	Value
BrowseName	INP_ProcessImage_Type
IsAbstract	False
References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule	Powerlink Attributes
Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent	Variable	SelectedRange_U32	UInt32	Powerlink‌Variable‌Type	Mandatory	RW
HasComponent	Variable	ProcessImageDomain_DOM	ByteString	Powerlink‌Variable‌Type	Mandatory	RW

7.4.6 NMT_BootTime_Type Definition

Table 36 formally defines the VariableType to represent the POWERLINK Record NMT_BootTime_TYPE.

Table 36 – NMT_BootTime_Type Definition

Attribute	Value
BrowseName	NMT_BootTime_Type
IsAbstract	False
References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule	Powerlink Attributes
Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent	Variable	MNWaitNotAct_U32	UInt32	Powerlink‌Variable‌Type	Mandatory	RW,S,VR
HasComponent	Variable	MNTimeoutPreOp1_U32	UInt32		Mandatory	RW,S,VR
HasComponent	Variable	MNWaitPreOp1_U32	UInt32		Optional	RW,S,VR
HasComponent	Variable	MNTimeoutPreOp2_U32	UInt32		Mandatory	RW,S,VR
HasComponent	Variable	MNTimeoutReadyToOp_U32	UInt32		Mandatory	RW,S,VR
HasComponent	Variable	MNIdentificationTimeout_U32	UInt32		Optional	RW,S,VR
HasComponent	Variable	MNSoftwareTimeout_U32	UInt32		Optional	RW,S,VR
HasComponent	Variable	MNConfigurationTimeout_U32	UInt32		Optional	RW,S,VR
HasComponent	Variable	MNStartCNTimeout_U32	UInt32		Optional	RW,S,VR
HasComponent	Variable	MNSwitchOverPriority_U32	UInt32		Optional	RW,VR
HasComponent	Variable	MNSwitchOverDelay_U32	UInt32		Optional	RW,VR
HasComponent	Variable	MNSwitchOverCycleDivider_U32	UInt32		Optional	RW,VR

7.4.7 NMT_CycleTiming_Type Definition

Table 37 formally defines the VariableType to represent the POWERLINK Record NMT_CycleTiming_TYPE.

Table 37 – NMT_CycleTiming_Type Definition

Attribute	Value
BrowseName	NMT_CycleTiming_Type
IsAbstract	False
References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule	Powerlink Attributes
Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent	Variable	IsochrTxMaxPayload_U16	UInt16	Powerlink‌Variable‌Type	Mandatory	CONST
HasComponent	Variable	IsochrRxMaxPayload_U16	UInt16		Mandatory	CONST
HasComponent	Variable	PResMaxLatency_U32	UInt32		Optional	CONST
HasComponent	Variable	PReqActPayloadLimit_U16	UInt16		Optional	RW,S,VR
HasComponent	Variable	PResActPayloadLimit_U16	UInt16		Optional	RW,S,VR
HasComponent	Variable	ASndMaxLatency_U32	UInt32		Optional	CONST
HasComponent	Variable	MultiplCycleCnt_U8	Byte		Mandatory	RW,S,VR
HasComponent	Variable	AsyncMTU_U16	UInt16		Mandatory	RW,S,VR
HasComponent	Variable	Prescaler_U16	UInt16		Optional	RW,S,VR
HasComponent	Variable	PResMode_U8	Byte		Optional	R
HasComponent	Variable	PResTimeFirst_U32	UInt32		Optional	R
HasComponent	Variable	PResTimeSecond_U32	UInt32		Optional	R
HasComponent	Variable	SyncMNDelayFirst_U32	UInt32		Optional	R
HasComponent	Variable	SyncMNDelaySecond_U32	UInt32		Optional	R
HasComponent	Variable	LeaseTime_U32	UInt32		Optional	R

7.4.8 NMT_EPLNodeID_Type Definition

Table 38 formally defines the VariableType to represent the POWERLINK Record NMT_EPLNodeID_TYPE.

