OPC UA ObjectTypes for POWERLINK Communication Profile EPSG DS 301 – OPC UA for POWERLINK

6 OPC UA ObjectTypes for POWERLINK Communication Profile EPSG DS 301

6.1 PowerlinkDeviceType

6.1.1 General

This OPC UA ObjectType represents a Device with one or more POWERLINK interfaces.

Figure 15 shows an overview for the PowerlinkDeviceType with its Properties and related components. It is formally defined in Table 15.

Figure 15 – PowerlinkDeviceType overview

6.1.2 PowerlinkDeviceType Definition

The PowerlinkDeviceType is formally defined in Table 15.

Table 15 – PowerlinkDeviceType Definition

Attribute	Value
BrowseName	PowerlinkDeviceType
IsAbstract	False

NodeClass	BrowseName	TypeDefinition	Modelling Rule
Subtype of DeviceType defined in OPC 10000-100.

Object	<CNIdentifier>	PowerlinkCnConnectionPointType	OptionalPlaceholder
Object	<MNIdentifier>	PowerlinkMnConnectionPointType	OptionalPlaceholder

The PowerlinkDeviceType is an example for a DeviceType that only implements POWERLINK Managing Node (MN) and/or POWERLINK Controlled Node (CN) interfaces, for instance for the representation of POWERLINK Devices by a generic gateway. Usually a Device will only implement one of these choices, but it is also possible to implement multiple POWERLINK interfaces on one Device.

The usage of the PowerlinkCnConnectionPointType and the PowerlinkMnConnectionPointType is not limited to the PowerlinkDeviceType. These ConnectionPoint-Types can be used by any other subtype of DeviceType.

6.1.3 Placeholder CNIdentifier

The object CNIdentifier of the type PowerlinkCnConnectionPointType is a placeholder for the POWERLINK Object Dictionary of a POWERLINK Controlled Node. The PowerlinkCnConnectionPointType is defined in 6.3.

6.1.4 Placeholder MNIdentifier

The object MNIdentifier of the type PowerlinkMnConnectionPointType is a placeholder for the POWERLINK Object Dictionary of a POWERLINK Managing Node. The PowerlinkMnConnectionPointType is defined in 6.4.

6.1.5 Mapping for DeviceType (Types namespace)

The Type PowerlinkDeviceType is a subtype of DeviceType defined in OPC 10000-100, which mandates a list of Properties for the Device.

Table 16 defines the values for these Properties based on the POWERLINK Objects of the implemented POWERLINK interface. If a PowerlinkDeviceType implements more than one POWERLINK interface, the selection of the interface as source for these objects is device specific.

Table 16 – DeviceType Mapping

DeviceType / OPC 10000-100		POWERLINK
BrowseName	DataType	Description
1:SerialNumber	String	Value of the POWERLINK Object SerialNo_U32 (Index 1018h, Sub-Index 4), converted to a string as decimal number. If the optional POWERLINK Object is not provided by the device, SerialNumber shall be set to an empty string.
1:RevisionCounter	Int32	Always set to -1
1:Manufacturer	LocalizedText	This variable shall be set to the manufacturer name if known by the OPC UA server. If the server does not know the name the variable shall be set to the value of the POWERLINK Object VendorId_U32 (Index 1018h, Sub-Index 1), converted to a string as decimal number.
1:Model	LocalizedText	Value of the POWERLINK Object NMT_ManufactDevName_VS (Index 1008h) If the optional POWERLINK Object is not provided by the device, Model shall be set to an empty text field.
1:DeviceManual	String	Pathname in the file system or URL (Web Address) specifying the address of the user manual for the Device.
1:DeviceRevision	String	Value of the POWERLINK Object RevisionNo_U32 (Index 1018h, Sub-Index 3), converted to a string with the format “major.minor”, where “major” is the decimal number of the higher 16 bit and “minor” is the decimal number of the lower 16 bit (as defined in EPSG DS 301) Example: POWERLINK RevisionNo_U32 = 0x00020064 DeviceRevision = “2.100” If the optional POWERLINK Object t is not provided by the device, SoftwareRevision shall be set to an empty string.
1:SoftwareRevision	String	Value of the POWERLINK Object NMT_ManufactSwVers_VS (Index 100Ah). If the optional POWERLINK Object is not provided by the device, SoftwareRevision shall be set to an empty string.
1:HardwareRevision	String	Value of the POWERLINK Object NMT_ManufactHwVers_VS (Index 1009h) If the optional POWERLINK Object is not provided by the device, SoftwareRevision shall be set to an empty string.
1:DeviceClass	String	Value of the POWERLINK Object NMT_DeviceType_U32 (Index 1000h), converted to a string as decimal number.

