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IEEE 61158 2017

IEEE 61158 2017

$148.42

IEEE Standard for Industrial Hard Real-Time Communication

Published By Publication Date Number of Pages
IEEE 2017 395
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New IEEE Standard – Active. IEEE Std 61158™ is an adoption of the EPSG DS 301, Ethernet POWERLINK–Communication Profile Specification. Ethernet POWERLINK is a communication profile for Real-Time Ethernet (RTE). It extends Ethernet according to IEEE Std 802.3™ 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 Std 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 analyzer.

PDF Catalog

PDF Pages PDF Title
1 IEEE Std 61158-2017 Front Cover
2 Title page
4 Important Notices and Disclaimers Concerning IEEE Standards Documents
7 Participants
9 Introduction
10 Contents
14 1. Scope
2. Normative references
15 3. Definitions, acronyms, and abbreviations
3.1 Definitions
18 3.2 Acronyms and abbreviations
20 4. Introduction
4.1 Slot communication network management
21 4.2 POWERLINK key features
22 4.3 Integration
23 4.4 Modular machines
24 5. Modelling
5.1 Reference model
5.1.1 Application layer
25 5.1.1.1 Service primitives
5.1.1.2 Application Layer service types
26 5.2 Device model
5.2.1 General
27 5.2.2 The Object Dictionary
28 5.2.2.1 Index and sub-index usage
5.3 Communication model
29 5.3.1 Master/slave relationship
30 5.3.2 Client/server relationship
5.3.3 Producer/consumer relationship—Push/pull model
31 5.3.4 Superimposing of communication relationships
6. Physical Layer
6.1 Topology
6.1.1 Hubs
6.1.2 Switches
32 6.2 Network guidelines
6.2.1 Jitter
6.3 Ports and connectors
33 6.3.1 RJ-45
6.3.2 M12
34 6.3.3 Crossover pin sssignment
6.3.3.1 RJ45 to RJ45
35 6.3.3.2 M12 to M12
6.3.3.3 M12 to RJ45
6.4 Cables (recommendation)
7. Data link layer
7.1 Modes of operation
36 7.2 POWERLINK mode
7.2.1 Introduction
7.2.2 POWERLINK nodes
7.2.2.1 POWERLINK MN
37 7.2.2.2 POWERLINK CN
7.2.2.2.1 Isochronous CN
7.2.2.2.2 Async-only CN
38 7.2.3 Services
7.2.4 POWERLINK cycle
7.2.4.1 Isochronous POWERLINK cycle
39 7.2.4.1.1 Isochronous phase
40 7.2.4.1.1.1 Multiplexed timeslots
41 7.2.4.1.2 Asynchronous phase
42 7.2.4.1.2.1 Asynchronous scheduling
43 7.2.4.1.2.2 Distribution of the asynchronous phase
7.2.4.1.2.3 Asynchronous Transmit Priorities
45 7.2.4.1.3 Idle Phase
7.2.4.2 Reduced POWERLINK cycle
46 7.2.4.3 POWERLINK cycle timing
54 7.2.4.3.1 POWERLINK cycle timing error handling
57 7.2.4.4 Multiplexed slot timing
58 7.2.4.5 CN Cycle state machine
7.2.4.5.1 Overview
7.2.4.5.2 States
7.2.4.5.3 Events
7.2.4.5.4 Dependence of the NMT_CS on the DLL_CS
59 7.2.4.5.4.1 States NMT_GS_INITIALISATION, NMT_CS_NOT_ACTIVE, NMT_CS_BASIC_ETHERNET, NMT_CS_PRE_OPERATIONAL_1
7.2.4.5.4.1.1 Transitions in other NMT states
60 7.2.4.5.4.2 State NMT_CS_PRE_OPERATIONAL_2, NMT_CS_READY_TO_OPERATE, NMT_CS_OPERATIONAL, NMT_CS_STOPPED
61 7.2.4.5.4.2.1 Transitions
62 7.2.4.6 MN cycle state machine
7.2.4.6.1 Overview
63 7.2.4.6.2 States
7.2.4.6.3 Events
7.2.4.6.4 Usage of the NMT_MS state by the DLL_MS
