OPC UA Companion-Specification

OPC 30110

 

OPC UA for POWERLINK

 

Release 1.00

2017-11-15

 

 

 

 

 

 

 


CONTENTS

Page

 

1      Scope......................................................................................................... 1

2      Reference documents..................................................................................... 1

3      Terms, definitions, and conventions.................................................................... 2

3.1      Use of terms......................................................................................... 2

3.2      OPC UA for POWERLINK Information Model terms......................................... 3

3.3      Abbreviations and symbols....................................................................... 4

3.4      Conventions used in this document............................................................. 5

3.4.1       Conventions for Node descriptions.................................................... 5

3.4.2       NodeIds and BrowseNames............................................................ 6

3.4.2.1     NodeIds......................................................................... 6

3.4.2.2     BrowseNames................................................................. 7

3.4.3       Common Attributes....................................................................... 7

3.4.3.1     General......................................................................... 7

3.4.3.2     Objects.......................................................................... 7

3.4.3.3     Variables........................................................................ 8

3.4.3.4     VariableTypes................................................................. 8

4      General information about Ethernet POWERLINK and OPC UA................................. 9

4.1      Introduction to Ethernet POWERLINK.......................................................... 9

4.1.1       General...................................................................................... 9

4.1.2       Key features................................................................................ 9

4.1.3       POWERLINK device model........................................................... 10

4.1.4       POWERLINK Object Dictionary...................................................... 11

4.1.5       Index and Sub-Index usage........................................................... 12

4.2      Introduction to OPC Unified Architecture.................................................... 12

4.2.1       General.................................................................................... 12

4.2.2       Graphical notation....................................................................... 13

4.3      Use cases........................................................................................... 15

4.3.1       Access to a POWERLINK Object Dictionary from an OPC UA Client........ 15

4.3.2       Access to POWERLINK Objects through untrusted networks................. 17

5      POWERLINK model overview.......................................................................... 18

5.1      Overview............................................................................................ 18

5.2      Modeling concepts................................................................................ 20

5.2.1       POWERLINK Objects and their attributes.......................................... 20

5.2.2       PowerlinkArrayType.................................................................... 21

5.2.3       PowerlinkRecordType.................................................................. 22

5.2.4       PowerlinkVariableType................................................................. 22

6      OPC UA ObjectTypes for POWERLINK Communication Profile EPSG DS 301............. 23

6.1      PowerlinkDeviceType............................................................................ 23

6.1.1       General.................................................................................... 23

6.1.2       PowerlinkDeviceType Definition...................................................... 23

6.1.3       Placeholder CNIdentifier............................................................... 23

6.1.4       Placeholder MNIdentifier.............................................................. 24

6.1.5       Mapping for DeviceType (Types namespace)..................................... 24

6.2      PowerlinkConnectionPointType................................................................ 24

6.2.1       General.................................................................................... 24

6.2.2       PowerlinkConnectionPointType Definition......................................... 25

6.2.3       Method ReadByIndex................................................................... 27

6.2.4       Method WriteByIndex................................................................... 27

6.3      PowerlinkCnConnectionPointType............................................................ 28

6.3.1       General.................................................................................... 28

6.3.2       PowerlinkCnConnectionPointType Definition...................................... 28

6.3.3       Placeholder DeviceProfileIdentifier.................................................. 28

6.4      PowerlinkMnConnectionPointType............................................................ 29

6.4.1       General.................................................................................... 29

6.4.2       PowerlinkMnConnectionPointType Definition..................................... 29

7      Mapping of DataTypes................................................................................... 31

7.1      Primitive DataTypes.............................................................................. 31

7.2      Enumeration DataTypes......................................................................... 31

7.2.1       PowerlinkNMTStateEnumeration..................................................... 31

7.2.2       PowerlinkNMTResetCmdEnumeration.............................................. 32

7.3      OptionSet DataTypes............................................................................ 32

7.3.1       PowerlinkAttributes..................................................................... 32

7.3.2       ErrorRegisterBits........................................................................ 32

7.4      VariableTypes...................................................................................... 33

7.4.1       DIA_ERRStatistics_Type Definition................................................. 33

7.4.2       DIA_NMTTelegrCount_Type Definition............................................. 33

7.4.3       DLL_ErrorCntRec_Type Definition.................................................. 34

7.4.4       IDENTITY_Type Definition............................................................ 34

7.4.5       INP_ProcessImage_Type Definition................................................. 34

7.4.6       NMT_BootTime_Type Definition..................................................... 34

7.4.7       NMT_CycleTiming_Type Definition.................................................. 35

7.4.8       NMT_EPLNodeID_Type Definition................................................... 35

7.4.9       NMT_InterfaceGroup_Type Definition.............................................. 36

7.4.10    NMT_MNCycleTiming_Type Definition............................................. 36

7.4.11    NMT_ParameterStorage_Type Definition.......................................... 36

7.4.12    NMT_RequestCmd_Type Definition................................................. 37

7.4.13    NWL_IpAddrTable_Type Definition.................................................. 37

7.4.14    PDO_CommParamRecord_Type Definition........................................ 37

7.5      Structure DataTypes.............................................................................. 38

7.5.1       PowerlinkErrorEntryDataType........................................................ 38

7.5.2       PowerlinkIpAddressDataType........................................................ 38

7.5.3       PowerlinkPDOMappingEntryDataType............................................. 38

8      Direct addressing of the POWERLINK Object Dictionary........................................ 38

8.1      General.............................................................................................. 38

8.2      OPAQUE NodeIds................................................................................ 39

8.2.1       General.................................................................................... 39

8.2.2       NodeIds for single instances.......................................................... 39

8.2.3       NodeIds for multiple instances....................................................... 39

8.3      String NodeIds..................................................................................... 40

9      Profiles and namespaces............................................................................... 41

9.1      Namespace metadata............................................................................ 41

9.2      OPC UA Conformance Units and Profiles................................................... 41

9.3      Handling of OPC UA namespaces............................................................. 43

Annex A (normative): POWERLINK namespace and mappings..................................... 44

A.1     Namespace and identifiers for POWERLINK Information Model........................ 44

A.2     Profile URIs for POWERLINK Information Model.......................................... 44

Annex B : POWERLINK Object Dictionary................................................................ 45

B.1     References POWERLINK Objects to OPC UA Objects................................... 45

B.2     Objects not defined in OPC UA Information Model........................................ 47

 


 

Figures

Figure 1 – Slot Communication Network Management (SCNM)....................................... 9

Figure 2 – POWERLINK device model.................................................................... 11

Figure 3 – OPC UA graphical notation for NodeClasses.............................................. 13

Figure 4 – OPC UA graphical notation for References................................................ 14

Figure 5 – OPC UA graphical notation example......................................................... 14

Figure 6 – Logical links between OPC UA Client and POWERLINK Object Dictionary......... 15

Figure 7 – Connection through bridge on POWERLINK Managing Node.......................... 15

Figure 8 – Connection through bridge on a POWERLINK Controlled Node....................... 16

Figure 9 – Connection to aggregated Information Model.............................................. 16

Figure 10 – SDO access through untrusted networks................................................. 17

Figure 11 – POWERLINK OPC UA model overview.................................................... 18

Figure 12 – PowerlinkDeviceType example for POWERLINK Controlled Node.................. 19

Figure 13 – Model of a POWERLINK Device Profile................................................... 19

Figure 14 – Example for XDD format...................................................................... 20

Figure 15 – PowerlinkDeviceType overview............................................................. 23

Figure 16 – PowerlinkConnectionPointType............................................................. 25

 

Tables

Table 1 – Common terms with different meanings....................................................... 3

Table 2 – Type Definition table............................................................................... 5

Table 3 – Examples of DataTypes........................................................................... 6

Table 4 – Common Node Attributes......................................................................... 7

Table 5 – Common Object Attributes........................................................................ 7

Table 6 – Common Variable Attributes..................................................................... 8

Table 7 – Common VariableType Attributes............................................................... 8

Table 8 – POWERLINK Object Dictionary structure.................................................... 11

Table 9 – Example for the description of Objects in POWERLINK specifications............... 20

Table 10 – Example for the description of SubObjects in POWERLINK specifications......... 20

Table 11 – Mapping of attributes........................................................................... 21

Table 12 – PowerlinkArrayType Definition................................................................ 21

Table 13 – PowerlinkRecordType Definition............................................................. 22

Table 14 – PowerlinkVariableType Definition............................................................ 22

Table 15 – PowerlinkDeviceType Definition.............................................................. 23

Table 16 – DeviceType Mapping........................................................................... 24

Table 17 – PowerlinkConnectionPointType Definition................................................. 25

Table 18 – PowerlinkCnConnectionPointType Definition.............................................. 28

Table 19 – PowerlinkDeviceProfileType Definition..................................................... 29

Table 20 – Device Profile Ranges.......................................................................... 29

Table 21 – PowerlinkMnConnectionPointType Definition............................................. 30

Table 22 – Mapping of primitive DataTypes.............................................................. 31

Table 23 – PowerlinkNMTStateEnumeration Values................................................... 31

Table 24 – PowerlinkNMTStateEnumeration Definition................................................ 31

Table 25 – PowerlinkNMTResetCmdEnumeration Values............................................ 32

Table 26 – PowerlinkNMTResetCmdEnumeration Definition......................................... 32

Table 27 – PowerlinkAttributes Values.................................................................... 32

Table 28 – PowerlinkAttributes Definition................................................................ 32

Table 29 – ErrorRegisterBits Values....................................................................... 33

Table 30 – ErrorRegisterBits Definition................................................................... 33

Table 31 – DIA_ERRStatistics_Type Definition......................................................... 33

Table 32 – DIA_NMTTelegrCount_Type Definition..................................................... 33

Table 33 – DLL_ErrorCntRec_Type Definition........................................................... 34

Table 34 – IDENTITY_Type Definition.................................................................... 34

Table 35 – INP_ProcessImage_Type Definition......................................................... 34

