IEC-PAS-62408-2005.pdf

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1、 PUBLICLY AVAILABLE SPECIFICATION IEC PAS 62408 Pre-Standard First edition 2005-06 Real-time Ethernet Powerlink (EPL) Reference number IEC/PAS 62408:2005(E) Copyright International Electrotechnical Commission Provided by IHS under license with IECLicensee=IHS Employees/1111111001, User=listmgr, list

2、mgr Not for Resale, 03/05/2007 23:45:31 MSTNo reproduction or networking permitted without license from IHS -,-,- Publication numbering As from 1 January 1997 all IEC publications are issued with a designation in the 60000 series. For example, IEC 34-1 is now referred to as IEC 60034-1. Consolidated

3、 editions The IEC is now publishing consolidated versions of its publications. For example, edition numbers 1.0, 1.1 and 1.2 refer, respectively, to the base publication, the base publication incorporating amendment 1 and the base publication incorporating amendments 1 and 2. Further information on

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8、arding this publication or need further assistance, please contact the Customer Service Centre: Email: custserviec.ch Tel: +41 22 919 02 11 Fax: +41 22 919 03 00 Copyright International Electrotechnical Commission Provided by IHS under license with IECLicensee=IHS Employees/1111111001, User=listmgr,

9、 listmgr Not for Resale, 03/05/2007 23:45:31 MSTNo reproduction or networking permitted without license from IHS -,-,- PUBLICLY AVAILABLE SPECIFICATION IEC PAS 62408 Pre-Standard First edition 2005-06 Real-time Ethernet Powerlink (EPL) PRICE CODE IEC 2005 Copyright - all rights reserved No part of t

10、his publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from the publisher. International Electrotechnical Commission, 3, rue de Varemb, PO Box 131, CH-1211 Geneva 20, Switzerland Telepho

11、ne: +41 22 919 02 11 Telefax: +41 22 919 03 00 E-mail: inmailiec.ch Web: www.iec.ch XM For price, see current catalogue Commission Electrotechnique Internationale International Electrotechnical Commission Copyright International Electrotechnical Commission Provided by IHS under license with IECLicen

12、see=IHS Employees/1111111001, User=listmgr, listmgr Not for Resale, 03/05/2007 23:45:31 MSTNo reproduction or networking permitted without license from IHS -,-,- 2 PAS 62408 IEC:2005 (E) CONTENT FOREWORD . 14 1 General . 15 1.1 Scope and general description . 15 1.1.1 Slot Communication Network Mana

13、gement (SCNM). 15 1.1.2 EPL key features. 16 1.1.3 Integration. 17 1.1.4 Modular Machines. 18 1.2 Normative references 19 1.3 Definitions and Abbreviations . 20 1.3.1 Definitions . 20 1.3.2 Abbreviations 23 2 Modelling. 24 2.1 Reference Model. 24 2.1.1 Application Layer 24 2.1.1.1 Service Primitives

14、 . 25 2.1.1.2 Application Layer Service Types 25 2.2 Device Model 26 2.2.1 General . 26 2.2.2 The Object Dictionary . 27 2.2.2.1 Index and Sub-Index Usage. 28 2.3 Communication Model 28 2.3.1 Master/Slave relationship . 28 2.3.2 Client/Server relationship 29 2.3.3 Producer/Consumer relationship - Pu

15、sh/Pull model. 30 2.3.4 Superimposing of Communication Relationships. 30 3 Physical Layer. 31 3.1 Topology . 31 3.1.1 Hubs 31 3.1.2 Switches 31 3.2 Network Guidelines. 31 3.3 Connectors 32 3.3.1 RJ-45 32 3.3.2 M12. 32 3.3.3 Cross Over Pin Assignment 33 3.3.3.1 RJ45 to RJ45 33 3.3.3.2 M12 to M12. 34