64 7.2.4.6.4.1 States NMT_GS_INITIALISATION, NMT_MS_NOT_ACTIVE
7.2.4.6.4.2 NMT_MS_BASIC_ETHERNET
7.2.4.6.4.3 State NMT_MS_PRE_OPERATIONAL_1
7.2.4.6.4.3.1 Transitions
65 7.2.4.6.4.4 States NMT_MS_OPERATIONAL, NMT_MS_READY_TO_OPERATE, and NMT_MS_PRE_OPERATIONAL_2
66 7.2.4.6.4.4.1 Transitions
68 7.2.5 Recognizing active nodes
7.3 Basic Ethernet mode
69 7.4 MAC addressing
7.4.1 MAC unicast
7.4.2 MAC multicast
7.4.3 MAC broadcast
7.5 POWERLINK addressing
70 7.6 Frame structures
7.6.1 Integration with Ethernet
71 7.6.1.1 POWERLINK frame
7.6.1.1.1 POWERLINK Basic Frame
73 7.6.1.1.2 Start of Cycle (SoC)
74 7.6.1.1.3 PollRequest (PReq)
75 7.6.1.1.4 PollResponse (PRes)
76 7.6.1.1.5 Start of Asynchronous (SoA)
77 7.6.1.1.5.1 RequestedServiceIDs
78 7.6.1.1.6 Asynchronous Send (ASnd)
7.6.1.1.6.1 ServiceID values
79 7.6.1.2 Non-POWERLINK frames
7.6.1.3 Transfer protection
7.7 Error handling data link layer (DLL)
7.7.1 Possible error sources and error symptoms
80 7.7.2 Error handling table for CN
81 7.7.3 Error handling table for MN
82 7.7.4 Error handling registration
83 7.7.4.1 Threshold counters
84 7.7.4.2 Cumulative counter
7.7.5 Physical Layer error sources
7.7.5.1 Loss of Link
7.7.5.2 Incorrect physical Ethernet operating mode
85 7.7.5.3 Rx MAC buffer overflow/Tx MAC buffer underrun
7.7.5.4 Transmission/CRC errors
86 7.7.6 Communication error symptoms detected by the MN
7.7.6.1 Timing violation
7.7.6.1.1 Slot time exceeded
87 7.7.6.1.1.1 Case 1-2 frame received in time
7.7.6.1.1.2 Case 3 Loss of PRes: frame not received
7.7.6.1.1.3 Case 4–6 Late PRes: frame received in foreign slot (also collisions)
88 7.7.6.2 Loss of PRes
89 7.7.6.3 Late PRes
90 7.7.6.4 Cycle time exceeded
91 7.7.6.5 Collisions
92 7.7.6.6 Invalid formats
7.7.6.7 POWERLINK address conflicts
93 7.7.6.8 Multiple MNs on a single POWERLINK network
7.7.6.9 Loss of StatusResponse
94 7.7.7 Communication error symptoms detected by the CN
7.7.7.1 Collisions
95 7.7.7.2 Invalid formats
7.7.7.3 Loss of frames
96 7.7.7.3.1 Loss of SoC
7.7.7.3.2 Loss of SoA
97 7.7.7.3.3 Loss of PReq
7.7.7.3.4 SoC jitter out of range
98 7.7.8 DLL error handling objects
7.7.8.1 Object 1C00h: DLL_MNCRCError_REC
99 7.7.8.2 Object 1C01h: DLL_MNCollision_REC
100 7.7.8.3 Object 1C02h: DLL_MNCycTimeExceed_REC
101 7.7.8.4 Object 1C03h: DLL_MNLossOfLinkCum_U32
7.7.8.5 Object 1C04h: DLL_MNCNLatePResCumCnt_AU32
102 7.7.8.6 Object 1C05h: DLL_MNCNLatePResThrCnt_AU32
103 7.7.8.7 Object 1C06h: DLL_MNCNLatePResThreshold_AU32
7.7.8.8 Object 1C07h: DLL_MNCNLossPResCumCnt_AU32
104 7.7.8.9 Object 1C08h: DLL_MNCNLossPResThrCnt_AU32
7.7.8.10 Object 1C09h: DLL_MNCNLossPResThreshold_AU32
105 7.7.8.11 Object 1C0Ah: DLL_CNCollision_REC
106 7.7.8.12 Object 1C0Bh: DLL_CNLossSoC_REC
107 7.7.8.13 Object 1C0Ch: DLL_CNLossSoA_REC
108 7.7.8.14 Object 1C0Dh: DLL_CNLossPReq_REC
109 7.7.8.15 Object 1C0Eh: DLL_CNSoCJitter_REC
110 7.7.8.16 Object 1C0Fh: DLL_CNCRCError_REC
111 7.7.8.17 Object 1C10h: DLL_CNLossOfLinkCum_U32
112 7.7.8.18 Object 1C12h: DLL_MNCycleSuspendNumber_U32
7.7.8.19 Object 1C13h: DLL_CNSoCJitterRange_U32
7.7.8.20 Object 1C14h: DLL_CNLossOfSocTolerance_U32
