CompactCom 40 Ethernet POWERLINK

CompactCom 40 Ethernet POWERLINK
Network Guide
®
Anybus CompactCom 40
Ethernet POWERLINK
Doc.Id. HMSI-27-219
Rev. 1.70
Connecting DevicesTM
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HMS Industrial Networks
Mailing address: Box 4126, 300 04 Halmstad, Sweden
Visiting address: Stationsgatan 37, Halmstad, Sweden
E-mail: [email protected]
Web: www.anybus.com
Important User Information
This document is intended to provide a good understanding of the functionality offered by Ethernet POWERLINK.
The document only describes the features that are specific to the Anybus CompactCom 40 Ethernet POWERLINK. For general information regarding the Anybus CompactCom 40, consult the Anybus CompactCom 40 design guides.
The reader of this document is expected to be familiar with high level software design, and communication systems in general. The use of advanced Ethernet POWERLINK-specific functionality may require in-depth knowledge in Ethernet POWERLINK networking internals and/or information from the official Ethernet POWERLINK
specifications. In such cases, the people responsible for the implementation of this product should either obtain
the Ethernet POWERLINK specification to gain sufficient knowledge or limit their implementation in such a way
that this is not necessary.
Liability
Every care has been taken in the preparation of this manual. Please inform HMS Industrial Networks AB of any
inaccuracies or omissions. The data and illustrations found in this document are not binding. We, HMS Industrial
Networks AB, reserve the right to modify our products in line with our policy of continuous product development.
The information in this document is subject to change without notice and should not be considered as a commitment by HMS Industrial Networks AB. HMS Industrial Networks AB assumes no responsibility for any errors that
may appear in this document.
There are many applications of this product. Those responsible for the use of this device must ensure that all the
necessary steps have been taken to verify that the applications meet all performance and safety requirements including any applicable laws, regulations, codes, and standards.
HMS Industrial Networks AB will under no circumstances assume liability or responsibility for any problems that
may arise as a result from the use of undocumented features, timing, or functional side effects found outside the
documented scope of this product. The effects caused by any direct or indirect use of such aspects of the product
are undefined, and may include e.g. compatibility issues and stability issues.
The examples and illustrations in this document are included solely for illustrative purposes. Because of the many
variables and requirements associated with any particular implementation, HMS Industrial Networks AB cannot
assume responsibility for actual use based on these examples and illustrations.
Intellectual Property Rights
HMS Industrial Networks AB has intellectual property rights relating to technology embodied in the product described in this document. These intellectual property rights may include patents and pending patent applications
in the US and other countries.
Trademark Acknowledgements
Anybus ® is a registered trademark of HMS Industrial Networks AB. All other trademarks are the property of their
respective holders.
Warning:
This is a class A product. In a domestic environment this product may cause radio interference in
which case the user may be required to take adequate measures.
ESD Note: This product contains ESD (Electrostatic Discharge) sensitive parts that may be damaged if ESD
control procedures are not followed. Static control precautions are required when handling the product. Failure to observe this may cause damage to the product.
Anybus CompactCom 40 Ethernet POWERLINK Network Guide
Rev 1.70
Copyright© HMS Industrial Networks AB
Oct 2015 Doc Id HMSI-27-219
Table of Contents
Table of Contents
Preface
About This Document
Related Documents.................................................................................................................................. 5
Document History ................................................................................................................................... 5
Conventions & Terminology.................................................................................................................. 6
Abbreviations............................................................................................................................................ 6
Support ...................................................................................................................................................... 6
Chapter 1
About the Anybus CompactCom 40 Ethernet POWERLINK
General....................................................................................................................................................... 7
Features...................................................................................................................................................... 7
Chapter 2
Basic Operation
General Information................................................................................................................................ 8
POWERLINK and CANopen Implementation ............................................................................ 8
Software Requirements ..................................................................................................................... 8
Device Customization ............................................................................................................................. 9
Device Identity ................................................................................................................................ 9
XML Device Description (XDD)................................................................................................... 9
Communication Settings ....................................................................................................................... 10
Diagnostics .............................................................................................................................................. 10
Synchronization ...................................................................................................................................... 10
Network Data Exchange....................................................................................................................... 11
Application Data (ADIs) ............................................................................................................. 11
Process Data.................................................................................................................................. 11
Network Reset Handling....................................................................................................................... 12
Software Reset................................................................................................................................ 12
Reset Node .................................................................................................................................... 12
Reset Communication..................................................................................................................... 12
Reset Configuration........................................................................................................................ 12
Chapter 3
Object Dictionary
Standard Objects .................................................................................................................................... 13
General.......................................................................................................................................... 13
Object Entries................................................................................................................................ 14
Access Rights ................................................................................................................................. 21
Manufacturer Specific Objects............................................................................................................. 22
General.......................................................................................................................................... 22
Translation of Status Codes ........................................................................................................... 22
Network Data Format .................................................................................................................. 23
Object Entries................................................................................................................................ 24
Chapter 4
Anybus Module Objects
General Information.............................................................................................................................. 25
Anybus Object (01h).............................................................................................................................. 26
Diagnostic Object (02h) ........................................................................................................................ 27
Network Object (03h) ........................................................................................................................... 28
Network Configuration Object (04h) ................................................................................................. 30
File System Interface Object (0Ah) ..................................................................................................... 32
Chapter 5
Host Application Objects
General Information.............................................................................................................................. 33
Sync Object (EEh) ................................................................................................................................. 34
Ethernet Host Object (F9h) ................................................................................................................. 36
POWERLINK Object (E9h) ............................................................................................................... 37
Appendix A Categorization of Functionality
Basic ......................................................................................................................................................... 38
Extended.................................................................................................................................................. 38
Appendix B Implementation Details
SUP-Bit Definition................................................................................................................................. 39
Anybus State Machine ........................................................................................................................... 39
Appendix C Timing & Performance
General Information.............................................................................................................................. 40
Event Based Process Data Delay......................................................................................................... 40
Appendix D Technical Specification
Front View .............................................................................................................................................. 41
Protective Earth (PE) Requirements................................................................................................... 42
Power Supply .......................................................................................................................................... 42
Environmental Specification ................................................................................................................ 42
EMC Compliance................................................................................................................................... 42
Preface
P. About This Document
For more information, documentation etc., please visit the HMS website, ‘www.anybus.com’.
P.1 Related Documents
Document
Anybus CompactCom 40 Software Design Guide
Anybus CompactCom 40 Hardware Design Guide
Anybus CompactCom 40 Software Driver User Guide
Author
HMS
HMS
HMS
P.2 Document History
Summary of Recent Changes (1.60 ... 1.70)
Change
Corrected data types for object attributes #3 and #4 in POWERLINK Object (E9h)
Changed “network identity” to “device identity”, added sentence to important section
Changed advanced to extended
Network Configuration Object (04h) category changed to basic
Page(s)
37
9
30
Revision List
Revision
1.00
1.50
1.60
1.70
Date
2014-03-25
2014-07-11
2015-05-28
2015-10-16
Author(s)
KeL
KaD
KeL
KeL
Anybus CompactCom 40 Ethernet POWERLINK
Doc.Rev. 1.70
Chapter(s) Description
First official revision
All
Major update
2, 3, 4, 5, D Misc updates
2, 5
Minor Updates
Doc.Id. HMSI-27-219
About This Document 6
P.3 Conventions & Terminology
The following conventions are used throughout this manual:
•
Numbered lists provide sequential steps
•
Bulleted lists provide information, not procedural steps
•
The terms ‘Anybus’ or ‘module’ refers to the Anybus CompactCom 40 module, brick or chip.