Table 36 – NMT_BootTime_Type Definition............................................................. 35

Table 37 – NMT_CycleTiming_Type Definition.......................................................... 35

Table 38 – NMT_EPLNodeID_Type Definition........................................................... 36

Table 39 – NMT_InterfaceGroup_Type Definition...................................................... 36

Table 40 – NMT_MNCycleTiming_Type Definition..................................................... 36

Table 41 – NMT_ParameterStorage_Type Definition.................................................. 37

Table 42 – NMT_RequestCmd_Type Definition......................................................... 37

Table 43 – NWL_IpAddrTable_Type Definition.......................................................... 37

Table 44 – PDO_CommParamRecord_Type Definition................................................ 38

Table 45 – PowerlinkErrorEntryDataType Structure.................................................... 38

Table 46 – PowerlinkIpAddressDataType Structure.................................................... 38

Table 47 – PowerlinkPDOMappingEntryDataType Structure......................................... 38

Table 48 – NodeIds for single instances.................................................................. 39

Table 49 – NodeIds for multiple instances............................................................... 39

Table 50 – NamespaceMetadata Object for this specification....................................... 41

Table 51 – POWERLINK Direct Access Server Facet Definition.................................... 41

Table 52 – POWERLINK Direct Access Client Facet Definition..................................... 41

Table 53 – POWERLINK Communication Profile Server Facet Definition......................... 42

Table 54 – POWERLINK Communication Profile Client Facet Definition.......................... 42

Table 55 – Namespaces used in a POWERLINK OPC UA Server.................................. 43

Table 56 – Namespaces used in this specification..................................................... 43

Table 57 – Profile URIs....................................................................................... 44

Table 58 – POWERLINK Object Dictionary entries, sorted by index............................... 45


EPSG / OPC Foundation

____________

 

AGREEMENT OF USE

 

COPYRIGHT RESTRICTIONS

·       This document is provided "as is" by the OPC Foundation and the Ethernet POWERLINK Standardization Group (EPSG).

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1     Scope

This specification was created by a joint working group of the OPC Foundation and the Ethernet POWERLINK Standardization Group (EPSG). It defines an OPC UA Information Model to represent the models from Ethernet POWERLINK.

OPC Foundation

The OPC Foundation defines standards for online data exchange between automation systems. They address access to current data (OPC DA), alarms and events (OPC A&E) and historical data (OPC HDA). Those standards are successfully applied in industrial automation.

The new OPC Unified Architecture (OPC UA) unifies the existing standards and brings them to state-of-the-art technology using service-oriented architecture (SOA). Platform-independent technology allows the deployment of OPC UA beyond current OPC applications only running on Windows-based PC systems. OPC UA can also run on embedded systems as well as Linux / UNIX based enterprise systems. The provided information can be generically modelled and therefore arbitrary information models can be provided using OPC UA.

Ethernet POWERLINK Standardization Group

The Ethernet POWERLINK Standardization Group (EPSG)[1] was founded in 2003 as an independent association. Its goals are the standardisation, promotion and further development of POWERLINK technology, which was first presented to the public in 2001. POWERLINK is a patent-free, manufacturer-independent and completely software-based communication system for hard real-time that has been available as a free open source solution since 2008[2]. The EPSG's POWERLINK office handles public relations, coordinates the implementation of shared projects and provides information for existing and prospective members.

The EPSG is working closely with the CiA (CAN in Automation)[3] organisation to integrate CANopen with POWERLINK. CANopen is one of the most widely used application protocols today. Key benefits of this protocol include standardised device description files that make status information, parameter configurations, device characteristics and other relevant data available in transparent form on the network. A major decision made by the EPSG was to define the protocol's application layer as a carrier of all CANopen mechanisms. CiA, the international association of CAN users and manufacturers, was significantly involved in this development.

Ethernet POWERLINK uses the same concepts as CANopen for object dictionaries, device descriptions and communication mechanisms including process data objects (PDOs), service data objects (SDOs) and network management (NMT). As with CANopen, direct cross-traffic is also one of the essential features of POWERLINK. All CANopen applications and device profiles can be directly implemented in POWERLINK environments as well – the applications will not see a difference between the two protocols. For this reason, POWERLINK can also be referred to as "CANopen over Ethernet".

2     Reference documents

EN 60325-4                   : Industrial communications subsystem based on ISO 11898 (CAN)
  for controller device interfaces (Part 4: CANopen)

EPSG DS 301      V1.3.0  : Ethernet POWERLINK – Communication Profile Specification

EPSG DS 302-A V1.1.0  : Ethernet POWERLINK – High Availability

EPSG DS 302-B V1.1.0  : Ethernet POWERLINK – Multiple ASnd

EPSG DS 302-C V1.1.0  : Ethernet POWERLINK – PollResponse Chaining

EPSG DS 302-D V1.0.0  : Ethernet POWERLINK – Multiple PReq/PRes

EPSG DS 302-E V1.1.0  : Ethernet POWERLINK – Dynamic Node Allocation

EPSG DS 302-F   V1.1.0  : Ethernet POWERLINK – Modular Device

EPSG DS 311     V1.2.0  : Ethernet POWERLINK – XML Device Description

IEEE 802.3TM-2015          : IEEE Standard for Ethernet

ISO 646-1973(E)            : International Organization for Standardization, 7-Bit Coded Character Set for Information Processing Exchange

OPC 10000-1,      OPC Unified Architecture – Part 1: Overview

OPC 10000-3,      OPC Unified Architecture – Part 3: Address Space Model

OPC 10000-4,      OPC Unified Architecture – Part 4: Services

OPC 10000-5,      OPC Unified Architecture – Part 5: Information Model

OPC 10000-6,      OPC Unified Architecture – Part 6: Mappings

OPC 10000-7,      OPC Unified Architecture – Part 7: Profiles

OPC 10000-100,   OPC Unified Architecture – Part 100: Devices

3     Terms, definitions, and conventions

3.1      Use of terms

Defined terms of OPC UA specifications, types and their components defined in OPC UA specifications and in this specification are highlighted with italic in this document.

Certain Ethernet POWERLINK related terms and names are used together with POWERLINK, especially in cases where the terms might lead to naming conflicts with existing OPCUA terms. For instance the term Managing Node (a device role in POWERLINK) contains the word Node that has a different meaning in OPC UA.

Table 1 contains a list with the most prominent examples for common terms that have different meanings in OPC UA and POWERLINK.

Table 1 – Common terms with different meanings

Term

OPC UA

POWERLINK

Node

OPC 10000-1:

The fundamental component of an AddressSpace.

 

Commonly used for physical devices in a POWERLINK network.

Terms:

      POWERLINK Device

      POWERLINK Controlled Node

      POWERLINK Managing Node

NodeId

OPC 10000-3:

Nodes are unambiguously identified using a constructed identifier called the NodeId.

Each POWERLINK Device (MN, CN and Router) is addressed by an 8 bit POWERLINK Node ID on the POWERLINK layer. This ID has only local significance (i.e. it is unique within a POWERLINK segment) and addresses a physical device whereas the NodeId of OPC UA addresses elements of the internal object dictionary.

Object

OPC 10000-3:

Objects and their components are represented in the AddressSpace as a set of Nodes described by Attributes and interconnected by References.

Data object:

      Element of the POWERLINK Object Dictionary

Process data object:

      Object for isochronous data exchange between

      POWERLINK Devices.

Service data object:

      Peer to peer communication with access to the

      POWERLINK Object Dictionary of a device.

Mapping

OPC 10000-6:

Specifies how to implement an OPC UA feature with a specific technology.

 

Note: For example, the OPC UA Binary Encoding is a Mapping that specifies how to serialise OPC UA data structures as sequences of bytes.

Selection of the POWERLINK Objects that are sent or received via PDOs.

 

3.2      OPC UA for POWERLINK Information Model terms

For the purposes of this document, the terms and definitions given in the referenced OPC UA Specifications as well as the following apply.

3.2.1          

Asynchronous POWERLINK Data

data in a POWERLINK network that is not time critical

Note 1 to entry: Within the POWERLINK cycle there is a specific period reserved for Asynchronous POWERLINK Data which is shared by all POWERLINK Devices. Each POWERLINK Device connected to the network can send asynchronous data by requesting it to the POWERLINK Managing Node. The POWERLINK Managing Node keeps a list of all asynchronous data requests and will subsequently grant the network access to one POWERLINK Device after the other.

3.2.2          

Deterministic Communication

communication process with predictable timing behaviour (I.e. the time when a message reaches the recipient is predictable)

3.2.3          

Isochronous POWERLINK Data

data in a POWERLINK network which is to be transmitted every cycle (or every nth cycle in case of multiplexed isochronous data)

3.2.4          

Legacy Ethernet

ethernet as standardised in IEEE 802.3 (non-deterministic operation in non-time-critical environments)

3.2.5          

NMT State

Network Management State of a POWERLINK Device

3.2.6          

POWERLINK Controlled Node

POWERLINK Device without the ability to manage the SCNM mechanism

3.2.7          

POWERLINK Device Profile

standardised or vendor specific definition of an object model

3.2.8          

POWERLINK Managing Node

POWERLINK Device capable to manage the SCNM mechanism in a POWERLINK network

3.2.9          

POWERLINK Device

device in a POWERLINK network

3.2.10        

POWERLINK Object

data object, addressed by Index and Sub-Index

3.2.11        

POWERLINK Object Dictionary

repository of all POWERLINK Objects accessible over POWERLINK communications

3.2.12        

POWERLINK Record

record data type (as defined in the POWERLINK specification EPSG DS 301)

3.2.13        

POWERLINK XML Device Description

XML file for the description of the objects in a POWERLINK Object Dictionary (also called XDD)

Note 1 to entry: This description contains metadata about the POWERLINK Objects and about the POWERLINK Device.