16、3.3.3.3 M12 to RJ45 34 3.4 Cables (recommendation). 34 4 Data Link Layer. 35 4.1 Modes of Operation 35 4.2 EPL Mode . 35 4.2.1 Introduction. 35 4.2.2 EPL Nodes 35 4.2.2.1 EPL Managing Node. 35 4.2.2.2 EPL Controlled Node 36 4.2.2.2.1 Isochronous CN 36 4.2.2.2.2 Async-only CN 36 4.2.3 Services 36 4.2

17、.4 EPL Cycle. 36 4.2.4.1 Isochronous EPL Cycle 36 4.2.4.1.1 Start period . 37 4.2.4.1.2 Isochronous period. 37 4.2.4.1.2.1 Multiplexed Timeslots. 38 4.2.4.1.3 Asynchronous period 38 4.2.4.1.3.1 Asynchronous Scheduling 39 Copyright International Electrotechnical Commission Provided by IHS under licen

18、se with IECLicensee=IHS Employees/1111111001, User=listmgr, listmgr Not for Resale, 03/05/2007 23:45:31 MSTNo reproduction or networking permitted without license from IHS -,-,- PAS 62408 IEC:2005 (E) 3 4.2.4.1.3.2 Asynchronous Transmit Priorities. 40 4.2.4.1.3.3 Distribution of the Asynchronous per

19、iod. 40 4.2.4.1.4 Idle Period. 40 4.2.4.2 Reduced EPL Cycle 40 4.2.4.3 EPL CN Cycle State Machine. 41 4.2.4.3.1 Overview. 41 4.2.4.3.2 States 41 4.2.4.3.3 Events. 41 4.2.4.3.4 Usage of the the NMT_CS state by the DLL_CS. 42 4.2.4.3.4.1 State NMT_CS_OPERATIONAL, NMT_CS_PRE_OPERATIONAL_2, NMT_CS_READY

20、_TO_OPERATE 42 4.2.4.3.4.1.1 Transitions 43 4.2.4.3.4.2 Other States 44 4.2.4.3.4.2.1 Transitions in other NMT states 45 4.2.4.4 EPL MN Cycle State Machine 45 4.2.4.4.1 Overview. 45 4.2.4.4.2 States 45 4.2.4.4.3 Events. 45 4.2.4.4.4 Usage of the NMT_MS state by the DLL_MS 46 4.2.4.4.4.1 State NMT_MS

21、_OPERATIONAL . 46 4.2.4.4.4.1.1 Transitions 48 4.2.4.4.4.2 Other Modes. 49 4.2.5 Recognizing Active Nodes 49 4.3 Basic Ethernet Mode. 49 4.4 MAC Adressing. 50 4.4.1 MAC Unicast. 50 4.4.2 MAC Multicast. 50 4.4.3 MAC Broadcast. 50 4.5 EPL Addressing 50 4.6 Frame Structures 51 4.6.1 Integration with Et

22、hernet. 51 4.6.1.1 EPL Frame 51 4.6.1.1.1 EPL Basic Frame 51 4.6.1.1.2 Start Of Cyclic (SoC) 52 4.6.1.1.3 PollRequest (PReq) 53 4.6.1.1.4 PollResponse (PRes) . 54 4.6.1.1.5 Start Of Asynchronous (SoA) . 55 4.6.1.1.5.1 RequestedServiceID s 56 4.6.1.1.6 AsynchronousSend (ASnd) EPL format 57 4.6.1.1.6.