•
The terms ‘host’ or ‘host application’ refers to the device that hosts the Anybus module
•
Hexadecimal values are either written in the format NNNNh or the format 0xNNNN, where
NNNN is the hexadecimal value
P.4 Abbreviations
Abbreviation
SCNM
CN
EPL
MN
XDD
RPDO
TPDO
Meaning
Slot Communication Network Management
Controlled Node
Ethernet POWERLINK
Managing Node
XML Device Description
Receive Process Data Object
Transmit Process Data Object
P.5 Support
For general contact information and where to find support, please refer to the contact and support pages
at www.anybus.com.
Anybus CompactCom 40 Ethernet POWERLINK
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Chapter 1
1. About the Anybus CompactCom 40 Ethernet
POWERLINK
1.1 General
The Anybus CompactCom 40 Ethernet POWERLINK communication module provides instant Ethernet POWERLINK connectivity via the patented Anybus CompactCom host interface. Any device that
supports this standard can take advantage of the features offered by the module, allowing seamless network integration regardless of network type.
The modular approach of the Anybus CompactCom 40 platform allows the implementation to be extended to fit specific application requirements. Furthermore, the identity can be customized, allowing
the end product to appear as a vendor-specific implementation rather than a generic Anybus module.
This product conforms to all aspects of the host interface for Anybus CompactCom 40 modules defined
in the Anybus CompactCom 40 Hardware and Software Design Guides, making it fully interchangeable
with any other device following that specification. Generally, no additional network related software
support is needed, however in order to be able to take full advantage of advanced network specific functionality, a certain degree of dedicated software support may be necessary.
1.2 Features
•
Two Ethernet POWERLINK ports (RJ45)
•
Supports Ethernet POWERLINK V2.0 Communication Profile Specification version 1.2.0
(Controlled Node)
•
Integrated hub
•
100 Mbit/s, half duplex operation
•
200 µs cycle time
•
Supports ring redundancy
•
Customizable identity information
•
Supports 1 TPDO and 1 RPDO (each can hold 1490 bytes)
•
Up to 57343 ADIs
•
Adaptable XDD file included
•
Supports segmented SDO transfer
•
PollResponse Chaining
•
Multiplexing
•
Support for SYNC functionality
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Chapter 2
2. Basic Operation
2.1 General Information
2.1.1 POWERLINK and CANopen Implementation
Ethernet POWERLINK (EPL) is a deterministic real-time protocol for standard Ethernet. It is an open
protocol managed by the Ethernet POWERLINK Standardization Group (EPSG).
Ethernet POWERLINK extends Ethernet according to the IEEE 802.3 standard with mechanisms to
transfer data with predictable delivery. The communication meets timing demands typical for high performance automation and motion applications.
The Ethernet POWERLINK communication profile is based on CANopen communication profiles
DS301 and DS302. Based on this communication profile, the multitude of CANopen device profiles can
be used in a POWERLINK environment without changes.
Ethernet POWERLINK manages the network traffic using dedicated time-slots for isochronous and
asynchronous data. Only one networked device at the time gains access to the network media. Thus
transmission of 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 Managing Node (MN). All other nodes are called Controlled Nodes. The module
can participate as a Controlled Node (CN) in Ethernet POWERLINK networks.
2.1.2 Software Requirements
Generally, no additional network support code needs to be written in order to support the Anybus CompactCom 40 Ethernet POWERLINK. However, due to the nature of the Ethernet POWERLINK networking system, certain restrictions must be taken into account:
•
One diagnostic instance (See “Diagnostic Object (02h)” on page 27) can be created by the host
application in event of a major fault.1 This event will not show on the POWERLINK network.
•
Only ADIs with instance numbers less than or equal to 57343 can be accessed from the network.
For in-depth information regarding the Anybus CompactCom 40 software interface, consult the general
Anybus CompactCom 40 Software Design Guide.
See also...
•
“Diagnostic Object (02h)” on page 27 (Anybus Module Objects)
•
Anybus CompactCom 40 Software Design Guide, “Application Data Object (FEh)”
1. This limit is set by the module, not by the network.
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Basic Operation 9
2.2 Device Customization
2.2.1 Device Identity
By default, the module uses the following identity settings:
•
Vendor ID:
0000001Bh (HMS Industrial Networks)
•
Device Type:
00000000h (Generic Device)
•
Product Code:
00000028h (Anybus CompactCom 40 Ethernet POWERLINK)
•
Manufacturer Device Name: ‘Anybus CompactCom 40 Ethernet POWERLINK’
•
Manufacturer Name:
‘HMS’
Optionally, it is possible to customize the identity of the module by implementing the corresponding
instance attributes in the POWERLINK Host Object.
See also...
•
“POWERLINK Object (E9h)” on page 37 (Host Application Object)
IMPORTANT: If the identity settings are changed, recertification of the module is needed. For the end product to pass
the EPSG conformace tests and be certified , a separate Vendor ID has to be requested from EPSG (free of charge).
2.2.2 XML Device Description (XDD)
On Ethernet POWERLINK, the characteristics of a device is stored in an XML file with the suffix
XDD. This file is used by configuration tools etc. when setting up the network configuration. HMS supplies a standard (generic) XDD file, which corresponds to the default settings in the module. However,
all implementations will add changes to the default settings, making it necessary to create a custom XDD
file where the changes are reflected. This invalidates the default identity information and requires recertification of the product.
IMPORTANT: HMS approves use of the standard XDD file only under the condition that it matches the actual
implementation and that the identity information remains unchanged.
There is support for dynamic generation of the XDD file, including information about the configuration
and host application ADIs, among other things. The XDD file can either be read via the network (object
1021h in the Object Dictionary) or via the Anybus File System Object (0Ah).
To be able to automatically generate an XDD file, the host application must support the command
Get_Instance_Number_By_Order in the Application Data Object. If this command is not supported,
an error code will be returned when trying to read the XDD file.
For more information see
•
“Object Entries” on page 14
•
“File System Interface Object (0Ah)” on page 32
•
Application Object (see Anybus CompactCom 40 Software Design Guide)
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Basic Operation 10
2.3 Communication Settings
As with other Anybus CompactCom products, network related communication settings are grouped in
the Network Configuration Object (04h).
In this case, this includes...
•
Node ID Setting
The Anybus CompactCom module participates as a Controlled Node in the network, with a
Node ID in the range 1 - 239.
See also...
•
“Network Configuration Object (04h)” on page 30 (Anybus Module Object)
2.4 Diagnostics
A major unrecoverable event will cause the module to enter the EXCEPTION state. This will be recorded in the Diagnostic Object, but not reported to the POWERLINK network. The module will cease
communication on the network without notice.
See “Diagnostic Object (02h)” on page 27 (Anybus Module Object).
2.5 Synchronization
The Anybus CompactCom 40 Ethernet POWERLINK module supports synchronization. To utilize
SYNC in the application, implement the SYNC object. See “Sync Object (EEh)” on page 34.