6.2 PowerlinkConnectionPointType

6.2.1 General

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]	BaseDataType	Data
		[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
	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]	BaseDataType	Data
		[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
	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

6.3 PowerlinkCnConnectionPointType

6.3.1 General

The PowerlinkCnConnectionPointType is a subtype of PowerlinkConnectionPointType and adds the POWERLINK Objects that are specific to the POWERLINK Controlled Node. It also provides the possibility to implement POWERLINK Device Profiles and customer specific POWERLINK Objects by adding components of the Type PowerlinkDeviceProfileType.

6.3.2 PowerlinkCnConnectionPointType Definition

The PowerlinkCnConnectionPointType is formally defined in Table 18.

Table 18 – PowerlinkCnConnectionPointType Definition

Attribute	Value
BrowseName	PowerlinkCnConnectionPointType
IsAbstract	False

NodeClass	BrowseName	DataType	TypeDefinition	Modelling Rule
Subtype of PowerlinkConnectionPointType defined in 6.2.2.

Object	<DeviceProfileIdentifier>	-	PowerlinkDeviceProfileType	OptionalPlaceholder

FunctionalGroup Diagnostics
Variable	DLL_CNCollision_REC	-	DLL_ErrorCntRec_Type	Optional	-
Variable	DLL_CNCRCError_REC	-	DLL_ErrorCntRec_Type	Mandatory	-
Variable	DLL_CNLossOfLinkCum_U32	UInt32	PowerlinkVariableType	Optional	RW
Variable	DLL_CNLossOfSocTolerance_U32	UInt32	PowerlinkVariableType	Mandatory	RW,S
Variable	DLL_CNLossPReq_REC	-	DLL_ErrorCntRec_Type	Optional	-
Variable	DLL_CNLossSoA_REC	-	DLL_ErrorCntRec_Type	Optional	-
Variable	DLL_CNLossSoC_REC	-	DLL_ErrorCntRec_Type	Mandatory	-
Variable	DLL_CNSoCJitter_REC	-	DLL_ErrorCntRec_Type	Optional	-

FunctionalGroup Configuration
Variable	DLL_CNSoCJitterRange_U32	UInt32	PowerlinkVariableType	Optional	RW
Variable	NMT_CNBasicEthernetTimeout_U32	UInt32	PowerlinkVariableType	Mandatory	RW,S,VR

6.3.3 Placeholder DeviceProfileIdentifier

The object DeviceProfileIdentifier of the type PowerlinkDeviceProfileType is a placeholder for the device- or vendor-specific part of the POWERLINK Object Dictionary.

The PowerlinkDeviceProfileType is formally defined in Table 19.

Table 19 – PowerlinkDeviceProfileType Definition

Attribute		Value
BrowseName		PowerlinkDeviceProfileType
IsAbstract		False

References	NodeClass	BrowseName	DataType	TypeDefinition	Modelling Rule	Access Level
Subtype of TopologyElementType defined in OPC 10000-100

HasProperty	Variable	IndexRangeStart	UInt16	PropertyType	Mandatory	Read
HasProperty	Variable	IndexRangeSize	UInt16	PropertyType	Mandatory	Read

The Properties IndexRangeStart and IndexRangeSize indicate the range of POWERLINK Objects represented by the instance. The POWERLINK Objects shall be components of the Object ParameterSet, which is defined in the TopologyElementType by OPC 10000-100.

Table 20 shows the ranges that are available for objects defined by POWERLINK Device Profiles and manufacturer specific POWERLINK Objects.

Table 20 – Device Profile Ranges

Index Range	Description
2000_h – 5FFF_h	Manufacturer Specific Profile Area
6000_h – 67FF_h	Standardised Device Profile Area, device 0
6800_h – 6FFF_h	Standardised Device Profile Area, device 1
7000_h – 77FF_h	Standardised Device Profile Area, device 2
7800_h – 7FFF_h	Standardised Device Profile Area, device 3
8000_h – 87FF_h	Standardised Device Profile Area, device 4
8800_h – 8FFF_h	Standardised Device Profile Area, device 5
9000_h – 97FF_h	Standardised Device Profile Area, device 6
9800_h – 9FFF_h	Standardised Device Profile Area, device 7

6.4 PowerlinkMnConnectionPointType

6.4.1 General

The PowerlinkMnConnectionPointType is a subtype of PowerlinkConnectionPointType and adds the POWERLINK Objects that are specific to the POWERLINK Managing Node.

6.4.2 PowerlinkMnConnectionPointType Definition

The PowerlinkMnConnectionPointType is formally defined in Table 21.