Table 38 – NMT_EPLNodeID_Type Definition

Attribute	Value
BrowseName	NMT_EPLNodeID_Type
IsAbstract	False
References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule	Powerlink Attributes
Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent	Variable	NodeID_U8	Byte	Powerlink‌Variable‌Type	Mandatory	R
HasComponent	Variable	NodeIDByHW_BOOL	Boolean		Mandatory	R
HasComponent	Variable	SWNodeID_U8	Byte		Optional	RW,S,VR

7.4.9 NMT_InterfaceGroup_Type Definition

Table 39 formally defines the VariableType to represent the POWERLINK Record NMT_InterfaceGroup_Xh_TYPE.

Table 39 – NMT_InterfaceGroup_Type Definition

Attribute	Value
BrowseName	NMT_InterfaceGroup_Type
IsAbstract	False
References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule	Powerlink Attributes
Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent	Variable	InterfaceIndex_U16	UInt16	Powerlink‌Variable‌Type	Mandatory	R
HasComponent	Variable	InterfaceDescription_VSTR	String		Mandatory	CONST
HasComponent	Variable	InterfaceType_U8	Byte		Mandatory	CONST
HasComponent	Variable	InterfaceMtu_U16	UInt16		Mandatory	CONST
HasComponent	Variable	InterfacePhysAddress_OSTR	ByteString		Mandatory	CONST
HasComponent	Variable	InterfaceName_VSTR	String		Mandatory	R
HasComponent	Variable	InterfaceOperStatus_U8	Byte		Mandatory	R
HasComponent	Variable	InterfaceAdminState_U8	Byte		Mandatory	RW,S
HasComponent	Variable	Valid_BOOL	Boolean		Mandatory	RW,S
HasComponent	Variable	PortEnableMask_U64	UInt64		Optional	R

7.4.10 NMT_MNCycleTiming_Type Definition

Table 40 formally defines the VariableType to represent the POWERLINK Record NMT_MNCycleTiming_TYPE.

Table 40 – NMT_MNCycleTiming_Type Definition

Attribute	Value
BrowseName	NMT_MNCycleTiming_Type
IsAbstract	False
References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule	Powerlink Attributes
Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent	Variable	WaitSoCPReq_U32	UInt32	Powerlink‌Variable‌Type	Mandatory	RW,S,VR
HasComponent	Variable	AsyncSlotTimeout_U32	UInt32		Optional	RW,S,VR
HasComponent	Variable	ASndMaxNumber	Byte		Optional	RW,S,VR
HasComponent	Variable	MinRedCycleTime_U32	UInt32		Optional	RW,S,VR

7.4.11 NMT_ParameterStorage_Type Definition

Table 41 formally defines the VariableType to represent the POWERLINK Record NMT_ParameterStorage_TYPE.

Table 41 – NMT_ParameterStorage_Type Definition

Attribute	Value
BrowseName	NMT_ParameterStorage_Type
IsAbstract	False
References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule	Powerlink Attributes
Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent	Variable	AllParam_U32	UInt32	Powerlink‌Variable‌Type	Mandatory	RW
HasComponent	Variable	CommunicationParam_U32	UInt32		Optional	RW
HasComponent	Variable	ApplicationParam_U32	UInt32		Optional	RW
HasComponent	Variable	ManufacturerParam_XXh_U32	UInt32		OptionalPlaceholder	RW

7.4.12 NMT_RequestCmd_Type Definition

Table 42 formally defines the VariableType to represent the POWERLINK Record NMT_RequestCmd_TYPE.