If synchronous operation is supported it will be enabled for all POWERLINK NMT states with a fixed
cycle length and cyclic data exchange, i.e. the POWERLINK NMT states Pre Operational 2, Ready to
Operate and Operational.
If SYNC is supported, the SYNC cycle time will be written to the SYNC object as soon as the value is
received from the network. If SYNC is not supported, it will be written after the NMTResetConfiguration command.
The SYNC signal must be synced in the Anybus state WAIT_PROCESS (where the SYNC signal may
differ much between the configured and the actual value).
When SYNC is established, the SYNC signal is produced upon the expected reception of SoC frames,
in all NMT states that transmit SoC frames.
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Basic Operation 11
2.6 Network Data Exchange
2.6.1 Application Data (ADIs)
Application Data Instances (ADIs) can be accessed from the network via dedicated object entries in the
Manufacturer Specific Range (2001h - FFFFh), see “Manufacturer Specific Objects” on page 20.
Note: The XDD file must match the actual ADI implementation in the host application.
To be able to automatically generate an XDD file, the host application must support the command
Get_Instance_Number_By_Order in the Application Data Object. If this command is not supported,
an error code will be returned when trying to read the XDD file.
The generated XDD file contains information about the ADIs present in the host application and specifies e.g. name, type, access rights and the PDO mapping capabilities of each ADI. It is not possible to
retrieve the names of individual subindex fields in the ADIs, therefore these have a default generic name,
with the subindex number attached to the end.
2.6.2 Process Data
On POWERLINK, ADIs mapped as Process Data can be exchanged on the bus, following the predefined time scheme with slots for sent and received data. Process data is mapped as PDOs, and the module supports 1 TPDO and 1 RPDO.
Process data can be either statically or dynamically mapped. Dynamic mapping is configured by the
Managing Node of the network. To support dynamic mapping, the application has to implement the
Remap_ADI_Write_Area and Remap_ADI_Read_Area commands in the Application Data Object.
See Application Data Object (FEh) in Anybus CompactCom 40 Software Design Guide for more information. If these commands are not implemented, the static mapping, provided by the application using
the Map_Adi command of the Network Object, will be used.
There are several object entries in the Object Dictionary that have different access rights depending on
whether dynamic mapping or static mapping is used. If dynamic mapping is supported, the object entries
can be changed and are marked as “rw” (read/write). If the application uses static mapping, they cannot
be changed and are marked as “ro” (read only).
The values in object entries 1400h, 1600h, 1800h and 1A00h cannot be changed in POWERLINK states
corresponding to IDLE or PROCESS_ACTIVE (See “Anybus State Machine” on page 39). If the network tries to change any of these entries when the device is in one of those states the command will be
aborted by the CompactCom and an SDO abort code will be returned to the network.
See object entries 1400h, 1600h, 1800h and 1A00h in “Object Dictionary” on page 13.
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Basic Operation 12
2.7 Network Reset Handling
2.7.1 Software Reset
If a software reset is requested from the network, the module will issue a Reset command to the Application Object (FFh). The module will enter the EXCEPTION state. The module then has to be powercycled using the reset pin.
2.7.2 Reset Node
If a software reset is requested from the network, the module will issue a Reset command to the Application Object (FFh). The module will enter the EXCEPTION state. The module then has to be powercycled using the reset pin.
2.7.3 Reset Communication
The module will return to state WAIT_PROCESS, and the parameters in the Communication Profile
Area (1000h-1FFFh) will be reset.
2.7.4 Reset Configuration
The module will return to state WAIT_PROCESS and the configuration parameters, set in the object
dictionary, will be used to generate the active configuration. COP object entries marked as “valid on reset” will be activated.
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Chapter 3
3. Object Dictionary
3.1 Standard Objects
3.1.1 General
The standard object dictionary is implemented according to the EPSG (Ethernet POWERLINK Standardization Group) DS301. Note that certain object entries correspond to settings in the POWERLINK
Object (E9h).
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3.1.2 Object Entries
Note: None of these objects can be mapped as TPDO or RPDO.
Anybus CompactCom 40 Ethernet POWERLINK
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1000h NMT_DeviceType_U32
SubDescription
index
00h Device Type
1001h ERR_ErrorRegister_U8
1006h NMT_CycleLen_U32
00h
00h
1008h NMT_ManufactDevName_VS
1009h NMT_ManufactHwVers_VS
100Ah NMT_ManufactSwVers_VS
00h
00h
00h
1018h NMT_IdentityObject_REC
00h
01h
02h
Index
Object Name
03h
1020h CFM_VerifyConfiguration_REC
04h
00h
01h
02h
1021h CFM_StoreDevDescrFormat_DOM 00h
Type
Accessa Value/Notes
UNSIGNED32
const
Object Dictionary 14
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0000 0000h (No profile), see
“POWERLINK Object (E9h)” on
page 37.
Error register
UNSIGNED8
ro
00h (default)
Cycle time of full POWERLINK UNSIGNED32
rw, valid 200 (default)
cycle.
on reset Valid range 200 - 2147483 (μs)
Manufacturer device name
VISIBLE_STRING64 const
This information is determined by
the POWERLINK Object, which
Manufacturer hardware version VISIBLE_STRING64 const
can optionally be implemented in
Manufacturer software version VISIBLE_STRING64 const
the host application. See “POWERLINK Object (E9h)” on page
37.
Number of entries
UNSIGNED8
const
04h
VendorId_U32: Vendor ID
UNSIGNED32
const
This information is determined by
the POWERLINK Object, which
ProductCode_U32: Product
UNSIGNED32
const
can optionally be implemented in
Code
the host application. See “POWRevisionNo_U32: Revision
UNSIGNED32
const
ERLINK Object (E9h)” on page
Number
37.
SerialNo_U32: Serial Number UNSIGNED32
const
Number of entries
UNSIGNED8
const
02h
ConfDate_U32: Configuration UNSIGNED32
rw, valid 0 (default)
Date
on reset Valid range 0 - FFFFFFFFh
rw, valid 0 (default)
ConfTime_U32: Configuration UNSIGNED32
Time
on reset Valid range 0 - FFFFFFFFh
ro
If the object 1022h has the value
The contents of an XDD file.
DOMAINb
00h, this object will contain an
XDD file adapted to the specific
host application. See “XML
Device Description (XDD)” on
page 9.
SubDescription
Type
index
1022h CFM_StoreDevDescrFormat_U16 00h Description of the format of
UNSIGNED16
what is stored in object 1021h.
Index
Object Name
Anybus CompactCom 40 Ethernet POWERLINK
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1030h NMT_InterfaceGroup_00h_REC
00h
01h
02h
03h
04h
05h
Number of entries
InterfaceIndex_U16: Interface
index
InterfaceDescription_VSTR:
Interface description
UNSIGNED8
UNSIGNED16
Accessa Value/Notes
ro
const
ro
VISIBLE_STRING194 const
InterfaceType_U8: Interface
UNSIGNED8
type
InterfaceMtu_U16: Interface
UNSIGNED16
maximum transmission unit
InterfacePhysAddress_OSTR: OCTET_STRING6
Interface Physical Address
00h: Object 1021h contains an
XDD file.
FFh: Object 1021h does not contain an XDD file.