23、1 ASnd ServiceID values. 58 4.6.1.2 Non-EPL Frames 58 4.6.1.3 Transfer Protection . 58 4.7 Error Handling Data Link Layer (DLL) 59 4.7.1 Possible Error Sources and Error Symptoms. 59 4.7.2 Error Handling Table for CN . 60 4.7.3 Error Handling Table for MN. 61 4.7.4 Error Handling Registration 62 4.7

24、.4.1 Threshold counters. 63 4.7.4.2 Cumulative Counter 63 4.7.5 Physical Layer Error Sources . 63 4.7.5.1 Loss of Link. 63 4.7.5.2 Incorrect physical Ethernet operating modes. 64 4.7.6 Rx MAC buffer overflow / Tx MAC buffer underrun 64 4.7.6.1 Transmission / CRC Errors. 65 4.7.7 Communication Error

25、Symptoms detected by the MN . 65 4.7.7.1 Timing Violation 65 4.7.7.1.1 Slot Time Exceeded 65 4.7.7.1.1.1 Case 1-2 Frame received in time . 67 4.7.7.1.1.2 Case 3 Loss of PollResponse: Frame not received. 67 4.7.7.1.1.3 Case 4-6 Late PollResponse: Frame received in foreign slot (also collisions) 67 Co

26、pyright International Electrotechnical Commission Provided by IHS under license with IECLicensee=IHS Employees/1111111001, User=listmgr, listmgr Not for Resale, 03/05/2007 23:45:31 MSTNo reproduction or networking permitted without license from IHS -,-,- 4 PAS 62408 IEC:2005 (E) 4.7.7.2 Loss of Poll

27、Response. 67 4.7.7.3 Late PollResponse 68 4.7.7.4 Cycle Time Exceeded. 68 4.7.7.5 Collisions.69 4.7.7.6 Invalid Formats . 70 4.7.7.7 EPL Address Conflicts 71 4.7.7.8 Multiple MNs on a single EPL Network. 71 4.7.8 Communication Error Symptoms detected by the CN 72 4.7.8.1 Collisions.72 4.7.8.2 Invali

28、d Formats . 72 4.7.8.3 Loss of Frames. 73 4.7.8.3.1 Loss of SoC 73 4.7.8.3.2 Loss of SoA. 74 4.7.8.3.3 Loss of PollRequest 74 4.7.8.4 SoC Jitter out of Range 75 4.7.9 Error Handling Parameters. 75 4.7.9.1 Object 1C00h: DLL_MNCRCError_REC. 75 4.7.9.2 Object 1C01h : DLL_MNCollision_REC. 76 4.7.9.3 Obj

29、ect 1C02h : DLL_MNCycTimeExceed_REC 78 4.7.9.4 Object 1C10h: DLL_CNLossOfLink_REC. 79 4.7.9.5 Object 1C04h: DLL_MNCNLatePResCumCnt_AU32. 80 4.7.9.6 Object 1C05h: DLL_MNCNLatePResThrCnt_AU32. 81 4.7.9.7 Object 1C06h: DLL_MNCNLatePResThrLim_AU32. 82 4.7.9.8 Object 1C07h: DLL_MNCNLossPResCumCnt_AU32 83

30、 4.7.9.9 Object 1C08h: DLL_MNCNLossPResThrCnt_AU32 84 4.7.9.10 Object 1C09h: DLL_MNCNLossPResThrLim_AU32 85 4.7.9.11 Object 1C0Ah: DLL_CNCollision_REC. 86 4.7.9.12 Object 1C0Bh: DLL_CNLossSoC_REC 87 4.7.9.13 Object 1C0Ch: DLL_CNLossSoA_REC 88 4.7.9.14 Object 1C0Dh: DLL_CNLossPReq_REC 89 4.7.9.15 Obj

31、ect 1C0Eh: DLL_CNSoCJitter_REC 90 4.7.9.16 Object 1C0Fh: DLL_CNCRCError_REC. 91 4.7.9.17 Object 1C10h: DLL_CNLossOfLink_REC. 92 4.7.9.18 Object 1C11h: DLL_MNAsyncSlotTimeout_U32 93 4.7.9.19 Object 1C12h: DLL_MNCycleSuspendNumber_U32 . 94 4.7.9.20 Object 1C13h: DLL_CNSoCJitterRange_U32. 94 5 Network