3.3      Abbreviations and symbols

A&E            Alarms & Events

ANSI           American National Standards Institute

API             Application Program Interface

CN              POWERLINK Controlled Node

CSMA/CD    Carrier Sense Multiple Access/Collision Detection

DA              Data Access

EPSG          Ethernet POWERLINK Standardization Group

HDA            Historical Data Access

HMI             Human-Machine Interface

IEC             International Electrotechnical Commission

IM               OPC UA Information Model

IP               Internet Protocol - RFC 791

ISO             International Organization for Standardization

LAN            Local Area Network

MES            Manufacturing Execution System

MN              POWERLINK Managing Node

NaN            "Not a Number", a unique binary pattern representing an invalid number

                  (ANSI/IEEE 754-1985)

NAT            Network Address Translation - RFC 2663

NMT            Network Management

OD              POWERLINK Object Dictionary

PDO            POWERLINK Process Data Object

RTE            Real Time Ethernet

SCADA        Supervisory Control And Data Acquisition

SCNM          Slot Communication Network Management

UA              Unified Architecture

UTC            Universal Time Coordinated

XDD            POWERLINK XML device description

XML            Extensible Markup Language

 

3.4      Conventions used in this document

3.4.1         Conventions for Node descriptions

Node definitions are specified using tables (See Table 2)

Table 2 – Type Definition table

Attribute

Value

Attribute name

Attribute value. If it is an optional Attribute that is not set “--“ will be used.

 

 

References

NodeClass

BrowseName

DataType

TypeDefinition

ModellingRule

ReferenceType name

NodeClass of the TargetNode.

BrowseName of the target Node. If the Reference is to be instantiated by the server, then the value of the target Node’s BrowseName is “--“.

Attributes of the referenced Node, only applicable for Variables and Objects.

 

Referenced ModellingRule of the referenced Object.

Notes –

Notes referencing footnotes of the table content.

 

Attributes are defined by providing the Attribute name and a value, or a description of the value.

References are defined by providing the ReferenceType name, the BrowseName of the TargetNode and its NodeClass.

·      If the TargetNode is a component of the Node being defined in the table, the Attributes of the composed Node are defined in the same row of the table. That implies that the referenced Node has a HasModelParent Reference with the Node defined in the Table as TargetNode (see OPC 10000-3 for the definition of ModelParents).

·      The DataType is only specified for Variables; “[<number>]” indicates a single-dimensional array, for multi-dimensional arrays the expression is repeated for each dimension (e.g. [2][3] for a two-dimensional array). For all arrays the ArrayDimensions is set as identified by <number> values. If no <number> is set, the corresponding dimension is set to 0, indicating an unknown size. If no number is provided at all the ArrayDimensions can be omitted. If no brackets are provided, it identifies a scalar DataType and the ValueRank is set to the corresponding value (see OPC 10000-3). In addition, ArrayDimensions is set to null or is omitted. If it can be Any or ScalarOrOneDimension, the value is put into “{<value>}”, so either “{Any}” or “{ScalarOrOneDimension}” and the ValueRank is set to the corresponding value (see OPC 10000-3) and the ArrayDimensions is set to null or is omitted. In Table 3 examples are given.

Table 3 – Examples of DataTypes

Notation

Data­Type

Value­Rank

Array­Dimensions

Description

Int32

Int32

-1

omitted or NULL

A scalar Int32

Int32[]

Int32

1

omitted or {0}

Single-dimensional array of Int32 with an unknown size

Int32[][]

Int32

2

omitted or {0,0}

Two-dimensional array of Int32 with unknown sizes for both dimensions

Int32[3][]

Int32

2

{3,0}

Two-dimensional array of Int32 with a size of 3 for the first dimension and an unknown size for the second dimension

Int32[5][3]

Int32

2

{5,3}

Two-dimensional array of Int32 with a size of 5 for the first dimension and a size of 3 for the second dimension

Int32{Any}

Int32

-2

omitted or NULL

An Int32 where it is unknown if it is scalar or  array with any number of dimensions

Int32{ScalarOrOneDimension}

Int32

-3

omitted or NULL

An Int32 where it is either a single-dimensional array or a scalar

 

·      The TypeDefinition is specified for Objects and Variables.

·      The TypeDefinition column specifies a NodeId of a TypeDefinitionNode, i.e. the specified Node points with a HasTypeDefinition Reference to the corresponding TypeDefinitionNode. The symbolic name of the NodeId is used in the table.

·      The ModellingRule of the referenced component is provided by specifying the symbolic name of the rule in the ModellingRule column. In the AddressSpace, the Node shall use a HasModellingRule Reference to point to the corresponding ModellingRule Object.

If the NodeId of a DataType is provided, the symbolic name of the Node representing the DataType shall be used.

Nodes of all other NodeClasses cannot be defined in the same table; therefore only the used ReferenceType, their NodeClass and their BrowseName are specified. A reference to another of this document points to their definition.

If no components are provided, the DataType, TypeDefinition and ModellingRule columns may be omitted and only a Comment column is introduced to point to the Node definition.

Components of Nodes can be complex, i.e. containing components by themselves. The TypeDefinition, NodeClass, DataType and ModellingRule can be derived from the type definitions, and the symbolic name can be created as defined in 3.4.2.1. Therefore those containing components are not explicitly specified; they are implicitly specified by the type definitions.

3.4.2         NodeIds and BrowseNames

3.4.2.1   NodeIds

The NodeIds of all Nodes described in this document are only symbolic names. Annex A defines the actual NodeIds.

The symbolic name of each Node defined in this document is its BrowseName, or, when it is part of another Node, the BrowseName of the other Node, a “.”, and the BrowseName of itself. In this case “part of” means that the whole has a HasProperty or HasComponent Reference to its part. Since all Nodes not being part of another Node have a unique name in this document, the symbolic name is unique.

The namespace for this specification is defined in Annex A. The NamespaceIndex for all NodeIds defined in this specification is server specific and depends on the position of the namespace URI in the server namespace table.

Note: This specification does not only define concrete Nodes, but also requires that some Nodes have to be generated, for example one for each device type available in the frame application. The NodeIds of those Nodes are server-specific, including the Namespace. But the NamespaceIndex of those Nodes cannot be the NamespaceIndex used for the Nodes defined by this specification, because they are not defined by this specification but generated by the Server.

3.4.2.2   BrowseNames

The text part of the BrowseNames for all Nodes defined in this specification is specified in the tables defining the Nodes. The NamespaceIndex for all BrowseNames defined in this specification is server specific and depends on the position of the namespace URI defined in this specification in the server namespace table.

If the BrowseName is not defined by this specification, a NamespaceIndex prefix like ‘0:EngineeringUnits’ is added to the BrowseName. This is typically necessary if a Property of another specification is overwritten or used in the OPC UA types defined in this specification. Table 56 provides a list of namespaces used in this specification.

3.4.3         Common Attributes

3.4.3.1   General

For all Nodes specified in this specification, the Attributes named in Table 4 shall be set as specified in the table.

Table 4 – Common Node Attributes

Attribute

Value

DisplayName

The DisplayName is a LocalizedText. Each server shall provide the DisplayName identical to the BrowseName of the Node for the LocaleId “en”. Whether the server provides translated names for other LocaleIds is vendor specific.

Description

Optionally a vendor specific description is provided

NodeClass

Shall reflect the NodeClass of the Node

NodeId

The NodeId is described by BrowseNames as defined in 3.4.2.1 and defined in Annex A.

WriteMask

Optionally the WriteMask Attribute can be provided. If the WriteMask Attribute is provided, it shall set all Attributes to not writeable that are not said to be vendor-specific. For example, the Description Attribute may be set to writeable since a Server may provide a server-specific description for the Node. The NodeId shall not be writeable, because it is defined for each Node in this specification.

UserWriteMask

Optionally the UserWriteMask Attribute can be provided. The same rules as for the WriteMask Attribute apply.

 

3.4.3.2   Objects

For all Objects specified in this specification, the Attributes named in Table 5 shall be set as specified in the table.

Table 5 – Common Object Attributes

Attribute

Value

EventNotifier

Whether the Node can be used to subscribe to Events or not is vendor specific

 

3.4.3.3   Variables   

For all Variables specified in this specification, the Attributes named in Table 6 shall be set as specified in the table.

Table 6 – Common Variable Attributes

Attribute

Value

MinimumSamplingInterval

Optionally, a vendor-specific minimum sampling interval is provided

AccessLevel

The access level for Variables used for type definitions is vendor-specific, for all other Variables defined in this part, the access level shall allow a current read; other settings are vendor specific.

UserAccessLevel

The value for the UserAccessLevel Attribute is vendor-specific. It is assumed that all Variables can be accessed by at least one user.

Value

For Variables used as InstanceDeclarations, the value is vendor-specific; otherwise it shall represent the value described in the text.

ArrayDimensions

If the ValueRank does not identify an array of a specific dimension (i.e. ValueRank <= 0) the ArrayDimensions can either be set to null or the Attribute is missing. This behaviour is vendor-specific.

If the ValueRank specifies an array of a specific dimension (i.e. ValueRank > 0) then the ArrayDimensions Attribute shall be specified in the table defining the Variable.

 

3.4.3.4   VariableTypes

For all VariableTypes specified in this specification, the Attributes named in Table 7 shall be set as specified in the table.

Table 7 – Common VariableType Attributes

Attributes

Value

Value

Optionally a vendor-specific default value can be provided

ArrayDimensions

If the ValueRank does not identify an array of a specific dimension (i.e. ValueRank <= 0) the ArrayDimensions can either be set to null or the Attribute is missing. This behaviour is vendor-specific.

If the ValueRank specifies an array of a specific dimension (i.e. ValueRank > 0) then the ArrayDimensions Attribute shall be specified in the table defining the VariableType.

 


4   General information about Ethernet POWERLINK and OPC UA

4.1      Introduction to Ethernet POWERLINK

4.1.1         General

Ethernet POWERLINK is a communication profile for Real-Time Ethernet (RTE). It extends Ethernet according to the IEEE 802.3 standard with mechanisms to transfer data with predictable timing and precise synchronisation. The communication profile meets timing demands typical for high-performance automation and motion applications. It does not change basic principles of the Fast Ethernet Standard IEEE 802.3 but extends it towards RTE. Thus, it is possible to leverage and continue to use any standard Ethernet silicon, infrastructure component or test and measurement equipment like a network analyser.