09h
0001h
const
See “POWERLINK Object (E9h)”
on page 37 for default value
(Manufacturer name, Manufacturer product name, and Manufacturer hardware version).
06h
const
1500 bytes
const
UNSIGNED8
ro
01h (default)
UNSIGNED8
rw
1300h SDO_SequLayerTimeout_U32
00h
SDO sequence layer timeout
UNSIGNED32
1400h PDO_RxCommParam_00h_REC
00h
01h
Number of entries
NodeID_U8: Node ID
UNSIGNED8
UNSIGNED8
02h
MappingVersion_U8: Mapping UNSIGNED8
version
06h
07h
08h
BOOLEAN
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01h (default)
Valid range 00h - 01h
rw
01h (default)
Valid range 00h - 01h
rw, valid 15000 (default)
on reset Valid range 100 - FFFFFFFFh
const
02h
rw
00h (default)
For static mapping: 00h
For dynamic mapping: set by MN
c
00h (default)
rw/ro
For static mapping: 00h
For dynamic mapping: set by MN
Object Dictionary 15
VISIBLE_STRING11 ro
09h
InterfaceName_VSTR: Interface Name
InterfaceOperStatus_U8: Interface Operational Status
InterfaceAdminSate_U8: Interface Admin State
Valid_Bool: Valid
MAC address, see description of
“Ethernet Host Object (F9h)” on
page 36..
“Interface 1”
1600h PDO_RxMappParam_00h_AU64
SubDescription
Type
index
00h The number of ADI host appli- UNSIGNED8
cation objects mapped as
receive PDO
ObjectMapping
1800h PDO_TxCommParam_00h_REC
01h FEh
00h
01h
02h
Number of entries
UNSIGNED8
NodeID_U8: Node ID
UNSIGNED8
MappingVersion_U8: Mapping UNSIGNED8
version
const
rw
1A00h PDO_TxMappParam_00h_AU64
00h
The number of ADI host appli- UNSIGNED8
cation objects mapped as
transmit PDO
rw
1C0Bh DLL_CNLossSoC_REC
01h - ObjectMapping
UNSIGNED64
FEh
00h Number of entries
UNSIGNED8
01h CumulativeCnt_U32: Cumula- UNSIGNED32
tive count
Index
Object Name
Anybus CompactCom 40 Ethernet POWERLINK
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02h
03h
UNSIGNED64
ThresholdCnt_U32: Threshold UNSIGNED32
count
Threshold_U32: Threshold
UNSIGNED32
Accessa Value/Notes
rw
rw/roc
rw/roc
rw/roc
const
rw
ro
rw
00h (default)
For static mapping: decided by
applicationc
For dynamic mapping: set by MN
02h
00h (default)
00h (default)
For static mapping: 00h
For dynamic mapping: set by MN
00h (default)
For static mapping: decided by
applicationc
For dynamic mapping: set by MN
03h
0 (default)
Valid range 0 - FFFFFFFFh
Note: if the module is reset, this
attribute will be set to its default
value.
00h
15 (default)
Valid range 0 - FFFFFFFFh
Object Dictionary 16
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Index
Object Name
1C0Fh DLL_CNCRCError_REC
Anybus CompactCom 40 Ethernet POWERLINK
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SubDescription
Type
index
00h Number of entries
UNSIGNED8
01h CumulativeCnt_U32: Cumula- UNSIGNED32
tive count
02h
Accessa Value/Notes
const
rw
03h
ThresholdCnt_U32: Threshold UNSIGNED32
count
Threshold_U32: Threshold
UNSIGNED32
rw
1C14h DLL_CNLossOfSocTolerance_U32 00h
UNSIGNED32
rw
1F50h PDL_DownloadProgData_ADOM
ro
Number of entries
Program
UNSIGNED8
DOMAIN
ro
wo
1F51h PDL_ProgCtrl_AU8
00h
01h
Number of entries
ProgCtrl: Program control
UNSIGNED8
UNSIGNED8
ro
rw
1F52h PDL_LocVerApplSw_REC
00h
01h
Number of entries
ApplSwDate_U32
UNSIGNED8
UNSIGNED32
const
ro
02h
ApplSwTime_U32
UNSIGNED32
ro
00h
Number of entries
UNSIGNED8
rw, valid
on reset
rw, valid
on reset
1F81h NMT_Node Assignment_AU32
01h - NodeAssignment
FEh
b
UNSIGNED32
15 (default)
Valid range 0 - FFFFFFFFh
100 000 (default)
Valid range 0 - 2147483000 (ns)
01h
A HIFF (HMS Interchange File
Format) file, used to update the
firmware of the module.
01h
01h (Writing a value other than 1
will result in an Abort SDO Transfer message (error code
08000024h.)
02h
Number of days between 198401-01 and the current software
build time.
Milliseconds since midnight of the
current software build time.
FEh (default)
Valid range 01h - FEh
0 (default)
This value is a bit field.
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Object Dictionary 17
00h
01h
03h
0 (default)
Valid range 0 - FFFFFFFFh
Note: if the module is reset, this
attribute will be set to its default
value.
00h
Index
Object Name
1F82h NMT_FeatureFlags_U32
SubDescription
index
00h Feature flags
Anybus CompactCom 40 Ethernet POWERLINK
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1F83h NMT_EPLVersion_U8
00h
1F8Ch NMT_CurrNMTState_U8
00h
1F8Dh NMT_PresPayloadLimitList_AU16 00h
1F93h NMT_EPLNodeID_REC
Type
Accessa Value/Notes
UNSIGNED32
const
Ethernet POWERLINK version UNSIGNED8
Current NMT State
UNSIGNED8
Number of entries
UNSIGNED8
const
ro
rw, valid
on reset
rw, valid
on reset
01h - PresPayloadLimit
FEh
UNSIGNED16
00h
01h
Number of entries
NodeID_U8: NodeID
UNSIGNED8
UNSIGNED8
const
ro
02h
NodeIByHW_BOOL: NodeID
by hardware
BOOLEAN
ro
48245h if dynamic mapping is
supported, and the node ID is set
by hardware.
48205h if static mapping is supported and the node ID is set by
hardware.
48645h if dynamic mapping is
supported, and the node ID is set
by software.
48605h if static mapping is supported and the node ID is set by
software.
20h
FEh (default)
Valid range 01h - FEh
36 (default)
Valid range:
0,
36 - 1490,
FFFFhd
02h
The configured node ID, see Network Configuration Object, Instace #1, POWERLINK Node ID
on page 31.
01h if the application configured
the node ID in the Anybus
SETUP state, otherwise 00h.
Object Dictionary 18
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Index
Object Name
1F98h NMT_CycleTiming_REC
Anybus CompactCom 40 Ethernet POWERLINK
Doc.Rev. 1.70
Subindex
00h
01h
02h
03h
04h
Description
Type
Accessa Value/Notes
Number of entries
IsochrTxMaxPayload_U16
IsochrRxMaxPayload_U16
PresMaxLatency_U32
PReqActPayloadLimit_U16
UNSIGNED8
UNSIGNED16
UNSIGNED16
UNSIGNED32
UNSIGNED16
const
const
const
const
rw, valid
on reset
05h
PResActPayloadLimit_U16
UNSIGNED16
rw, valid
on reset
06h
07h
AsndMaxLatency_U32
MultiplCycleCnt_U8
UNSIGNED32
UNSIGNED8
08h
AsyncMTU_U16
UNSIGNED16
const
rw, valid
on reset
rw, valid
on reset
08h
1490
1490
1000
The mapped sized is measured in
number of bytes.