32、/ Transport Layer 95 5.1 Internet Protocol (IP). 95 5.1.1 IP Host Requirements. 95 5.1.1.1 Nodes without IP Communication. 95 5.1.1.2 Minimum Requirements for SDO Communication 95 5.1.1.2.1 IP Stack Requirements. 95 5.1.1.2.2 UDP Requirements. 95 5.1.1.3 Minimum Requirements for Standard IP Communic

33、ation 95 5.1.1.3.1 IP Stack Requirements. 95 5.1.2 IP Addressing 96 5.1.3 Address Resolution. 96 5.1.4 .Hostname. 97 5.1.5 Object description. 97 5.1.5.1 Object 1E4Bh: NWL_IpGroup_REC 97 5.1.5.2 Object 1E40h 1E4Fh: NWL_IpAddrTable_Xh_REC. 98 5.2 EPL conformant UDP/IP format 100 5.3 EPL Sequence Laye

34、r 100 6 Application Layer 101 6.1 Data Types and Encoding Rules 101 6.1.1 General Description of Data Types and Encoding Rules. 101 6.1.2 Data Type Definitions 101 6.1.3 Bit Sequences. 102 6.1.3.1 Definition of Bit Sequences. 102 6.1.3.2 Transfer Syntax for Bit Sequences. 103 Copyright International

35、 Electrotechnical Commission Provided by IHS under license with IECLicensee=IHS Employees/1111111001, User=listmgr, listmgr Not for Resale, 03/05/2007 23:45:31 MSTNo reproduction or networking permitted without license from IHS -,-,- PAS 62408 IEC:2005 (E) 5 6.1.4 Basic Data Types 103 6.1.4.1 NIL 10

36、3 6.1.4.2 Boolean. 103 6.1.4.3 Void.103 6.1.4.4 Unsigned Integer. 103 6.1.4.5 Signed Integer. 104 6.1.4.6 Floating-Point Numbers 105 6.1.5 Compound Data Types. 105 6.1.6 Extended Data Types . 106 6.1.6.1 Octet String. 106 6.1.6.2 Visible String. 106 6.1.6.3 Unicode String 106 6.1.6.4 Time of Day. 10

37、6 6.1.6.5 Time Difference. 106 6.1.6.6 Domain 107 6.2 Object Dictionary. 107 6.3 Service Data (SDO) 107 6.3.1 UDP Layer 108 6.3.2 SDO EPL Message Type 108 6.3.3 SDO Sequence Layer. 109 6.3.3.1 Asynchronous Sequence Layer 109 6.3.3.1.1 Connection 110 6.3.3.1.1.1 Initialization of Connection 110 6.3.3

38、.1.1.2 Closing a connection 110 6.3.3.1.1.3 Normal Connection. 111 6.3.3.1.1.4 Connection with Delay 113 6.3.3.1.1.5 Sender History Full. 114 6.3.3.1.2 Errors 114 6.3.3.1.2.1 Error: Loss of Frame with Data. 114 6.3.3.1.2.2 Error: Loss of Acknowledge Frame 115 6.3.3.1.2.3 Error: Duplication of Frame

39、116 6.3.3.1.2.4 Error: Overtaking of Frames. 116 6.3.3.1.2.5 Broken Connection. 117 6.3.3.1.2.6 Error: Flooding with commands 117 6.3.3.2 Embedded Sequence Layer for SDO in Cyclic Data 118 6.3.3.2.1 Connection 119 6.3.3.2.1.1 Initialization of Connection 119 6.3.3.2.1.2 Normal Connection. 119 6.3.3.

40、3 Errors 121 6.3.3.3.1 Error: Request Lost. 121 6.3.3.3.2 Error: Response Lost 122 6.3.3.4 Handling of Segmented Transfers 123 6.3.3.4.1 Segmented Download from Client to Server 123 6.3.3.4.2 Segmented Upload from Server to Client. 124 6.3.4 SDO Command Layer. 125 6.3.4.1 EPL Command Layer Protocol.

