Powerlink - 6.2 PowerlinkConnectionPointType

The PowerlinkConnectionPointType is an abstract Object Type that defines the POWERLINK Objects, which are common for both POWERLINK Managing Node and POWERLINK Controlled Node.

Figure 16 shows a part of the PowerlinkConnectionPointType. The Object ParameterSet contains the POWERLINK Objects, modelled as defined in 5.2. In addition to these Variables, this specification defines a list of Methods (components of the Object MethodSet).

As defined by the concepts of OPC 10000-100 the Parameters (Variables) of the ParameterSet and Methods of the MethodSet are organised in FunctionalGroups where they are referenced by Organize-References. This concept allows splitting the Parameters into different categories, and at the same time, all Parameters are accessible under ParameterSet.

Figure 16 – PowerlinkConnectionPointType

6.2.2 PowerlinkConnectionPointType Definition

The PowerlinkConnectionPointType is formally defined in Table 17.

Table 17 – PowerlinkConnectionPointType Definition

Attribute		Value
BrowseName		PowerlinkConnectionPointType
IsAbstract		True
NodeClass	BrowseName		DataType	TypeDefinition		Modelling Rule		Powerlink Attributes
Subtype of ConnectionPointType defined in OPC 10000-100. HasSubtype PowerlinkCnConnectionPointType defined in 6.3 HasSubtype PowerlinkMnConnectionPointType defined in 6.4

FunctionalGroup NetworkAddress
Variable	NMT_EPLNodeID_REC		-	NMT_EPLNodeID‌_Type		Mandatory		-
Variable	NWL_IpAddrTable_0h_REC		-	NWL_IpAddrTable‌_Type		Optional		-

Functional Group Identification
Variable	NMT_ChildIdentList_AU16		UInt16 [ ]	PowerlinkArrayType		Optional		R
Variable	NMT_DeviceType_U32		UInt32	PowerlinkVariableType		Mandatory		CONST
Variable	NMT_EPLVersion_U8		Byte	PowerlinkVariableType		Mandatory		CONST
Variable	NMT_FeatureFlags_U32		UInt32	PowerlinkVariableType		Mandatory		CONST
Variable	NMT_HostName_VSTR		String	PowerlinkVariableType		Optional		RW,S
Variable	NMT_IdentityObject_REC		-	IDENTITY_Type		Mandatory		-
Variable	NMT_ManufactDevName_VS		String	PowerlinkVariableType		Optional		CONST
Variable	NMT_ManufactHwVers_VS		String	PowerlinkVariableType		Optional		CONST
Variable	NMT_ManufactSwVers_VS		String	PowerlinkVariableType		Optional		CONST

Functional Group Diagnostics
Variable	DIA_ERRStatistics_REC		-		DIA_ERRStatistics‌_Type	Optional		-
Variable	DIA_NMTTelegrCount_REC		-		DIA_NMTTelegrCount‌_Type	Optional		-
Variable	ERR_ErrorRegister_U8		ErrorRegisterBits		PowerlinkVariableType	Mandatory		R
Variable	ERR_History_ADOM		PowerlinkError‌EntryDataType [ ]		PowerlinkArrayType	Optional		R
Variable	PDO_ErrMapVers_OSTR		ByteString		PowerlinkVariableType	Optional		RW
Variable	PDO_ErrShort_RX_OSTR		ByteString		PowerlinkVariableType	Optional		RW

Functional Group Configuration
Variable	NMT_ConsumerHeartbeatTime_AU32		UInt32 [ ]	PowerlinkArrayType			Optional	RW,S
Variable	NMT_CycleLen_U32		UInt32	PowerlinkVariableType			Mandatory	RW,S,VR
Variable	NMT_CycleTiming_REC		-	NMT_CycleTiming‌_Type			Mandatory	-
Variable	NMT_IsochrSlotAssign_AU8		Byte [ ]	PowerlinkArrayType			Optional	RW,S,VR
Variable	NMT_MultiplCycleAssign_AU8		Byte [ ]	PowerlinkArrayType			Optional	RW,S,VR
Variable	NMT_NodeAssignment_AU32		UInt32 [ ]	PowerlinkArrayType			Optional	RW,S
Variable	NMT_PResPayloadLimitList_AU16		UInt16 [ ]	PowerlinkArrayType			Optional	RW,S,VR
Variable	NMT_RestoreDefParam_REC		-	NMT_ParameterStorage‌_Type			Optional	-
Variable	NMT_StoreParam_REC
Variable	PDL_MnExpAppSwDateList_AU32		UInt32 [ ]	PowerlinkArrayType			Optional	RW,S
Variable	PDL_MnExpAppSwTimeList_AU32		UInt32 [ ]	PowerlinkArrayType			Optional	RW,S
Variable	PDO_RxCommParam_00h_REC		-	PDO_CommParam‌Record_Type			Optional	-
Variable	PDO_RxCommParam_01h_REC
Variable	PDO_RxCommParam_02h_REC
Variable	PDO_RxCommParam_03h_REC
Variable	PDO_RxMappParam_00h_AU64		PowerlinkPDO‌Mapping‌Entry‌DataType [ ]	PowerlinkArrayType			Optional	RW,S
Variable	PDO_RxMappParam_01h_AU64
Variable	PDO_RxMappParam_02h_AU64
Variable	PDO_RxMappParam_03h_AU64
Variable	PDO_TxCommParam_00h_REC		-	PDO_CommParam‌Record_Type			Optional	-
Variable	PDO_TxMappParam_00h_AU64		PowerlinkPDO‌Mapping‌Entry‌DataType [ ]	PowerlinkArrayType			Optional	RW,S
Variable	SDO_CmdLayerTimeout_U32		UInt32	PowerlinkVariableType			Optional	RW,S,VR
Variable	SDO_SequLayerNoAck_U32		UInt32	PowerlinkVariableType			Optional	RW,S,VR
Variable	SDO_SequLayerTimeout_U32		UInt32	PowerlinkVariableType			Mandatory	RW,S,VR