Valid range 36 - 1490
For dynamic mapping:
36 (default)
For static mapping:
The default value will match the
size of the process data the module is configured to receive from
the network.
The mapped sized is measured in
number of bytes.
Valid range 36 - 1490
For dynamic mapping:
36 (default)
For static mapping:
The default value will match the
size of the process data the module is configured to send to the
network.
1000
0 (default)
Valid range 0 - 255
300 default)
Valid range 300 - 1500
Object Dictionary 19
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Index
Object Name
1F99h NMT_CNBasicEthernetTimeout_U32
Anybus CompactCom 40 Ethernet POWERLINK
Doc.Rev. 1.70
1F9Bh NMT_MultiplCycleAssign_AU8
1F9Eh NMT_ResetCmd_U8
SubDescription
Type
index
00h After booting, this is the maxi- UNSIGNED32
mum time in microseconds the
module silently listens for
POWERLINK traffic on the network, before it decides if it
should go to the Basic Ethernet
state (no EPL traffic) or Preoperational 1 state (with EPL
traffic).
00h Number of entries
UNSIGNED8
01h - Cycle number
FEh
UNSIGNED8
00h
UNSIGNED8
Reset command
Accessa Value/Notes
rw, valid 5000000 (default)
on reset
rw, valid
on reset
rw, valid
on reset
rw
FEh (default)
Valid range 01h - FEh
0 (default)
Valid range 0 - NMT_Cycletiming_REC.MultiplCycleCnt_U8
(the value of object 1F98h subindex 7).
FFh
a. Access rights defined as described in “Access Rights” on page 21.
b. The type DOMAIN is used to transfer an arbitrarily large block of data between a client an a server. The contents of the data block is application
specific.
c. See Dynamic and Static mapping in “Network Data Exchange” on page 11.
d. In object 1F8Dh, subindices 1..254, there are two special values: If the value of subindex index is 0, the node shall not listen to PRes frames from
the node with node ID index. If the value is FFFFh, the PRes payload limit of the node with node ID index is equal to the value of 1F98/2h. Otherwise the value at sub-index index defines the PRes payload limit of the node with node ID index.
Object Dictionary 20
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Object Dictionary 21
3.1.3 Access Rights
The view point is from the network into the device.
Access
rw
wo
ro
const
valid on reset
Description
Read and write, the value is not stored in flash memory.
Write only, the value is not stored in flash memory.
Read only.
Read only, constant value.
Any changes to this object will be valid after the reception of an NMTResetConfiguration command.
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Object Dictionary 22
3.2 Manufacturer Specific Objects
3.2.1 General
Each object entry in the manufacturer specific range (2001h...FFFFh) corresponds to an instance (a.k.a.
ADI) within the Application Data Object (FEh), i.e. network accesses to these objects results in object
requests towards the host application. In case of an error, the status (or error) code returned in the response from the host application will be translated into the corresponding CANopen abort code.
Note: If ADI has > 1 elements: COP subindex = (ADI element - 1).
If ADI has 1 element: COP subindex = (ADI element (only 0 is valid)).
Important: As any access to these object entries will result in an object access towards the host application, the time spent communicating on the host interface must be taken into account when calculating
the SDO timeout value.
3.2.2 Translation of Status Codes
Status (or error codes) are translated to POWERLINK abort codes as follows:
Anybus CompactCom Anybus CompactCom POWERLINK SDO
Status Code
Status Code No.
Abort Code #a
Invalid message format 02h
0604 0047h
Unsupported object
03h
0602 0000h
Unsupported instance 04h
0602 0000h
Unsupported command 05h
0604 0043h
Invalid CmdExt[ 0 ]
06h
0602 0000h
Invalid CmdExt[ 1 ]
Attribute not settable
Attribute not gettable
Too Much Data
07h
08h
09h
0Ah
0609 0011h
0601 0002h
0601 0001h
0607 0012h
Not Enough Data
0Bh
0607 0013h
Out of range
0Ch
0609 0030h
Invalid state
0Dh
0800 0022h
Out of resources
Segmentation failure
Segmentation buffer
overflow
Value too high
Value too low
Attribute controlled from
another channel
Object Specific Error
0Eh
0Fh
10h
0504 0005h
0800 0000h
0800 0000h
11h
12h
13h
0609 0031h
0609 0032h
0800 0021h
FFh
0800 0000h
POWERLINK Abort Code Description
General internal incompatibility in the device.
Object does not exist in the object dictionary.
Object does not exist in the object dictionary.
General parameter incompatibility.
Object does not exist in the object dictionary. (ADI
access).
Subindex does not exist. (ADI access).
Attempt to write a read only object.
Attempt to read a write only object.
Data type does not match, length of service
parameter too high.
Data type does not match, length of service
parameter too low.
Value range of parameter exceeded (only for
write access).
Note: Use only when Anybus CompactCom status codes 11h (Value too high) or 12h (Value too
low) cannot be used.
Data cannot be transferred or stored to the
application because of the present device state.
Out of memory.
General error.
General error.
Value of parameter written is too high.
Value of parameter written is too low.
Data cannot be transferred or stored to the
application because of local control.
General error.
a. The default error code will be the ‘General error’ code (0800 0000h) if no corresponding error meets the error definition.
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Object Dictionary 23
3.2.3 Network Data Format
Data is translated between the native network format and the Anybus data format as follows:
Anybus Data Type
BOOL
ENUM
BIT1
Native POWERLINK Data Type Notes
UNSIGNED8
An Anybus BOOL is always 8 bits, unlike a POWERLINK
BOOLEAN that can be mapped as a single bit.
INTEGER8
INTEGER16
INTEGER32
UNSIGNED8
UNSIGNED16
UNSIGNED32
VISIBLE_STRINGn
An array of n characters is encoded as a VISIBLE_STRINGn,
e.g. VISIBLE_STRING32 when n is 32. The "n" in
VISIBLE_STRINGn specifies the maximum allowed length:
the actual length may be shorter.
It is not necessary to NULL terminate the string.
In the XDD file, the type is always specified as
VISIBLE_STRING, without a specified maximum length.
OCTET_STRINGn
An array of n octets are encoded as a OCTET_STRINGn,
e.g. OCTET_STRING6 when n is 6. A single OCTET is
treated as an array with one OCTET.
In the XDD file, the type is always specified as
OCTET_STRING, without a specified maximum length.
UNSIGNED8
It is recommended to map BIT1 as BOOLEAN
BOOLEAN or BIT1a
BITn (2 ≤ n ≤ 7)
BITna
BITS8
UNSIGNED8 or BIT8a
It is recommended to map BITS8 as UNSIGNED 8
BITS16
UNSIGNED16 or BIT16a
It is recommended to map BITS16 as UNSIGNED 16
BITS32
UNSIGNED32 or BIT32a
INTEGER64
UNSIGNED64
REAL32
It is recommended to map BITS32 as UNSIGNED 32
SINT8
SINT16
SINT32
UINT8
UINT16
UINT32
CHAR or array of
CHAR
OCTET or array of
OCTET
SINT64
UINT64
FLOAT
a. This POWERLINK data type does not have a data type number to be specified in the device XDD file.