41、 126 6.3.4.1.1 Download Protocol 128 6.3.4.1.2 Upload Protocol 128 6.3.4.1.3 Abort Transfer. 130 6.3.4.2 Commands 131 6.3.4.2.1 SDO Protocol 133 6.3.4.2.1.1 Command: Write by Index 133 6.3.4.2.1.2 Command: Read by Index 133 6.3.4.2.1.3 Command: Write All by Index. 134 6.3.4.2.1.4 Command: Read All b

42、y Index. 134 6.3.4.2.1.5 Command: Write by Name . 135 6.3.4.2.1.6 Command: Read by Name. 135 6.3.4.2.2 File Transfer 136 6.3.4.2.2.1 Command: File Write 136 6.3.4.2.2.2 Command: File Read 137 6.3.4.2.3 Variable groups. 138 Copyright International Electrotechnical Commission Provided by IHS under lic

43、ense with IECLicensee=IHS Employees/1111111001, User=listmgr, listmgr Not for Resale, 03/05/2007 23:45:31 MSTNo reproduction or networking permitted without license from IHS -,-,- 6 PAS 62408 IEC:2005 (E) 6.3.4.2.3.1 Command: Write Multiple Parameter by Index. 138 6.3.4.2.3.1.1 Write Multiple Parame

44、ter by Index Request. 138 6.3.4.2.3.1.2 Write Multiple Parameter by Index Response 139 6.3.4.2.3.2 Command: Read Multiple Parameter by Index 140 6.3.4.2.3.2.1 Read Multiple Parameter by Index Request. 140 6.3.4.2.3.2.2 Read Multiple Parameter by Index Response 141 6.3.4.2.4 Parameter Services 142 6.

45、3.4.2.4.1 Command: Maximum Segment Size 142 6.3.4.2.4.2 Command: Link Name to Index 142 6.3.5 SDO Embedded in PDO. 143 6.3.6 Object Description. 144 6.3.6.1 Object 0422h: SDO_ParameterRecord_TYPE . 144 6.3.6.2 Object 1200h 127Fh: SDO_ServerContainerParam_XXh_REC. 144 6.3.6.3 Object 1280h 12FFh: SDO_

46、ClientContainerParam_XXh_REC 144 6.4 Process Data Object (PDO) 145 6.4.1 PDO Mapping Version 145 6.4.2 Container 145 6.4.3 Multiplexed timeslots. 146 6.4.4 Transmit PDOs . 146 6.4.5 Receive PDOs 147 6.4.5.1 PDO via PReq. 147 6.4.5.2 PDO via PRes. 147 6.4.6 PDO Error Handling 148 6.4.6.1 Dynamic Erro

47、rs. 148 6.4.6.2 Configuration Errors 148 6.4.7 Object Description. 149 6.4.7.1 Object 0420h:PDO_CommParamRecord_TYPE 149 6.4.7.2 Object 0421h:PDO_MappParamArray_TYPE. 150 6.4.7.3 Object 1400h 14FFh: PDO_RxCommParam_XXh_REC . 151 6.4.7.4 Object 1600h 16FFh : PDO_RxMappParam_XXh_AU64. 153 6.4.7.5 Obje

48、ct 1800h 18FFh : PDO_TxCommParam_XXh_REC. 154 6.4.7.6 Object 1A00h 1AFFh : PDO_TxMappParam_XXh_AU64 156 6.5 Synchronisation (SYNC). 157 6.6 Error Handling and Diagnostics 157 6.6.1 Error Signalling . 157 6.6.1.1 Error Register 158 6.6.1.2 Error History 158 6.6.1.3 Error Signaling Bits. 160 6.6.1.4 Initialisation. 161 6.6.1.5 Error Signaling with RReq and PRes frames . 162 6.6.1.6 Error Signaling with Async-only CNs 163 6.6.1.7 Format of StatusResponse Data 164 6.6.1.7.1 Static Error Bit Field