POWERLINK provides mechanisms to achieve the following:

1.     Transmit time-critical data in precise isochronous cycles. Data exchange is based on a publish/subscribe relationship. Isochronous data communication can be used for exchanging position data of motion applications of the automation industry.

2.     Synchronise networked POWERLINK Devices with high accuracy.

3.     Transmit less time-critical data asynchronously on request. Asynchronous POWERLINK Data communication can be used to transfer IP-based protocols like TCP or UDP and higher layer protocols such as HTTP, FTP, etc.

 

POWERLINK manages the network traffic in a way that there are dedicated time-slots for Isochronous and Asynchronous POWERLINK Data. It takes care that always only one networked device gains access to the network media. Thus, transmission of Isochronous POWERLINK Data and Asynchronous POWERLINK Data will never interfere and precise communication timing is guaranteed. The mechanism is called Slot Communication Network Management (SCNM). SCNM is managed by one particular networked device – the POWERLINK Managing Node (MN) – which includes the MN functionality. All other nodes are called POWERLINK Controlled Nodes (CN).

Figure 1 – Slot Communication Network Management (SCNM)

 

4.1.2         Key features

POWERLINK provides the following key features:

·         Ease-of-Use to be handled by typical automation engineers without in-depth Ethernet network knowledge.

·         Up to 240 networked real-time devices in one network segment

·         Deterministic communication guaranteed

o    Down to 100 μs cycle times

o    Ultra-low jitter (down to <1μs) for precise synchronisation of networked devices

·         Standard compliant

o    IEEE 802.3 Fast Ethernet

o    IP based protocols supported (TCP, UDP, etc.)

o    Integration with CANopen profiles EN 50325-4 for device interoperability

o    Implementation based on standard Ethernet chips - no special ASICs necessary

·         Direct peer-to-peer communication of all POWERLINK Devices (publish/subscribe)

·         Hot plugging

·         Seamless IT-integration – routing of IP protocols

POWERLINK supports Client/Server and Producer/Consumer communication relationships.

The POWERLINK communication profile is based on CANopen communication profiles DS301 and DS302. Based on these communication profiles, the multitude of CANopen device profiles can be used in a POWERLINK environment without changes.

A main focus of POWERLINK is ease of use. Ethernet technology can be quite complex and confusing for machine and plant manufacturers, which are not necessarily networking experts. The following features have thus been implemented:

·      Easy wiring, flexible topologies (line structures, tree structures or star structures). The network is adapting to the needs of the machine.

·      Utilisation of well-known industrial infrastructure components

·      Simple address assignment by switch is possible

·      Easy replacement of devices in case of failure

·      Straight-forward network diagnostics

·      Simple engineering separated from end user IT infrastructure

·      Easy integration of RTE network with IT infrastructure

4.1.3         POWERLINK device model

A POWERLINK Device is structured as follows (see Figure 2):

·      Communication – This function unit provides the communication objects and the appropriate functionality to transport data items via the underlying network structure.

·      POWERLINK Object Dictionary – The POWERLINK Object Dictionary is a collection of all the data items that have an influence on the behaviour of the application objects, the communication objects and the state machine used on this device.

·      Application – The application comprises the functionality of the device with respect to the interaction with the process environment.

Thus the POWERLINK Object Dictionary serves as an interface between the communication and the application. The complete description of a device’s application with respect to the data items in the POWERLINK Object Dictionary is called the device profile.

Figure 2 – POWERLINK device model

 

4.1.4         POWERLINK Object Dictionary

The most important part of a POWERLINK profile is the POWERLINK Object Dictionary. The POWERLINK Object Dictionary is essentially a grouping of POWERLINK Objects accessible via the network in an ordered, pre-defined fashion. Each object within the dictionary is addressed using a 16-bit index.

The overall layout of the standard POWERLINK Object Dictionary is shown by Table 8. This layout closely conforms to other industrial serial bus system concepts.

The POWERLINK Object Dictionary may contain a maximum of 65536 entries which are addressed through a 16-bit index.

The Static Data Types at indices 0001h through 001Fh contain type definitions for standard data types like BOOLEAN, INTEGER, floating point, string, etc. These entries are included for reference only; they cannot be read or written.

Table 8 – POWERLINK Object Dictionary structure

Index

Object

0000h

not used

0001h .. 001Fh

Static Data Types

0020h .. 003Fh

Complex Data Types

0040h .. 005Fh

Manufacturer Specific Complex Data Types

0060h .. 007Fh

Device Profile Specific Static Data Types

0080h .. 009Fh

Device Profile Specific Complex Data Types

00A0h .. 03FFh

Reserved for further use

0400h – 041Fh

POWERLINK Specific Static Data Types

0420h – 04FFh

POWERLINK Specific Complex Data Types

0500h .. 0FFFh

Reserved for further use

1000h .. 1FFFh

Communication Profile Area

2000h .. 5FFFh

Manufacturer Specific Profile Area

6000h .. 9FFFh

Standardised Device Profile Area

A000h .. BFFFh

Standardised Interface Profile Area

C000h .. FFFFh

Reserved for further use

 

Complex Data Types at indices 0020h through 003Fh are pre-defined structures that are composed of standard data types and are common to all devices.

Manufacturer Specific Complex Data Types at indices 0040h through 005Fh are structures composed of standard data types but are specific to a particular device.

Device Profiles may define additional data types specific to their device type. The static data types defined by the device profile are listed at indices 0060h - 007Fh, the complex data types at indices 0080h - 009Fh.

A device may optionally provide the structure of the supported complex data types (indices 0020h - 005Fh and 0080h - 009Fh) at read access to the corresponding index. Sub-Index 0 provides the number of entries at this index, and the following sub-indices contain the data type encoded as UNSIGNED16 according to 7.1 Primitive DataTypes.

POWERLINK Specific Static Data Types shall be described at indices 0400h – 041Fh. These entries are included for reference only; they cannot be read or written. POWERLINK Specific Complex Data Types shall be described at indices 0420h – 04FFh

The Communication Profile Area at indices 1000h through 1FFFh contains the communication specific parameters for the POWERLINK network. These entries are common to all devices and addressed by this companion specification.

4.1.5         Index and Sub-Index usage

A 16-bit index is used to address all entries within the POWERLINK Object Dictionary. In the case of a simple variable, the index references the value of this variable directly. In the case of records and arrays, however, the index addresses the whole data structure.

To allow individual elements of structures of data to be accessed via the network a Sub-Index is defined. For single POWERLINK Object Dictionary entries such as an UNSIGNED8, BOOLEAN, INTEGER32 etc. the value for the Sub-Index is always zero. For complex POWERLINK Object Dictionary entries such as arrays or records with multiple data fields the Sub-Index references fields within a data-structure pointed to by the main index. The fields accessed by the Sub-Index can be of differing data types.

4.2      Introduction to OPC Unified Architecture

4.2.1         General

The main use case for OPC standards is the online data exchange between devices and HMI or SCADA systems using Data Access functionality. In this use case the device data is provided by an OPC server and is consumed by an OPC client integrated into the HMI or SCADA system. OPC DA provides functionality to browse through a hierarchical namespaces containing data items and to read, write and to monitor these items for data changes. The classic OPC standards are based on Microsoft COM/DCOM technology for the communication between software components from different vendors. Therefore classic OPC server and clients are restricted to Windows PC based automation systems.

OPC UA incorporates all features of classic OPC standards like OPC DA, A&E and HDA but defines platform independent communication mechanisms and generic, extensible and object-oriented modelling capabilities for the information a system wants to expose. 

The OPC UA network communication part defines different mechanisms optimised for different use cases. The first version of OPC UA is defining an optimised binary TCP protocol for high performance intranet communication as well as a mapping to accepted internet standards like Web Services. The abstract communication model does not depend on a specific protocol mapping and allows adding new protocols in the future. Features like security, access control and reliability are directly built into the transport mechanisms. Based on the platform independence of the protocols, OPC UA servers and clients can be directly integrated into devices and controllers.

The OPC UA Information Model provides a standard way for Servers to expose Objects to Clients. Objects in OPC UA terms are composed of other Objects, Variables and Methods. OPC UA also allows relationships to other Objects to be expressed.

The set of Objects and related information that an OPC UA Server makes available to Clients is referred to as its AddressSpace. The elements of the OPC UA Object Model are represented in the AddressSpace as a set of Nodes described by Attributes and interconnected by References. OPC UA defines eight classes of Nodes to represent AddressSpace components. The classes are Object, Variable, Method, ObjectType, DataType, ReferenceType and View. Each NodeClass has a defined set of Attributes.

This specification makes use of three essential OPC UA NodeClasses: Objects, Methods and Variables.

Objects are used to represent components of a system. An Object is associated to a corresponding ObjectType that provides definitions for that Object.

Methods are used to represent commands or services of a system.

Variables are used to represent values. Two categories of Variables are defined, Properties and DataVariables.

Properties are Server-defined characteristics of Objects, DataVariables and other Nodes. Properties are not allowed to have Properties defined for them. An example for Properties of Objects is the PowerlinkAttributes Property of the PowerlinkVariableType.

DataVariables represent the contents of an Object. DataVariables may have component DataVariables. This is typically used by Servers to expose individual elements of arrays and structures. This specification uses DataVariables to represent data like the CumulativeCount_U32 of a DLL_ErrorCntRec_Type Object.

4.2.2         Graphical notation

OPC UA defines a graphical notation for an OPC UA AddressSpace. It defines graphical symbols for all NodeClasses and how different types of References between Nodes can be visualised. Figure 3 shows the symbols for the six NodeClasses used in this specification. NodeClasses representing types always have a shadow.