Important: Every ADI must be specified in the XDD file with their corresponding POWERLINK data
type.
Note 1: Single element ADIs are represented as simple variables.
Note 2: ADIs with multiple elements of the same type are represented as arrays.
Note 3: ADIs with multiple elements of different types are represented as RECORD.
Note 4: ADIs of data type CHAR will be represented as VISIBLE_STRING. ADIs of data type
OCTET will be represented as OCTET_STRING.
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Object Dictionary 24
3.2.4 Object Entries
Requests for objects in the range 2001h to FFFFh will be forwarded to the host Application Data Object. The object indices are linearly mapped with the offset 2000h to Anybus ADIs.
Index
2001h
2002h
...
FFFFh
Object Name
ADI 0001h
ADI 0002h
...
ADI DFFFh
Anybus CompactCom 40 Ethernet POWERLINK
Doc.Rev. 1.70
Notes
Object index 2001h corresponds to ADI 0001h
Object index 2002h corresponds to ADI 0002h
...
Object index FFFFh corresponds to ADI DFFFh (57343)
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Chapter 4
4. Anybus Module Objects
4.1 General Information
This chapter specifies the Anybus Module Object implementation and how they correspond to the functionality in the Anybus CompactCom 40 Ethernet POWERLINK.
Standard Objects:
•
“Anybus Object (01h)” on page 26
•
“Diagnostic Object (02h)” on page 27
•
“Network Object (03h)” on page 28
•
“Network Configuration Object (04h)” on page 30
Network Specific Objects:
•
“File System Interface Object (0Ah)” on page 32
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4.2 Anybus Object (01h)
Category
Basic
Object Description
This object assembles all common Anybus data, and is described thoroughly in the general Anybus
CompactCom 40 Software Design Guide.
Supported Commands
Object:
Get_Attribute
Instance:
Get_Attribute
Set_Attribute
Get_Enum_String
Object Attributes (Instance #0)
(Consult the general Anybus CompactCom 40 Software Design Guide for further information.)
Instance Attributes (Instance #1)
Basic
#
1
2... 11
Name
Module type
-
Access
Get
-
Type
UINT16
-
12
LED colors
Get
13... 16
-
-
struct of:
UINT8 (LED1A)
UINT8 (LED1B)
UINT8 (LED2A)
UINT8 (LED2B)
-
Name
Virtual attributes
Black list/White list
Network time
Access
Get/Set
Get/Set
Get
Value
0401h (Standard Anybus CompactCom 40)
Consult the general Anybus CompactCom 40
Software Design Guide for further information.
Value:Color:
01h Green
02h Red
01h Green
02h Red
Consult the general Anybus CompactCom 40
Software Design Guide for further information.
Extended
#
17
18
19
Anybus CompactCom 40 Ethernet POWERLINK
Doc.Rev. 1.70
Type
-
Value
Consult the general Anybus CompactCom 40
Software Design Guide for further information.
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27
4.3 Diagnostic Object (02h)
Category
Basic
Object Description
This object provides a standardised way of handling host application events & diagnostics, and is thoroughly described in the general Anybus CompactCom 40 Software Design Guide.
The module supports one instance of this object, reserved for a major unrecoverable diagnostic event.
For POWERLINK, a major unrecoverable diagnostic event always causes the module to enter the state
EXCEPTION. Thus these events will not be visible on the POWERLINK network.
Supported Commands
Object:
Get_Attribute
Create
Delete
Instance:
Get_Attribute
Object Attributes (Instance #0)
#
1... 4
Name
-
Access
-
11
12
Max no. of instances
Get
Supported Functionality Get
Data Type
UINT16
BITS32
Value
Consult the general Anybus CompactCom 40 Software
Design Guide for further information.
1 (Major unrecoverable diagnostic event)
0 (Latching events not supported)
Instance Attributes (Instance #1)
Basic
#
1
2
3... 7
Name
Severity
Event Code
-
Access
Get
Get
-
Type
UINT8
UINT8
-
Value
Consult the general Anybus CompactCom 40 Software
Design Guide for further information.
Consult the general Anybus CompactCom 40 Software
Design Guide for further information.
In this implementation, only unrecoverable diagnostic events are detected, and no information is forwarded to the network.
See also...
•
“Diagnostics” on page 10
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4.4 Network Object (03h)
Category
Basic
Object Description
For more information regarding this object, consult the general Anybus CompactCom 40 Software Design Guide.
Supported Commands
Object:
Get_Attribute
Instance:
Get_Attribute
Set_Attribute
Get_Enum_String
Map_ADI_Write_Area
Map_ADI_Read_Area
Map_ADI_Write_Ext_Area
Map_ADI_Read_Ext_Area
Object Attributes (Instance #0)
#
1
2
3
4
Name
Name
Revision
Number of instances
Highest instance number
Anybus CompactCom 40 Ethernet POWERLINK
Doc.Rev. 1.70
Access
Get
Get
Get
Get
Data Type
Array of CHAR
UINT16
UINT16
UINT16
Value
‘Network’
2
01h
01h
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Instance Attributes (Instance #1)
Basic
#
1
2
3
Name
Network type
Network type string
Data format
Access
Get
Get
Get
4
5
Parameter data support Get
Write process data size Get
BOOL
UINT16
6
Read process data size Get
UINT16
7
Exception Information
UINT8
Get
Type
UINT16
Array of CHAR
ENUM
Description
009Fh
‘POWERLINK’
00h (LSB first; POWERLINK is a Little Endian
network)
True
Current write process data size (in bytes)
Updated on every successful Map_ADI_Write_Area,
Remap_ADI_Write_Area and
Map_ADI_Write_Ext_Area.a
Current read process data size (in bytes)
Updated on every successful Map_ADI_Read_Area,
Remap_ADI_Read_Area and
Map_ADI_Read_Ext_Area.
00h
a. Consult the general Anybus CompactCom 40 Software Design Guide for further information.
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4.5 Network Configuration Object (04h)
Category
Basic
Object Description
This object holds network specific configuration parameters that may be set by the end user. A reset
command (factory default) issued towards this object will result in the Node ID being set to its default
value.
See also...
•
“Communication Settings” on page 10
Supported Commands
Object:
Get_Attribute
Reset
Instance:
Get_Attribute
Set_Attribute
Object Attributes (Instance #0)
#
1
2
3
4
Name
Name
Revision
Number of instances
Highest instance number
Anybus CompactCom 40 Ethernet POWERLINK
Doc.Rev. 1.70
Access
Get
Get
Get
Get
Data Type
Array of CHAR
UINT16
UINT16
UINT16
Value
‘Network Configuration’
1
01h
01h
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Instance Attributes (Instance #1, POWERLINK Node ID)
Basic
#
1
2
3
4
5
Name
Namea
Data type
Number of elements
Descriptor
Value
Access
Get
Type
Description
Array of CHAR ‘Node ID’
Get
Get
Get
Get/Set
UINT8
UINT8
UINT8
UINT8
04h (= UINT8)
01h (single element)
07h (read/write/shared access)
Valid range: 1 - 239 (Default = 0)
As the default value is not in the valid range, the host application must specify a valid node ID before the module can
communicate on the network. If no valid node ID is entered
the module will go into the Anybus state EXCEPTION
instead of into the Anybus state WAIT_PROCESS when
leaving the Anybus state NW_INIT.