7.7.8.21 Object 1C15h: DLL_MNLossStatusResCumCnt_AU32
113 7.7.8.22 Object 1C16h: DLL_MNLossStatusResThrCnt_AU32
7.7.8.23 Object 1C17h: DLL_MNLossStatusResThreshold_AU32
114 7.7.8.24 Object 0424h: DLL_ErrorCntRec_TYPE
8. Network/Transport Layer
8.1 Internet Protocol (IP)
115 8.1.1 IP host requirements
8.1.1.1 Nodes without IP communication
8.1.1.2 Minimum requirements for SDO communication
8.1.1.2.1 IP stack requirements
8.1.1.2.2 UDP requirements
8.1.1.3 Minimum requirements for standard IP communication
8.1.1.3.1 IP stack requirements
116 8.1.2 IP addressing
8.1.3 Address resolution
117 8.1.4 Hostname
8.1.5 Object description
8.1.5.1 Object 1E4Ah: NWL_IpGroup_REC
118 8.1.5.2 Object 1E40h .. 1E49h: NWL_IpAddrTable_Xh_REC
120 8.1.5.3 Object 0425h: NWL_IpGroup_TYPE
8.1.5.4 Object 0426h: NWL_IpAddrTable_TYPE
8.2 POWERLINK-compliant UDP/IP format
121 8.3 POWERLINK sequence layer
9. Application Layer
9.1 Data types and encoding rules
122 9.1.1 General description of data types and encoding rules
9.1.2 Data type definitions
123 9.1.3 Bit sequences
9.1.3.1 Definition of bit sequences
124 9.1.3.2 Transfer syntax for bit sequences
9.1.4 Basic data types
9.1.4.1 NIL
9.1.4.2 Boolean
125 9.1.4.3 Void
9.1.4.4 Bit
9.1.4.5 Unsigned integer
126 9.1.4.6 Signed integer
127 9.1.4.7 Floating-Point Numbers
128 9.1.4.8 MAC address
9.1.4.9 IP address
129 9.1.5 Compound data types
9.1.6 Extended data types
9.1.6.1 Octet string
130 9.1.6.2 Visible string
9.1.6.3 Unicode string
9.1.6.4 Time of day
9.1.6.5 Time difference
131 9.1.6.6 Domain
9.1.6.7 Net time
9.2 Object Dictionary
132 9.2.1 Object Dictionary entry definition
134 9.2.1.1 Sub-index definition
136 9.2.2 Data type entry specification
9.2.2.1 Static data types
137 9.2.2.2 Complex data types
9.2.2.3 Extension for multiple device modules
9.3 Service Data Object (SDO)
9.3.1 SDO layer model
138 9.3.1.1 SDO hosting in frames
139 9.3.2 SDO in asynchronous phase
9.3.2.1 SDO via UDP/IP
140 9.3.2.1.1 UDP layer
141 9.3.2.2 SDO via POWERLINK ASnd
142 9.3.2.3 Asynchronous SDO sequence layer
143 9.3.2.3.1 Connection
9.3.2.3.1.1 Initialization of connection
9.3.2.3.1.2 Closing a connection
144 9.3.2.3.1.3 Data transfer
146 9.3.2.3.1.4 Data transfer with delay
147 9.3.2.3.1.5 Sender history full
9.3.2.3.2 Errors
148 9.3.2.3.2.1 Error: Loss of frame with data
149 9.3.2.3.2.2 Error: Loss of acknowledge frame
9.3.2.3.2.3 Error: Duplication of frame
150 9.3.2.3.2.4 Error: Overtaking of frames
9.3.2.3.2.5 Broken connection
151 9.3.2.3.2.6 Error: Flooding with commands
9.3.2.4 Asynchronous SDO command layer
152 9.3.2.4.1 POWERLINK command layer protocol
154 9.3.2.4.1.1 Download protocol
156 9.3.2.4.1.2 Upload protocol
157 9.3.2.4.1.3 Abort transfer
158 9.3.2.4.2 Commands
159 9.3.2.4.2.1 SDO protocol
9.3.2.4.2.1.1 Command: write by index
9.3.2.4.2.1.2 Command: read by index
160 9.3.2.4.2.1.3 Command: write all by index
9.3.2.4.2.1.4 Command: read all by index
161 9.3.2.4.2.1.5 Command: write by name
162 9.3.2.4.2.1.6 Command: read by name
9.3.2.4.2.2 File transfer
9.3.2.4.2.2.1 Command: file write
163 9.3.2.4.2.2.2 Command: file read