Figure 3 – OPC UA graphical notation for NodeClasses

 

Figure 4 shows the symbols for the ReferenceTypes used in this specification. The Reference symbol is normally pointing from the source Node to the target Node. The only exception is the HasSubtype Reference. The most important References like HasComponent, HasProperty, HasTypeDefinition and HasSubtype have special symbols avoiding the name of the Reference. For other ReferenceTypes or derived ReferenceTypes the name of the ReferenceType is used together with the symbol.

Figure 4 – OPC UA graphical notation for References

 

Figure 5 shows a typical example for the use of the graphical notation. Object_A and Object_B are instances of the ObjectType_Y indicated by the HasTypeDefinition References. The ObjectType_Y is derived from ObjectType_X indicated by the HasSubtype Reference. The Object_A has the components Variable_1, Variable_2 and Method_1.

To describe the components of an Object on the ObjectType the same NodeClasses and References are used on the Object and on the ObjectType like for ObjectType_Y in the example. The instance Nodes used to describe an ObjectType are instance declaration Nodes.

To provide more detailed information for a Node, a subset or all Attributes and their values can be added to a graphical symbol.

Figure 5 – OPC UA graphical notation example

 


 

4.3      Use cases

4.3.1         Access to a POWERLINK Object Dictionary from an OPC UA Client

An OPC UA Client can use standard OPC UA Services to browse and access POWERLINK Objects defined in this document.

Possible use cases for this access are diagnostics, condition monitoring, configuration management, visualisation etc.

Figure 6 shows logical links between an OPC UA Client and a POWERLINK Object Dictionary.

Figure 6 – Logical links between OPC UA Client and POWERLINK Object Dictionary

 

Since OPC UA Clients are typically operating in standard Ethernet networks using CSMA/CD and the POWERLINK network uses SCNM the physical connection will be established through standard TCP/IP routing mechanisms which may be implemented on the POWERLINK Managing Node (Figure 7) or on a POWERLINK Controlled Node (Figure 8).

Figure 7 – Connection through bridge on POWERLINK Managing Node

 

Figure 8 – Connection through bridge on a POWERLINK Controlled Node

 

Another option to access POWERLINK Objects is an OPC UA Server that represents a group of POWERLINK Devices within one Information Model as shown in Figure 9.

Figure 9 – Connection to aggregated Information Model

 


 

4.3.2         Access to POWERLINK Objects through untrusted networks

The SDO protocol defined by POWERLINK is a Client/Server protocol to access POWERLINK Objects in a POWERLINK Object Dictionary, but this protocol does not support security.

The definition of SDO services over OPC UA allows secure SDO connections between POWERLINK Devices using the standard security mechanisms provided by OPC UA.

Figure 10 – SDO access through untrusted networks

 

5   POWERLINK model overview

5.1      Overview

Figure 11 shows the general model and the central object types of this companion specification.

Figure 11 – POWERLINK OPC UA model overview

 

POWERLINK Objects are represented by OPC UA Variables as part of the PowerlinkConnectionPointType and its subtypes. A PowerlinkConnectionPointType contains common Variables while the subtypes contain only the Variables that are specific to the POWERLINK Controlled Node and the POWERLINK Managing Node.

Instances of subtypes of PowerlinkConnectionPointType are used to represent the POWERLINK Object Dictionary of a POWERLINK Device. The subtypes of ConnectionPointType are used to extend a Device (not limited to PowerlinkDeviceType) by one or more POWERLINK Object Dictionaries.

The PowerlinkDeviceType is used to represent a typical POWERLINK Device and defines a standardised way to generate the mandatory Properties for a DeviceType (like SerialNumber, RevisionCounter, etc.) from values of certain POWERLINK Objects. In case a Device implements more than one POWERLINK interface (by implementing multiple ConnectionPoints), the selection of the ConnectionPoint as source for the DeviceType Properties is implementation specific.

Figure 12 shows an example for a Device (DeviceExample1) that implements an instance of a POWERLINK Controlled Node and another Device (DeviceExample2) that implements two instances of a POWERLINK Managing Node.

Figure 12 – PowerlinkDeviceType example for POWERLINK Controlled Node

The focus of this document is the detailed specification of the POWERLINK Objects of the communication profile EPSG DS 301 and EPSG DS 302, but it also defines the modelling rules for the implementation of specific POWERLINK Device Profiles.

Figure 13 shows how to add device profile specific POWERLINK Objects to the existing definition for the communication profile. The modelling rules are defined in 5.2.

Figure 13 – Model of a POWERLINK Device Profile

 

5.2      Modeling concepts

5.2.1         POWERLINK Objects and their attributes

One of the very significant differences between POWERLINK and OPC UA is that OPC UA provides metadata to each object directly through the Server, whereas POWERLINK can transport metadata only through XDD files or specification documents. Table 9 and Table 10 show examples for object definitions in the POWERLINK Communication Profile EPSG DS 301.

Table 9 – Example for the description of Objects in POWERLINK specifications

Index

1006h

Object Type

VAR

Name

NMT_CycleLen_U32

Data Type

UNSIGNED32

Category

M

Value Range

refer below

Access

rws, valid on reset

Default Range

-

PDO Mapping

No

 

Table 10 – Example for the description of SubObjects in POWERLINK specifications

Sub-Index

09h

Name

Prescaler_U16

Data Type

UNSIGNED16

Category

MN: M, CN: O

Value Range

0, 1-1000

Access

rws, valid on reset

Default Range

2

PDO Mapping

No

 

Figure 14 shows the same information in the XDD format defined in EPSG DS311.

Figure 14 – Example for XDD format

 

Table 11 lists the attributes that are specified for POWERLINK Objects, and how they are mapped to OPC UA mechanisms.

Table 11 – Mapping of attributes

POWERLINK Attribute

Description

Index

Index and Sub-Index are provided by the Information Model as Properties of the Objects as defined in 5.2.2, 5.2.3 and 5.2.4.

SubIndex

Name

The name of the POWERLINK Object shall be used as the BrowseName and the DisplayName of the OPC UA Node

Object Type

The relevant object types of POWERLINK are VAR, ARRAY and RECORD.

 

The VariableTypes PowerlinkArrayType, PowerlinkRecordType and PowerlinkVariableType are used to represent such objects from the POWERLINK Object Dictionary and extend the BaseDataVariableType by POWERLINK specific information about the object.

 

POWERLINK Objects of the type ARRAY shall be modelled as PowerlinkArrayType (5.2.2)

POWERLINK Objects of the type RECORD shall be modelled as PowerlinkRecordType (5.2.3)

POWERLINK Objects of the type VAR shall be modelled as PowerlinkVariableType (5.2.4)

Data Type

The mapping of primitive datatypes is defined in Table 22.

In certain cases the Information Model makes an exception and uses a Structure DataType to improve the usability.

Examples for such exceptions:

-   PowerlinkErrorEntryDataType (7.5.1), encoded as DOMAIN in POWERLINK

-   PowerlinkPDOMappingEntryDataType (7.5.3), encoded as UINT64 in POWERLINK

 

Also for usability reasons some variables are modelled as Enumeration.

Examples for such cases:

-   NMT_CurrNMTState_U8 (PowerlinkNMTStateEnumeratioin)

-   NMT_ResetCmd_U8 (PowerlinkNMTResetCmdEnumeration)

Value Range

The Value Range of the POWERLINK Object can be provided by the optional Property Range of the PowerlinkVariableType (5.2.4).

Category

POWERLINK defines the 3 categories Mandatory (M), Optional (O) and Conditional (Cond).

OPC UA defines the ModellingRules Mandatory and Optional. Since OPC UA does provide an ModellingRule which can be mapped to Conditional of POWERLINK, the mapping is the following:

-   Category M becomes the ModellingRule Mandatory

-   Category O becomes the ModellingRule Optional

-   Category Cond becomes the ModellingRule Optional and requires a textual description at the objects definition about the condition that makes the object mandatory.

Access

Access and PDO Mapping are provided by the Property PowerlinkAttributes defined for the PowerlinkVariableType (5.2.4).

PDO Mapping

Default Value

The default value of the object is provided by the optional Property DefaultValue of the PowerlinkVariableType (5.2.4).

 

5.2.2         PowerlinkArrayType

The VariableType PowerlinkArrayType is formally defined in Table 12 and represents POWERLINK Objects of the type ARRAY as defined in 5.2.

Table 12 – PowerlinkArrayType Definition

Attribute

Value

BrowseName

PowerlinkArrayType

IsAbstract

False

ValueRank

1 (1 = OneDimension)

DataType

BaseDataType

References

NodeClass

BrowseName

DataType

TypeDefinition

Modelling
Rule

Access

Level

Subtype of BaseDataVariableType defined in OPC 10000-5.

HasProperty

Variable

PowerlinkAttributes

PowerlinkAttributes

PropertyType

Mandatory

Read

HasProperty

Variable

Index

UInt16

PropertyType

Mandatory

Read

HasProperty

Variable

NumberOfEntries

Byte

PropertyType

Mandatory

Read / Write

HasProperty

Variable

Range

Range

PropertyType

Optional

Read

HasProperty

Variable

DefaultValue

BaseDataType

PropertyType

Optional

Read

 

The Property PowerlinkAttributes provides the information of the XML-Attribute ‘accessType’ from the POWERLINK XML Device Description.

The Property Index provides the Index of the object in the POWERLINK Object Dictionary.

The Property NumberOfEntries provides the value of Sub-Index 0 of the POWERLINK Object. For most POWERLINK Objects this value is read-only. For a few, like ERR_History_ADOM or PDO_RxMappParam_XXh_AU64, this Property is also writable.

The optional Property Range provides the Value Range of the array elements.

The optional Property DefaultValue provides the default value of the array elements. The DataType of this Property shall be identical to the DataType of the DataVariable itself.

5.2.3         PowerlinkRecordType

The VariableType PowerlinkRecordType is formally defined in Table 13 and represents POWERLINK Objects of the type RECORD as defined in 5.2.