Table 42 – NMT_RequestCmd_Type Definition

Attribute	Value
BrowseName	NMT_RequestCmd_Type
IsAbstract	False
References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule	Powerlink Attributes
Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent	Variable	Release_BOOL	Boolean	Powerlink‌Variable‌Type	Mandatory	RW
HasComponent	Variable	CmdID_U8	Byte		Mandatory	RW
HasComponent	Variable	CmdTarget_U8	Byte		Mandatory	RW
HasComponent	Variable	CmdData_DOM	ByteString		Optional	RW

7.4.13 NWL_IpAddrTable_Type Definition

Table 43 formally defines the VariableType to represent the POWERLINK Record NWL_IpAddrTable_TYPE.

Table 43 – NWL_IpAddrTable_Type Definition

Attribute	Value
BrowseName	NWL_IpAddrTable_Type
IsAbstract	False
References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule	Powerlink Attributes
Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent	Variable	IfIndex_U16	UInt16	Powerlink‌Variable‌Type	Mandatory	R
HasComponent	Variable	Addr_IPAD	PowerlinkIpAddressDatatType		Mandatory	RW,S
HasComponent	Variable	NetMask_IPAD	PowerlinkIpAddressDatatType		Mandatory	RW,S
HasComponent	Variable	ReasmMaxSize_U16	UInt16		Mandatory	R
HasComponent	Variable	DefaultGateway_IPAD	PowerlinkIpAddressDatatType		Mandatory	RW,S

7.4.14 PDO_CommParamRecord_Type Definition

Table 44 formally defines the VariableType to represent the POWERLINK Record PDO_CommParamRecord_TYPE.

Table 44 – PDO_CommParamRecord_Type Definition

Attribute	Value
BrowseName	PDO_CommParamRecord_Type
IsAbstract	False
References	NodeClass	BrowseName	DataType	TypeDefinition	ModellingRule	Powerlink Attributes
Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent	Variable	NodeID_U8	Byte	Powerlink‌Variable‌Type	Mandatory	RW,S
HasComponent	Variable	MappingVersion_U8	Byte	Powerlink‌Variable‌Type	Mandatory	RW,S

7.5 Structure DataTypes

7.5.1 PowerlinkErrorEntryDataType

Table 45 formally defines the Structure DataType PowerlinkErrorEntryDataType to represent the entries of the POWERLINK Object ERR_History_ADOM.

Table 45 – PowerlinkErrorEntryDataType Structure

Name	Type	Description
PowerlinkErrorEntryDataType	Structure
entryType	UInt16	Entry type as defined in the Powerlink specification EPSG DS 301
errorCode	UInt16	Error code as defined in the Powerlink specification EPSG DS 301
timeStamp	UInt64	SoC Nettime from the cycle when the error/event was detected
additionalInformation	UInt64	This field contains device profile or vendor specific additional error information

7.5.2 PowerlinkIpAddressDataType

Table 46 formally defines the Structure DataType PowerlinkIpAddressDataType to represent POWERLINK Objects of the POWERLINK data type IP_ADDRESS.

Table 46 – PowerlinkIpAddressDataType Structure

Name	Type	Description
PowerlinkIpAddressDataType	Structure
b1	Byte	1st byte of the IP-Address, e.g. 192 for the Address 192.168.100.1
b2	Byte	2nd byte of the IP-Address, e.g. 168 for the Address 192.168.100.1
b3	Byte	3rd byte of the IP-Address, e.g. 100 for the Address 192.168.100.1
b4	Byte	4th byte of the IP-Address, e.g. 1 for the Address 192.168.100.1

7.5.3 PowerlinkPDOMappingEntryDataType

Table 47 formally defines the Structure DataType PowerlinkPDOMappingEntryDataType to represent the entries of POWERLINK Objects like PDO_RxCommParam_00h_REC.

Table 47 – PowerlinkPDOMappingEntryDataType Structure

Name	Type	Description
PowerlinkPDOMappingEntryDataType	Structure
length	UInt16	Index of the object to be mapped
offset	UInt16	Sub-Index of the object to be mapped
reserved	Byte	for alignment purpose
subIndex	Byte	Offset related to start of PDO payload (Bit count)
index	UInt16	Length of the mapped object (Bit count)