Functional Group Status
Variable	NMT_CurrNMTState_U8		Powerlink‌NMTState‌Enumeration	PowerlinkVariableType			Mandatory	R
Variable	NMT_InterfaceGroup_0h_REC		-	NMT_InterfaceGroup_Type			Mandatory	-
Variable	NMT_RelativeLatencyDiff_AU32		UInt32 [ ]	PowerlinkArrayType			Optional	R

Functional Group Control
Variable	INP_ProcessImage_REC		-	INP_ProcessImage_Type			Optional	-
Variable	NMT_ResetCmd_U8		Powerlink‌NMTResetCmd‌Enumeration	PowerlinkVariableType			Mandatory	RW

FunctionalGroup SdoServices
Method	ReadByIndex		Defined in 6.2.3 Method ReadByIndex				Mandatory
Method	WriteByIndex		Defined in 6.2.4 Method WriteByIndex				Mandatory

6.2.3 Method ReadByIndex

The Method ReadByIndex reads the value of a POWERLINK Object addressed by Index and Sub-Index.

Signature

ReadByIndex (

[in]UInt16 Index

[in]Byte SubIndex

[out]BaseDataTypeData

[out]UInt32 PowerlinkAbortCode

);

Argument	Description
Index	Index of the POWERLINK Object in the POWERLINK Object Dictionary
SubIndex	Sub-Index of the POWERLINK Object in the POWERLINK Object Dictionary
Data	Value of the POWERLINK Object
PowerlinkAbortCode	SDO Abort Code as defined in EPSG DS 301 Some of the SDO Abort Codes defined in POWERLINK are mapped to an OPC UA ResultCode, see table for ‘Method Result Codes’

Method Result Codes

ResultCode	SDO Abort Code	Description
Good	0	The read access was successful
Bad_ResourceInvalid	-	The POWERLINK Device is not available, the output argument PowerlinkAbortCode will be set to 0x0504 0000 (timeout)
Bad_NotFound	0x0602 0000	Object does not exist in the POWERLINK Object Dictionary
Bad_NotFound	0x0609 0011	Sub-Index does not exist
Bad_Timeout	0x0504 0000	The operation timed out / SDO protocol timed out
Bad_NotReadable	0x0601 0001	Attempt to read a write-only POWERLINK Object
Bad_CommunicationError	All other SDO Abort Codes

6.2.4 Method WriteByIndex

The Method WriteByIndex can be used to access the POWERLINK Object Dictionary by Index and Sub-Index to write values of POWERLINK Objects.

Signature

WriteByIndex (

[in]UInt16 Index

[in]Byte SubIndex

[in]BaseDataTypeData

[out]UInt32 PowerlinkAbortCode

);

Argument	Description
Index	Index of the POWERLINK Object in the POWERLINK Object Dictionary
SubIndex	Sub-Index of the POWERLINK Object in the POWERLINK Object Dictionary
Data	Data to be written to the POWERLINK Object
PowerlinkAbortCode	SDO Abort Code as defined in EPSG DS 301 Some of the SDO Abort Codes defined in POWERLINK are mapped to an OPC UA ResultCode, see table for ‘Method Result Codes’

Method Result Codes

ResultCode	SDO Abort Code	Description
Good	0	The write access was successful
Bad_ResourceInvalid	-	The POWERLINK Device is not available, the output argument PowerlinkAbortCode will be set to 0x0504 0000 (timeout)
Bad_NotFound	0x0602 0000	Object does not exist in the POWERLINK Object Dictionary
Bad_NotFound	0x0609 0011	Sub-Index does not exist
Bad_Timeout	0x0504 0000	The operation timed out / SDO protocol timed out
Bad_NotSupported	0x0601 0000	Unsupported access to an POWERLINK Object
Bad_NotWritable	0x0601 0002	Attempt to write a read-only POWERLINK Object
Bad_OutOfRange	0x0609 0030	Value range of parameter exceeded
	0x0609 0031	Value of parameter written too high
	0x0609 0032	Value of parameter written too low
Bad_TypeMismatch	0x0607 0010	length of service parameter does not match
	0x0607 0012	length of service parameter too high
	0x0607 0013	length of service parameter too low
Bad_CommunicationError	All other SDO Abort Codes