Table 13 – PowerlinkRecordType Definition

Attribute

Value

BrowseName

PowerlinkRecordType

IsAbstract

True

ValueRank

-1 (-1 = Scalar)

DataType

Byte

Value

0

References

NodeClass

BrowseName

DataType

TypeDefinition

Modelling
Rule

Access

Level

Subtype of BaseDataVariableType defined in OPC 10000-5.

HasProperty

Variable

Index

UInt16

PropertyType

Mandatory

Read

HasProperty

Variable

NumberOfEntries

Byte

PropertyType

Mandatory

Read

 

The Property Index provides the Index of the object in the POWERLINK Object Dictionary.

The Property NumberOfEntries provides the value of Sub-Index 0 of the POWERLINK Object.

5.2.4         PowerlinkVariableType

The VariableType PowerlinkVariableType if formally defined in Table 14 and represents POWERLINK Objects of the type VAR as defined in 5.2.

Table 14 – PowerlinkVariableType Definition

Attribute

Value

BrowseName

PowerlinkVariableType

IsAbstract

False

ValueRank

-1 (-1 = Scalar)

DataType

BaseDataType

References

NodeClass

BrowseName

DataType

TypeDefinition

Modelling
Rule

Access

Level

Subtype of BaseDataVariableType defined in OPC 10000-5.

HasProperty

Variable

PowerlinkAttributes

PowerlinkAttributes

PropertyType

Mandatory

Read

HasProperty

Variable

Index

UInt16

PropertyType

Mandatory

Read

HasProperty

Variable

SubIndex

Byte

PropertyType

Mandatory

Read

HasProperty

Variable

Range

Range

PropertyType

Optional

Read

HasProperty

Variable

DefaultValue

BaseDataType

PropertyType

Optional

Read

 

The Property PowerlinkAttributes provides the information of the XML-Attribute ‘accessType’ from ‘Object’ and ‘SubObject’-Elements in the POWERLINK XML Device Description. The DataType PowerlinkAttributes is formally defined in 7.3.1.

The Properties Index and SubIndex provide the address information of the object in the POWERLINK Object Dictionary.

The optional Property Range provides the Value Range of the POWERLINK Object.

The optional Property DefaultValue provides the default value of the POWERLINK Object. The DataType of this Property shall be identical to the DataType of the DataVariable itself.

Note 1 to entry:

The Properties Index and SubIndex serve two purposes. It is not only additional information for the Client, but it also allows a generic implementation to interpret an imported Information Model because it already provides the required addressing information.

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

DataType

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

Powerlink Attributes

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

2000h – 5FFFh

Manufacturer Specific Profile Area

6000h – 67FFh

Standardised Device Profile Area,  device 0

6800h – 6FFFh

Standardised Device Profile Area,  device 1

7000h – 77FFh

Standardised Device Profile Area,  device 2

7800h – 7FFFh

Standardised Device Profile Area,  device 3

8000h – 87FFh

Standardised Device Profile Area,  device 4

8800h – 8FFFh

Standardised Device Profile Area,  device 5

9000h – 97FFh

Standardised Device Profile Area,  device 6

9800h – 9FFFh

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

 

7     Mapping of DataTypes

7.1      Primitive 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

Attribute

Value

BrowseName

DIA_ERRStatistics_Type

IsAbstract

False

References

NodeClass

BrowseName

Data
Type

Type
Definition

Modelling
Rule

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

 

7.4.2         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_NMTTelegrCount_Type

IsAbstract

False

References

NodeClass

BrowseName

Data
Type

Type
Definition

Modelling
Rule

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

 

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

DLL_ErrorCntRec_Type

IsAbstract

False

References

NodeClass

BrowseName

Data
Type

Type
Definition

Modelling
Rule

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

Data
Type

Type
Definition

Modelling
Rule

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

Data
Type

Type
Definition

Modelling
Rule

Powerlink Attributes

Subtype of PowerlinkRecordType defined in 5.2.3.

HasComponent

Variable

SelectedRange_U32

UInt32

Powerlink‌Variable‌Type

Mandatory

RW

HasComponent

Variable

ProcessImageDomain_DOM

ByteString

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

Data
Type

Type
Definition

Modelling
Rule

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

Data
Type

Type
Definition

Modelling
Rule

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

Data
Type

Type
Definition

Modelling
Rule

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

Data
Type

Type
Definition

Modelling
Rule

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

Data
Type

Type
Definition

Modelling
Rule

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

Data
Type

Type
Definition

Modelling
Rule

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

Optional
Placeholder

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

Type
Definition

Modelling
Rule

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

Type
Definition

Modelling
Rule

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

Type
Definition

Modelling
Rule

Powerlink Attributes

Subtype of PowerlinkRecordType defined in 5.2.3.

HasComponent

Variable

NodeID_U8

Byte

Powerlink‌Variable‌Type

Mandatory

RW,S

HasComponent

Variable

MappingVersion_U8

Byte

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)

 

8     Direct addressing of the POWERLINK Object Dictionary

8.1      General

The definition of the objects in the previous paragraphs enables the generic access to POWERLINK Objects from the POWERLINK Communication Profiles EPSG DS 301 and EPSG DS 302. Without an extension of the Information Model the access to vendor- or profile-specific POWERLINK Objects would be only possible through the SDO Services defined in 6.2.A client would not be able to create MonitoredItems and Subscriptions to vendor-specific objects since they would not have an individual NodeId.

One way to generate individual NodeIds is to convert the vendor specific device description from POWERLINK into an OPC UA Information Model and to deploy the models of all involved POWERLINK Devices to the OPC UA Server. This might be feasible for Servers that run on the POWERLINK Device itself and represent only their own device.

This paragraph defines another, more generic way to provide individual NodeIds for random objects in a POWERLINK Object Dictionary.

For this generic access the Namespace ‘http://opcfoundation.org/UA/POWERLINK/UA/DirectAccess/’ is used.

8.2      OPAQUE NodeIds

8.2.1         General

When using NodeIds of the type OPAQUE_3 the NodeId contains information about address and DataType in binary form. Compared to String-NodeIds this format is smaller and generates less overhead when registering Nodes for Subscriptions.

8.2.2         NodeIds for single instances

To access POWERLINK Objects on a Server, which represents only one POWERLINK Object Dictionary the size of the NodeId is 4 byte and the format is defined in shown in Table 48.

Table 48 – NodeIds for single instances

Byte

Description

0

LSB of the objects POWERLINK Index

1

HSB of the objects POWERLINK Index

2

POWERLINK Sub-Index

3

DataTypeId

 

Byte 0, 1 and 2 are the values of the POWERLINK addressing scheme Index / Sub-Index. If the POWERLINK Object requested by Index/Sub-Index is not existing the server shall signal this case with the StatusCode Bad_NodeIdUnknown.

With byte 3 the client specifies the expected DataType of the response data by using the built-in types defined in OPC 10000-6. Allowed values are 1 to 12, as well as 15. If byte 3 is set to 12 or 15 (String or ByteString) the server shall respond with the same length like the POWERLINK Object. Otherwise, if the bit-length of the referenced POWERLINK Object is different to the bit-length of the requested DataType, the Server shall signal this case with the StatusCode Bad_NodeIdInvalid.

8.2.3         NodeIds for multiple instances

To access POWERLINK Objects on a Server, which represents more than one POWERLINK Object Dictionary the size of the NodeId is 6 byte and the format is defined in Table 49.

Table 49 – NodeIds for multiple instances

Byte

Description

0

LSB of the objects POWERLINK Index

1

HSB of the objects POWERLINK Index

2

POWERLINK Sub-Index

3

DataTypeId

4

POWERLINK DeviceAddress

5

POWERLINK Network

 

Byte 0 to 3 have the same function like in Table 48.

Byte 4 defines the Address of the device in the POWERLINK network.

Byte 5 defines the interface/network number where this device is expected. The assignment of a number to a physical interface is application specific.

8.3      String NodeIds

When using NodeIds of type STRING_1 the NodeId contains information about address and DataType as string value. Compared to opaque NodeIds this format is easier for manual entry by the user.

The NodeId has the following form:

[[<Network>.]<DeviceAddress>.]<Index>.<Sub-Index>:<Datatype>

Network:

This parameter identifies the network and starts with “NW” followed by the decimal number of the selected network, e.g. “NW1” for the first POWERLINK network which is represented by this Server. If the parameter is omitted the selection of a network is server specific.

DeviceAddress:

This parameter identifies the POWERLINK Device within a network. It shall either be “MN” for the POWERLINK Managed Node or “CN” followed by the device address, e.g. “CN2”.

Both parameters (Network and Device) are not relevant for Servers that only implement one single POWERLINK Object Dictionary and therefore they may be omitted.

Index:

Index of the POWERLINK Object, e.g. “0x1001” for the object ERR_ErrorRegister_U8. The value shall be given as decimal string, or as hexadecimal string preceding the characters “0x”.

Sub-Index:

Sub-Index of the POWERLINK Object, e.g. “17” for accessing Sub-Index 17. The value shall be given as decimal string, or as hexadecimal string preceding the characters “0x”.

If the POWERLINK Object requested by Index/Sub-Index is not existing the server shall signal this case with the StatusCode Bad_NodeIdUnknown.

Datatype:

Requested DataType of the response data for read access or MonitoredItems. Allowed values are the names of the built-in types 1 to 12, and 15. E.g. if Datatype is “UInt64” the Server shall respond with an unsigned 64 bit integer. Capitalisation of this parameter shall be irrelevant, so “uint64” and “UInt64” shall give the same result. If Datatype is set to “String” or “ByteString” the server shall respond with the same length like the POWERLINK Object. Otherwise, if the bit-length of the referenced POWERLINK Object is different to the bit-length of the requested DataType, the Server shall signal this case with the StatusCode Bad_NodeIdInvalid.