A value written in the Anybus state SETUP will take effect
immediately. A value written in a later Anybus state will take
effect the next time the module is booted.
6
Configured Value
Get
UINT8
Writing to this attribute will always update attribute 6, “Configured Value”, immediately.
The configured value is equal to the last value written to
attribute 5, “Value”.
a. Multilingual, see “Multilingual Strings” on page 31.
Multilingual Strings
The instance names and enumeration strings in this object are multilingual, and are translated based on
the current language settings as follows:
Instance
1
English
Node ID
Anybus CompactCom 40 Ethernet POWERLINK
Doc.Rev. 1.70
German
Knoten ID
Spanish
ID Nodo
Italian
ID Node
French
ID Neoud
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4.6 File System Interface Object (0Ah)
Category
Extended
Object Description
This object provides an interface to the built-in file system. Each instance represents a handle to a file
stream and contains services for file system operations. Available directories are the “firmware” directory and the “XDD” directory.
A dynamically generated XDD file can be read via this object.
See the Anybus CompactCom 40 Software Design Guide for more information.
Supported Commands
See the Anybus CompactCom 40 Software Design Guide for information about object and instance
commands.
Object Attributes (Instance #0)
#
1
2
3
4
11
12
13
14
15
Name
Name
Revision
Number of instances
Highest instance no.
Max. no. of instances
Disable virtual file system
Total disc size
Free space
Disc CRC
Access
Get
Get
Get
Get
Get
Get
Get
Get
Get
Data Type
Array of CHAR
UINT8
UINT16
UINT16
UINT16
BOOL
Array of UINT32
Array of UINT32
Array of UINT32
Value
‘Anybus File System Interface’
01h
0001h
False
-
Description
Value: Type:
00h Reserved
01h File instance
02h Directory instance
File size in bytes (zero for directories)
Path where the instance operates
Instance Attributes
Extended
#
1
Name
Instance type
Access
Get
Type
UINT8
2
3
File size
Path
Get
Get
UINT32
Array of CHAR
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Chapter 5
5. Host Application Objects
5.1 General Information
This chapter specifies the host application object implementation in the module. The objects listed here
may optionally be implemented within the host application firmware to expand the Ethernet POWERLINK implementation.
Standard Objects:
•
Application Object (see Anybus CompactCom 40 Software Design Guide)
•
Application Data Object (see Anybus CompactCom 40 Software Design Guide)
Network Specific Objects:
•
“Ethernet Host Object (F9h)” on page 36
•
“Sync Object (EEh)” on page 34
•
“POWERLINK Object (E9h)” on page 37
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5.2 Sync Object (EEh)
Category
Extended
Object Description
This object contains the host application sync settings. The module will generate a sync pulse to the application if the following conditions are fulfilled: This object is implemented, sync mode is supported
and the NMT state is NMT_CS_READY_TO_OPERATE, NMT_CS_PRE_OPERATIONAL_2,
NMT_CS_OPERATIONAL or NMT_CS_STOPPED.
See also...
•
“Synchronization” on page 10
•
Anybus CompactCom 40 Software Design Guide, “SYNC”
•
Anybus CompactCom 40 Software Design Guide, “Error Codes”
Supported Commands
Object:
Get_Attribute
Instance:
Get_Attribute
Set_Attribute
Object Attributes (Instance #0)
(Consult the general Anybus CompactCom 40 Software Design Guide for further information.)
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Instance Attributes (Instance #1)
#
1
Name
Cycle time
Access Type
Value If Not Implemented Comment
Get/Set UINT32 This attribute contains the cycle time on the
Ethernet POWERLINK network. It corresponds
to the value of the Object Dictionary Object
#1006h (NMT Cycle Length Object), see page
14.
2-6 Not used
7
Sync mode
Get/Set UINT16 Set to 1 (synchronous operation) when the
POWERLINK network cycle is isochronous and
bit 1 in attribute #8 is set; otherwise, set to 0
(nonsynchronous operation).
8
Supported sync Get
UINT16 Bit 0:
Nonsynchronous operation (default
modes
value if nonsynchronous operation is
supported)
Bit 1:
Synchronous operation is supported
Bit 2 Reserved. Set to zero.
15:
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5.3 Ethernet Host Object (F9h)
Category
Basic, extended
Object Description
This object implements Ethernet features in the host application. If the host application specifies a MAC
address (instance #1, attribute #1) the module will use this address as the device MAC address. If no
MAC address is specified by the application, the MAC address assigned at production will be used.
Supported Commands
Object:
Get_Attribute
Instance:
Get_Attribute
Set_Attribute
Object Attributes (Instance #0)
#
1
2
3
4
Name
Name
Revision
Number of instances
Highest instance no.
Access
Get
Get
Get
Get
Data Type
Array of CHAR
UINT8
UINT16
UINT16
Value
‘Ethernet’
02h
0001h
0001h
Instance Attribute (Instance #1)
Basic
#
Name
Access
1
MAC addressb
Get
Defaulta Comment
Array of UINT8 6 byte physical address value; overrides the
pre-programmed Mac address. Note that the
new Mac address value must be obtained from
the IEEE.
Type
a. If an attribute is not implemented, the module will use this value instead
b. The module is pre-programmed with a valid Mac address. To use that address, do not implement this attribute.
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5.4 POWERLINK Object (E9h)
Category
Extended
Object Description
This object implements POWERLINK features in the host application. The application can support
none, some, or all attributes specified.
Supported Commands
Object:
Get_Attribute
Instance:
Get_Attribute
Set_Attribute
Object Attributes (Instance #0)
#
1
2
3
4
Name
Name
Revision
Number of instances
Highest instance no.
Access
Get
Get
Get
Get
Data Type
Array of CHAR
UINT8
UINT16
UINT16
Value
‘POWERLINK’
01h
0001h
0001h
Instance Attributes (Instance #1)
#
1
2
3
Access
Get
Get
Get
Type
UINT32
UINT32
UINT16
Value If Not Implemented
0000001Bh
00000028h
0000h
Get
Get
Get
UINT16
UINT32
Array of CHAR
(max 64 bytes)
(hardware revision)
(set at production)
“Anybus CompactCom 40
Ethernet POWERLINK”
Manufacturer
Get
hardware version
8 Manufacturer soft- Get
ware version
10 Device type
Get
Array of CHAR
(max 64 bytes)
Array of CHAR
(max 64 bytes)
UINT32
Hardware version
4
5
6
Name
Vendor ID
Product Code
Revision high
word
Revision low word
Serial Number
Manufacturer
device name
7
14 Manufacturer
name
Get
Comment
These values replace the default values
for CANopen identity object (1018h, see
page 14)
Note: Changing any of these attributes
requires a new Vendor ID.
Corresponds to Manufacturer Device
Name object (1008h, see page 14).
Corresponds to Manufacturer hardware
version object (1009h, see page 14).
Anybus CompactCom Soft- Corresponds to Manufacturer software
ware Version
version object (100Ah, see page 14).
00000000h
Corresponds to Device type object
(1000h, see page 14).