Table 21 – PowerlinkMnConnectionPointType Definition

Attribute	Value
BrowseName	PowerlinkMnConnectionPointType
IsAbstract	False

NodeClass	BrowseName			DataType		TypeDefinition	Modelling Rule	Powerlink Attributes
Subtype of PowerlinkConnectionPointType defined in 6.2.2.

FunctionalGroup Diagnostics
Variable	DLL_MNCNLatePResCumCnt_AU32		UInt32 [ ]	PowerlinkArrayType	Optional	RW
Variable	DLL_MNCNLatePResThrCnt_AU32		UInt32 [ ]	PowerlinkArrayType	Optional	R
Variable	DLL_MNCNLatePResThreshold_AU32		UInt32 [ ]	PowerlinkArrayType	Optional	RW,S
Variable	DLL_MNCNLossPResCumCnt_AU32		UInt32 [ ]	PowerlinkArrayType	Optional	RW
Variable	DLL_MNCNLossPResThrCnt_AU32		UInt32 [ ]	PowerlinkArrayType	Mandatory	R
Variable	DLL_MNCNLossPResThreshold_AU32		UInt32 [ ]	PowerlinkArrayType	Mandatory	RW,S
Variable	DLL_MNCollision_REC		-	DLL_ErrorCntRec_Type	Optional	-
Variable	DLL_MNCRCError_REC		-	DLL_ErrorCntRec_Type	Mandatory	-
Variable	DLL_MNCycTimeExceed_REC		-	DLL_ErrorCntRec_Type	Optional	-
Variable	DLL_MNLossOfLinkCum_U32		UInt32 [ ]	PowerlinkVariableType	Optional	RW
Variable	DLL_MNLossStatusResCumCnt_AU32		UInt32 [ ]	PowerlinkArrayType	Optional	RW
Variable	DLL_MNLossStatusResThrCnt_AU32		UInt32 [ ]	PowerlinkArrayType	Mandatory	R
Variable	DLL_MNLossStatusResThreshold_AU32		UInt32 [ ]	PowerlinkArrayType	Mandatory	RW,S
Variable	NMT_MNNodeCurrState_AU8	Powerlink‌NMTState‌Enumeration [ ]		PowerlinkArrayType	Mandatory	R
Variable	NMT_MNNodeExpState_AU8	Powerlink‌NMTState‌Enumeration [ ]		PowerlinkArrayType	Optional	R
Variable	NMT_RequestCmd_REC	-		NMT_RequestCmd_Type	Mandatory	-

FunctionalGroup Configuration
Variable	CFM_ExpConfDateList_AU32		UInt32 [ ]	PowerlinkArrayType	Optional	RW,S
Variable	CFM_ExpConfIdList_AU32		UInt32 [ ]	PowerlinkArrayType	Optional	RW,S
Variable	CFM_ExpConfTimeList_AU32		UInt32 [ ]	PowerlinkArrayType	Optional	RW,S
Variable	DLL_MNCycleSuspendNumber_U32		UInt32	PowerlinkVariableType	Mandatory	RW
Variable	NMT_BootTime_REC		-	NMT_BootTime_Type	Mandatory	-
Variable	NMT_MNCNPResTimeout_AU32		UInt32 [ ]	PowerlinkArrayType	Mandatory	RW,S,VR
Variable	NMT_MNCycleTiming_REC		-	NMT_MNCycleTiming_Type	Mandatory	-
Variable	NMT_MNDeviceTypeIdList_AU32		UInt32 [ ]	PowerlinkArrayType	Mandatory	RW,S,VR
Variable	NMT_MNPReqPayloadLimitList_AU16		UInt16 [ ]	PowerlinkArrayType	Mandatory	RW,S,VR
Variable	NMT_MNProductCodeList_AU32		UInt32 [ ]	PowerlinkArrayType	Optional	RW,S,VR
Variable	NMT_MNRevisionNoList_AU32		UInt32 [ ]	PowerlinkArrayType	Optional	RW,S,VR
Variable	NMT_MNSerialNoList_AU32		UInt32 [ ]	PowerlinkArrayType	Optional	RW,S,VR
Variable	NMT_MNVendorIdList_AU32		UInt32 [ ]	PowerlinkArrayType	Optional	RW,S,VR
Variable	NMT_StartUp_U32		UInt32	PowerlinkVariableType	Mandatory	RW,S,VR
Variable	PDO_TxCommParam_01h_REC	-		PDO_CommParam‌Record_Type	Optional	-
Variable	PDO_TxCommParam_02h_REC
Variable	PDO_TxCommParam_03h_REC
Variable	PDO_TxMappParam_01h_AU64	PowerlinkPDO‌MappingEntry‌DataType [ ]		PowerlinkArrayType	Optional	RW,S
Variable	PDO_TxMappParam_02h_AU64
Variable	PDO_TxMappParam_03h_AU64