Examples for String NodeIds:

·      “0x1001.0:byte” : Object ERR_ErrorRegister_U8

·      “NW2.CN104.24640.0:UInt16” : Object 0x6040, SubIndex 0, 16 Bit unsigned

·      “CN1.0x1018.1:UInt32” : VendorId_U32 in Object NMT_IdentityObject_REC

 

9     Profiles and namespaces

9.1      Namespace metadata

Table 50 defines the namespace metadata for this specification. The Object is used to provide version information for the namespace and an indication about static Nodes. Static Nodes are identical for all Attributes in all Servers, including the Value Attribute. See OPC 10000-5 for more details.

The information is provided as Object of type NamespaceMetadataType. This Object is a component of the Namespaces Object that is part of the Server Object. The NamespaceMetadataType ObjectType and its Properties are defined in OPC 10000-5.

The version information is also provided as part of the ModelTableEntry in the UANodeSet XML file. The UANodeSet XML schema is defined in OPC 10000-6.

Table 50 – NamespaceMetadata Object for this specification

Attribute

Value

BrowseName

http://opcfoundation.org/UA/POWERLINK/

References

BrowseName

DataType

Value

HasProperty

NamespaceUri

String

http://opcfoundation.org/UA/POWERLINK/

HasProperty

NamespaceVersion

String

1.0.0

HasProperty

NamespacePublicationDate

DateTime

2017-10-10 , 13:00

HasProperty

IsNamespaceSubset

Boolean

False

HasProperty

StaticNodeIdTypes

IdType[]

{Numeric}

HasProperty

StaticNumericNodeIdRange

NumericRange[]

Null

HasProperty

StaticStringNodeIdPattern

String

Null

 

9.2      OPC UA Conformance Units and Profiles

This chapter defines the corresponding profiles and conformance units for the OPC UA Information Model for POWERLINK Profiles are named groupings of conformance units. Facets are profiles that will be combined with other Profiles to define the complete functionality of an OPC UA Server or Client. The following tables specify the facets available for Servers that implement the POWERLINK Information Model companion standard, and for Clients that are communicating with such Servers.

Table 51 defines a server facet for direct access to the POWERLINK Objects through a structured NodeId that may be generated by user entry or by tools.

Table 51 – POWERLINK Direct Access Server Facet Definition

Conformance Unit

Description

Optional/

Mandatory

POWERLINK BinaryAddress

Supports generic access to POWERLINK Objects using opaque NodeIds

M

POWERLINK StringAddress

Supports generic access to POWERLINK Objects using string NodeIds

M

Profiles

Core Server Facet

M

Embedded DataChange Subscription Server Facet

O

 

Table 52 defines a client facet for direct access to the POWERLINK Objects through a structured NodeId that may be generated by user entry or by tools.

Table 52 – POWERLINK Direct Access Client Facet Definition

Conformance Unit

Description

Optional/

Mandatory

POWERLINK DirectAccessClient

Use services like Attribute Read or Attribute Write to access POWERLINK Objects through constant NodeIds

M

Profiles

Core Client Facet

M

Attribute Read Client Facet

M

Attribute Write Client Facet

O

DataChange Subscriber Client Facet

O

 

Table 53 defines a server facet for access to POWERLINK Objects of the communication profiles EPSG DS 301 and EPSG DS302 through the OPC UA Information Model.

Table 53 – POWERLINK Communication Profile Server Facet Definition

Conformance Unit

Description

Optional/

Mandatory

POWERLINK CommunicationProfileServer

Supports the Information Model for the communication profile EPSG DS 301 and EPSG DS 302

M

Profiles

ComplexType Server Facet

M

Method Server Facet

M

BaseDevice_Server_Facet (defined in OPC 10000-100)

M

DeviceIdentification_Server_Facet (defined in OPC 10000-100)

M

DeviceCommunication_Server_Facet (defined in OPC 10000-100)

M

 

Table 54 defines a client facet for access to POWERLINK Objects of the communication profiles EPSG DS 301 and EPSG DS302 through the OPC UA Information Model.

Table 54 – POWERLINK Communication Profile Client Facet Definition

Conformance Unit

Description

Optional/

Mandatory

POWERLINK CommunicationProfileClient

Use OPC UA services like the View Service Set and the Attribute Service Set to browse and access POWERLINK Objects available in the OPC UA Information Model.

M

Profiles

Core Client Facet

M

Method Client Facet

M

ComplexType Server Facet

M

BaseDevice_Client_Facet (defined in OPC 10000-100)

M

DeviceIdentification_Client_Facet (defined in OPC 10000-100)

M

DeviceCommunication_Client_Facet (defined in OPC 10000-100)

M

 

9.3      Handling of OPC UA namespaces

Namespaces are used by OPC UA to create unique identifiers across different naming authorities. The Attributes NodeId and BrowseName are identifiers. A node in the UA Address Space is unambiguously identified using a NodeId. Unlike NodeIds, the BrowseName cannot be used to unambiguously identify a node. Different nodes may have the same BrowseName. They are used to build a browse path between two nodes or to define a standard Property.

Servers may often choose to use the same namespace for the NodeId and the BrowseName. However, if they want to provide a standard Property, its BrowseName shall have the namespace of the standards body although the namespace of the NodeId reflects something else, for example the EngineeringUnits property. All NodeIds of nodes not defined in this specification shall not use the standard namespaces.

Table 55 provides a list of mandatory and optional namespaces used in a POWERLINK OPC UA Server.

Table 55 – Namespaces used in a POWERLINK OPC UA Server

Namespace

Description

Use

http://opcfoundation.org/UA/

Namespace for NodeIds and BrowseNames defined in the OPC UA specification. This namespace shall have namespace index 0.

Mandatory

Local Server URI

Namespace for nodes defined in the local server. This may include types and instances used in a device represented by the server. This namespace shall have namespace index 1 in the server.

Mandatory

http://opcfoundation.org/UA/DI/

Namespace for NodeIds and BrowseNames defined in OPC 10000-100. The namespace index is server specific.

Mandatory

http://opcfoundation.org/UA/POWERLINK/

Namespace for NodeIds and BrowseNames defined in this specification. The namespace index is server specific.

Mandatory

http://opcfoundation.org/UA/POWERLINK/DirectAccess/

Namespace for NodeId scheme defined in paragraph 8. The namespace index is server specific.

Optional

Vendor specific types and instances

A server may provide vendor specific types like types derived from PowerlinkDeviceType or PowerlinkCnConnectionPointType, or vendor specific instances of devices in a vendor specific namespace.

Optional

 

Table 56 provides a list of namespaces and their index used for BrowseNames in this specification. The default namespace of this specification is not listed since all BrowseNames without prefix use this default namespace.

Table 56 – Namespaces used in this specification

Namespace

Namespace Index

Example

http://opcfoundation.org/UA/

0

0:EngineeringUnits

http://opcfoundation.org/UA/DI/

1

1:SerialNumber

 

Annex A (normative): POWERLINK namespace and mappings

A.1      Namespace and identifiers for POWERLINK Information Model

This appendix defines the numeric identifiers for all of the numeric NodeIds defined in this standard. The identifiers are specified in a CSV file with the following syntax:

<SymbolName>, <Identifier>, <NodeClass>

Where the SymbolName is either the BrowseName of a Type Node or the BrowsePath for an Instance Node that appears in the specification and the Identifier is the numeric value for the NodeId.

The BrowsePath for an Instance Node is constructed by appending the BrowseName of the instance Node to the BrowseName for the containing instance or type. An underscore character is used to separate each BrowseName in the path. Let’s take for example, the DIA_ERRStatistics_Type ObjectType Node which has the HistoryEntryWrite_U32 Variable. The Name for the HistoryEntryWrite_U32 InstanceDeclaration within the DIA_ERRStatistics_Type declaration is DIA_ERRStatistics_Type_HistoryEntryWrite_U32.

The NamespaceUri for all NodeIds defined here is http://opcfoundation.org/UA/POWERLINK/

The CSV released with this version of the standard can be found here:

http://www.opcfoundation.org/UA/schemas/POWERLINK/1.0/Opc.Ua.POWERLINK.NodeIds.csv

NOTE    The latest CSV that is compatible with this version of the standard can be found here:

http://www.opcfoundation.org/UA/schemas/POWERLINK/Opc.Ua.POWERLINK.NodeIds.csv

A computer processible version of the complete Information Model defined in this standard is also provided. It follows the XML Information Model schema syntax defined in OPC 10000-6.

The Information Model Schema released with this version of the standard can be found here:

http://www.opcfoundation.org/UA/schemas/POWERLINK/1.0/Opc.Ua.POWERLINK.NodeSet2.xml

NOTE    The latest Information Model schema that is compatible with this version of the standard can be found here:

http://www.opcfoundation.org/UA/schemas/POWERLINK/Opc.Ua.POWERLINK.NodeSet2.xml

A.2      Profile URIs for POWERLINK Information Model

 

Table 57 defines the Profile URIs for the POWERLINK Information Model companion standard.

Table 57 – Profile URIs

Profile

Profile URI

POWERLINK Direct Access Server Facet

http://opcfoundation.org/UA-Profile/External/POWERLINK/DirectAccessServer

POWERLINK Direct Access Client Facet

http://opcfoundation.org/UA-Profile/External/POWERLINK/DirectAccessClient

POWERLINK Communication Profile Server Facet

http://opcfoundation.org/UA-Profile/External/POWERLINK/CommunicationProfileServer

POWERLINK Communication Profile Client Facet

http://opcfoundation.org/UA-Profile/External/POWERLINK/CommunicationProfileClient

 

Annex B : POWERLINK Object Dictionary

B.1      References POWERLINK Objects to OPC UA Objects

Table 58 shows the references where the POWERLINK Objects of the communication profile EPSG DS 301 can be found in this OPCUA POWERLINK Companion Specification.