Array of CHAR “HMS”
Will be used as part of the Interface
(max 64 bytes)
Description string in the Interface Group
object (1030h, see page 15).
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Appendix A
A. Categorization of Functionality
The objects, including attributes and services, of the Anybus CompactCom and the application are divided into two categories: basic and extended.
A.1 Basic
This category includes objects, attributes and services that are mandatory to implement or to use. They
will be enough for starting up the Anybus CompactCom and sending/receiving data with the chosen
network protocol. The basic functions of the industrial network are used.
Additional objects etc, that will make it possible to certify the product also belong to this category.
A.2 Extended
Use of the objects in this category extends the functionality of the application. Access is given to the
more specific characteristics of the industrial network, not only the basic moving of data to and from
the network. Extra value is given to the application.
Some of the functionality offered may be specialized and/or seldom used. As most of the available network functionality is enabled and accessible, access to the specification of the industrial network may be
required.
Anybus CompactCom 40 Ethernet POWERLINK
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Doc.Id. HMSI-27-219
Appendix B
B. Implementation Details
B.1 SUP-Bit Definition
The supervised bit (SUP) in the status register indicates that the network participation is supervised by
another network device.
On POWERLINK, a slave (CN) has no real knowledge if it is supervised by another network device. It
is considered supervised if it enters the NMT_CS_OPERATIONAL state where exchange of valid
PDO data takes place. If the Managing Node (MN) of the network is lost, the device will leave the operational state and the supervised bit will be cleared.
Supervised Bit State Description
0
The module is not in NMT_CS_OPERATIONAL
1
The module is in NMT_CS_OPERATIONAL
B.2 Anybus State Machine
The table below describes how the Anybus state machine relates to the Ethernet POWERLINK network.
Anybus State
WAIT_PROCESS
Implementation
Comment
The module stays in this state until the setup is In case synchronous mode is supported, sync
finalized and the controlled node and the manag- signals will start being produced in this state.
ing node together initiates a transition to
POWERLINK state NMT_CS_READY_TO_OPERATE, which equals Anybus state IDLE.
If the managing node orders the controlled node
to stop, the POWERLINK state will switch to
NMT_CS_STOPPED and the Anybus state will
switch to WAIT_PROCESS.
ERROR
There is no designated ERROR state on
Errors result in a transition to POWERLINK state
POWERLINK.
NMT_CS_PRE_OPERATIONAL_1. Any transition from this state will cause the Anybus state to
switch to WAIT_PROCESS.
PROCESS_ACTIVE Corresponds to POWERLINK state NMT_CS_- Received PDO data is valid only in this state.
OPERATIONAL
IDLE
POWERLINK state NMT_CS_READY_TO_OP- ERATE and NMT_CS_OPERATIONAL before
receiving the first valid PDO data. Transition to
PROCESS_ACTIVE can only be initiated by MN.
EXCEPTION
POWERLINK state NMT_GS_OFF. No network ERROR and STATUS LEDs turn red (to indicate
traffic is sent or received, though the hub contin- a major fault). The module has to be reset to
ues to operate. Unexpected errors, e.g. watch- leave this state.
dog timeouts, causes a transition to this state.
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Appendix C
C. Timing & Performance
C.1 General Information
This chapter specifies timing and performance parameters that are verified and documented for the
Anybus CompactCom 40 Ethernet POWERLINK.
The following timing aspects are measured:
Category
Event Based Process Data Delay
Parameters
T101, T102
Page
40
For general timing information, see the Anybus CompactCom 40 Software Design Guide.
C.2 Event Based Process Data Delay
“Read process data delay” is defined as the time from when the last bit of the network frame enters the
module, to when the RDPDI interrupt is asserted to the application.
“Write process data delay” is defined in two different ways, depending on network type.
- For software stack based cyclic/polled networks, it is defined as the time from when the
module exchanges write process data buffers, to when the first bit of the new process data
frame is sent out on the network.
- For COS (Change Of State) networks, it is defined as the time from when the application
exchanges write process data buffers, to when the first bit of the new process data frame is
sent out on the network.
Parameter
Description
T101
Read process data delay 617 ns
T102
Write process data delay
Anybus CompactCom 40 Ethernet POWERLINK
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Measured Time
2 μs
Comment
Unit
Time from last input bit received until nIRQ goes
ns
active on the chip
Time from when the CompactCom module
μs
exchanges write process data buffers, to when the
first bit of the new process data frame is sent out on
the network interface towards the PHY.
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Appendix D
D. Technical Specification
D.1 Front View
Ethernet Connector
#
1
2
3
4
Item
STATUS LED
3
1
ERROR LED
Link/Activity LED (port 1)
Link/Activity LED (port 2)
4
2
STATUS LED (Module Status)
LED State
Off
Green, fast flashinga
Green, single flash
Green, double flash
Green, triple flash
Green
Green, slow flashingc
Red
Description
Module is off, initializing, or not active.
NMT_CS_BASIC_ETHERNET
Basic Ethernet state: no POWERLINK traffic has been detected.
NMT_CS_PRE_OPERATIONAL_1.
Only asynchronous data.
NMT_CS_PRE_OPERATIONAL_2.
Asynchronous and synchronous data. No PDO data.b
NMT_CS_READY_TO_OPERATE.
Ready to operate. Asynchronous and synchronous data. No PDO data.b
NMT_CS_OPERATIONAL.
Fully operational. Asynchronous and synchronous data. PDO data is sent and received.
NMT_CS_STOPPED
Module stopped (for controlled shutdown, for example). Asynchronous and synchronous
data. No PDO data.b
If the ERROR LED also is red, a fatal event was encountered.
a. On 50 ms, off 50 ms.
b. Any process data sent is declared not valid and received process data must be ignored in this state.
c. On 200 ms, off 200 ms.
ERROR LED (Network Status)
LED State
Off
Red
Description
No error
If the STATUS LED is not red, a non-fatal error has been detected.
If the STATUS LED is red, a fatal event was encountered.
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Technical Specification 42
Link/Activity LED 3 & 4
LED State
Off
Green
Green, flashing
Description
No link.
Link, no traffic.
Link and traffic.
Ethernet Interface
The Ethernet interface supports 100 Mbit/s, half duplex operation.
D.2 Protective Earth (PE) Requirements
In order to ensure proper EMC behavior, the module must be properly connected to protective earth
via the PE pad / PE mechanism described in the general Anybus CompactCom 40 Hardware Design
Guide.
HMS Industrial Networks does not guarantee proper EMC behavior unless these PE requirements are
fulfilled.
D.3 Power Supply
Supply Voltage
The module requires a regulated 3.3V power source as specified in the general Anybus CompactCom 40
Hardware Design Guide.
Power Consumption
The Anybus CompactCom 40 Ethernet POWERLINK is designed to fulfil the requirements of a Class
B module. For more information about the power consumption classification used on the Anybus CompactCom 40 platform, consult the general Anybus CompactCom 40 Hardware Design Guide.
D.4 Environmental Specification
Consult the Anybus CompactCom 40 Hardware Design Guide for further information.
D.5 EMC Compliance
Consult the Anybus CompactCom 40 Hardware Design Guide for further information.
Anybus CompactCom 40 Ethernet POWERLINK
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Doc.Id. HMSI-27-219
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