Table 58 – POWERLINK Object Dictionary entries, sorted by index

Index

Scope

Name

Store

Category

Reference to OPC UA Model

1000h

CN

+

MN

NMT_DeviceType_U32

-

M

defined in 6.2

1001h

ERR_ErrorRegister_U8

-

M

1003h

ERR_History_ADOM

-

O

1006h

NMT_CycleLen_U32

x

M

1008h

NMT_ManufactDevName_VS

-

O

1009h

NMT_ManufactHwVers_VS

-

O

100Ah

NMT_ManufactSwVers_VS

-

O

1010h

NMT_StoreParam_REC

-

O

1011h

NMT_RestoreDefParam_REC

-

O

1016h

NMT_ConsumerHeartbeatTime_AU32

1-254

O

1018h

NMT_IdentityObject_REC

-

M

1020h

CFM_VerifyConfiguration_REC

1-3

M

Annex B.2 Objects not defined in OPC UA Information Model

1021h

CFM_StoreDevDescrFile_DOM

x

O

1022h

CFM_StoreDevDescrFormat_U16

x

Cond

1027h

NMT_ChildIdentList_AU16
(used by EPSG DS302-F)

 

Cond

defined in 6.2

1030h

NMT_InterfaceGroup_0h_REC

8-9

M

1031h
..
1039h

NMT_InterfaceGroup_Xh_REC

8-9

O

Annex B.2 Objects not defined in OPC UA Information Model

1050h

NMT_RelativeLatencyDiff_AU32
(used by EPSG DS302-C)

 

Cond

defined in 6.2

1101h

DIA_NMTTelegrCount_REC

-

O

1102h

DIA_ERRStatistics_REC

-

O

1200h
..
127Fh

SDO_ServerContainerParam_XXh_REC

1-4

O

Annex B.2 Objects not defined in OPC UA Information Model

1280h
..
12FFh

SDO_ClientContainerParam_XXh_REC

1-4

O

1300h

SDO_SequLayerTimeout_U32

x

M

defined in 6.2

1301h

SDO_CmdLayerTimeout_U32

x

O

1302h

SDO_SequLayerNoAck_U32

x

O

1400h

PDO_RxCommParam_00h_REC

1-2

Cond

1401h

PDO_RxCommParam_01h_REC

1-2

Cond

1402h

PDO_RxCommParam_02h_REC

1-2

Cond

1403h

PDO_RxCommParam_03h_REC

1-2

Cond

1404h
..
14FFh

PDO_RxCommParam_XXh_REC

1-2

Cond

Annex B.2 Objects not defined in OPC UA Information Model

1600h

PDO_RxMappParam_00h_AU64

0-254

Cond

defined in 6.2

1601h

PDO_RxMappParam_01h_AU64

0-254

Cond

1602h

PDO_RxMappParam_02h_AU64

0-254

Cond

1603h

PDO_RxMappParam_03h_AU64

0-254

Cond

1604h
..
16FFh

PDO_RxMappParam_04h_AU64

0-254

Cond

Annex B.2 Objects not defined in OPC UA Information Model

1800h

PDO_TxCommParam_00h_REC

1-2

Cond

defined in 6.2

1801h

MN

PDO_TxCommParam_01h_REC

1-2

Cond

defined in 6.4

1802h

PDO_TxCommParam_02h_REC

1-2

Cond

1803h

PDO_TxCommParam_03h_REC

1-2

Cond

1804h
..
18FFh

PDO_TxCommParam_XXh_REC

1-2

Cond

Annex B.2 Objects not defined in OPC UA Information Model

1A00h

MN

+

CN

PDO_TxMappParam_00h_AU64

0-254

Cond

defined in 6.2

1A01h

MN

PDO_TxMappParam_01h_AU64

0-254

Cond

defined in 6.4

1A02h

PDO_TxMappParam_02h_AU64

0-254

Cond

1A03h

PDO_TxMappParam_03h_AU64

0-254

Cond

1A04h
..
1AFFh

PDO_TxMappParam_XXh_AU64

0-254

Cond

Annex B.2 Objects not defined in OPC UA Information Model

1B00h
..
1BFFh

MN

+

CN

RT1_AclFwdTable_XXh_REC

1-9

Cond

1C00h

MN

DLL_MNCRCError_REC

3

M

defined in 6.4

1C01h

DLL_MNCollision_REC

3

O

1C02h

DLL_MNCycTimeExceed_REC

3

O

1C03h

DLL_MNLossOfLinkCum_U32

-

Cond

1C04h

DLL_MNCNLatePResCumCnt_AU32

-

Cond

1C05h

DLL_MNCNLatePResThrCnt_AU32

-

Cond

1C06h

DLL_MNCNLatePResThreshold_AU32

1-254

Cond

1C07h

DLL_MNCNLossPResCumCnt_AU32

-

O

1C08h

DLL_MNCNLossPResThrCnt_AU32

-

M

1C09h

DLL_MNCNLossPResThreshold_AU32

1-254

M

1C0Ah

CN

DLL_CNCollision_REC

3

O

defined in 6.3

1C0Bh

DLL_CNLossSoC_REC

3

M

1C0Ch

DLL_CNLossSoA_REC

3

Cond

1C0Dh

DLL_CNLossPReq_REC

3

Cond

1C0Eh

DLL_CNSoCJitter_REC

3

Cond

1C0Fh

DLL_CNCRCError_REC

3

M

1C10h

DLL_CNLossOfLinkCum_U32

-

Cond

1C12h

MN

DLL_MNCycleSuspendNumber_U32

x

M

defined in 6.4

1C13h

CN

DLL_CNSoCJitterRange_U32

x

Cond

defined in 6.3

1C14h

DLL_CNLossOfSocTolerance_U32

x

M

1C15h

MN

DLL_MNLossStatusResCumCnt_AU32

-

O

defined in 6.4

1C16h

DLL_MNLossStatusResThrCnt_AU32

-

M

1C17h

DLL_MNLossStatusResThreshold_AU32

1-254

M

1C40h

DLL_MNRingRedundancy_REC
(used by EPSG DS302-A)

 

Cond

Annex B.2 Objects not defined in OPC UA Information Model

1C80h

MN

+

CN

PDO_ErrMapVers_OSTR

-

O

defined in 6.2

1C81h

PDO_ErrShort_RX_OSTR

-

O

1D00h
..
1DFFh

RT1_NatTable_XXh_REC

1-4

Cond

Annex B.2 Objects not defined in OPC UA Information Model

1E40h

NWL_IpAddrTable_0h_REC

(2,3,) 5

Cond

defined in 6.2

1E41h
..

1E49h

NWL_IpAddrTable_Xh_REC

(2,3,) 5

O

Annex B.2 Objects not defined in OPC UA Information Model

1E4Ah

NWL_IpGroup_REC

(1,) 2

Cond

1E80h

RT1_EplRouter_REC

1,2

Cond

1E81h

RT1_SecurityGroup_REC

1-3

Cond

1E90h
..
1ECFh

RT1_IpRoutingTable_XXh_REC

1-4, 6,7

Cond

1ED0h
..
1EDFh

RT1_AclInTable_Xh_REC

1-9

Cond

1EE0h
..
1EEFh

RT1_AclOutTable_Xh_REC

1-9

Cond

1F20h

MN

CFM_StoreDcfList_ADOM

1-254

Cond

1F21h

CFM_DcfStorageFormatList_AU8

1-254

O

1F22h

CFM_ConciseDcfList_ADOM

1-254

O

1F23h

CFM_StoreDevDescrFileList_ADOM

1-254

Cond

1F24h

CFM_DevDescrFileFormatList_AU8

1-254

O

1F25h

CFM_ConfCNRequest_AU32

-

O

1F26h

CFM_ExpConfDateList_AU32

1-254

O

defined in 6.4

1F27h

CFM_ExpConfTimeList_AU32

1-254

O

1F28h

CFM_ExpConfIdList_AU32

1-254

O

1F50h

CN

+

MN

PDL_DownloadProgData_ADOM

-

O

Annex B.2 Objects not defined in OPC UA Information Model

1F51h

PDL_ProgCtrl_AU8

-

Cond

1F52h

PDL_LocVerApplSw_REC

-

Cond

1F53h

PDL_MnExpAppSwDateList_AU32

0-254

Cond

defined in 6.2

1F54h

PDL_MnExpAppSwTimeList_AU32

0-254

Cond

defined in 6.2

1055h

PDL_DownloadChildProgList_AU16
(used by EPSG DS302-F)

 

Cond

Annex B.2 Objects not defined in OPC UA Information Model

1F70h

INP_ProcessImage_REC

-

O

defined in 6.2

1F80h

MN

NMT_StartUp_U32

x

M

defined in 6.4

1F81h

CN

+

MN

NMT_NodeAssignment_AU32

x

O

defined in 6.2

1F82h

NMT_FeatureFlags_U32

-

M

1F83h

NMT_EPLVersion_U8

-

M

1F84h

MN

NMT_MNDeviceTypeIdList_AU32

0-254

M

defined in 6.4

1F85h

NMT_MNVendorIdList_AU32

0-254

O

1F86h

NMT_MNProductCodeList_AU32

0-254

O

1F87h

NMT_MNRevisionNoList_AU32

0-254

O

1F88h

NMT_MNSerialNoList_AU32

0-254

O

1F89h

NMT_BootTime_REC

1-9

M

1F8Ah

NMT_MNCycleTiming_REC

1,2,4

M

1F8Bh

NMT_MNPReqPayloadLimitList_AU16

0-254

M

1F8Ch

CN

+

MN

NMT_CurrNMTState_U8

-

M

defined in 6.2

1F8Dh

NMT_PResPayloadLimitList_AU16

0-254

O

1F8Eh

MN

NMT_MNNodeCurrState_AU8

-

M

defined in 6.4

1F8Fh

NMT_MNNodeExpState_AU8

-

O

1F92h

NMT_MNCNPResTimeout_AU32

0-254

M

1F93h

CN

+

MN

NMT_EPLNodeID_REC

3

M

defined in 6.2

1F94h

NMT_PdoNodeAssign_AU8
(used by EPSG DS302-D)

 

Cond

Annex B.2 Objects not defined in OPC UA Information Model

1F98h

NMT_CycleTiming_REC

4,5, 7-9

M

defined in 6.2

1F99h

CN

NMT_CNBasicEthernetTimeout_U32

x

M

defined in 6.3