164 9.3.2.4.2.3 Variable groups
9.3.2.4.2.3.1 Command: write multiple parameter by index
9.3.2.4.2.3.2 Write multiple parameter by index request
165 9.3.2.4.2.3.3 Write multiple parameter by index response
9.3.2.4.2.3.4 Command: read multiple parameter by index
166 9.3.2.4.2.3.5 Read multiple parameter by index request
9.3.2.4.2.3.6 Read multiple parameter by index response
168 9.3.2.4.2.4 Parameter services
9.3.2.4.2.4.1 Command: maximum segment size
9.3.3 SDO embedded in PDO
170 9.3.3.1 Embedded sequence layer for SDO in PDO
9.3.3.1.1 Connection
9.3.3.1.1.1 Initialization of connection
171 9.3.3.1.1.2 Closing a connection
9.3.3.1.1.3 Data transfer
172 9.3.3.1.2 Errors
9.3.3.1.2.1 Error: request lost
174 9.3.3.1.2.2 Error: response lost
9.3.3.1.3 Handling of segmented transfers
9.3.3.1.3.1 Segmented download from client to server
175 9.3.3.1.3.2 Segmented upload from server to client
9.3.3.2 Embedded command layer for SDO in cyclic data
176 9.3.3.2.1 Command write by index via PDO
9.3.3.2.2 Command read by index via PDO
9.3.3.3 Object description
9.3.3.3.1 Object 1200h .. 127Fh: SDO_ServerContainerParam_XXh_REC
177 9.3.3.3.2 Object 1280h .. 12FFh: SDO_ClientContainerParam_XXh_REC
179 9.3.3.3.3 Object 0422h: SDO_ParameterRecord_TYPE
9.3.4 SDO timeouts
9.3.4.1 Object 1300h: SDO_SequLayerTimeout_U32
9.3.4.2 Object 1301h: SDO_CmdLayerTimeout_U32
9.3.4.3 Object 1302h: SDO_SequLayerNoAck_U32
180 9.4 Process Data Object (PDO)
181 9.4.1 PDO mapping limitations
9.4.1.1 TPDO mapping limitations
182 9.4.1.2 RPDO mapping limitations
9.4.1.3 Further limitations
183 9.4.2 PDO mapping version
9.4.3 SDO via PDO container
9.4.4 Transmit PDOs
184 9.4.5 Receive PDOs
9.4.6 PDO via PReq
185 9.4.7 PDO via PRes
186 9.4.8 PDO error handling
9.4.8.1 Dynamic errors
9.4.8.1.1 Incompatible mapping
9.4.8.1.2 Unexpected end of PDO
9.4.8.2 Configuration errors
187 9.4.9 Object description
9.4.9.1 Object 1400h .. 14FFh: PDO_RxCommParam_XXh_REC
188 9.4.9.2 Object 1600h .. 16FFh PDO_RxMappParam_XXh_AU64
190 9.4.9.3 Object 1800h .. 18FFh PDO_TxCommParam_XXh_REC
191 9.4.9.4 Object 1A00h .. 1AFFh PDO_TxMappParam_XXh_AU64
192 9.4.9.5 Object 1C80h: PDO_ErrMapVers_OSTR
9.4.9.6 Object 1C81h: PDO_ErrShort_RX_OSTR
193 9.4.9.7 Object 0420h: PDO_CommParamRecord_TYPE
9.5 Error signaling
195 9.5.1 Error entry
197 9.5.2 Interface to error signaling
9.5.3 Processing of CN error information on the MN
9.5.4 Error signaling bits
198 9.5.5 Initialization
9.5.5.1 Start-up value and behavior of the EC flag
199 9.5.6 Error signaling with PReq and PRes frames
200 9.5.7 Error signaling with async-only CNs
201 9.5.8 Format of StatusResponse Data
9.5.8.1 Static error bit field
9.5.8.2 Status and history entries
9.5.9 Examples
202 9.5.9.1 Case 1—Only bit field, no status/history entries
203 9.5.9.2 Case 2—Status entries
9.5.9.3 Case 3—History entries
204 9.5.9.4 Case 4—Status and history entries
9.5.10 Object descriptions
9.5.10.1 Object 1001h: ERR_ErrorRegister_U8
205 9.5.10.2 Object 1003h: ERR_History_ADOM
206 9.6 Program download
9.6.1 Object Dictionary entries on the CN
9.6.1.1 Object 1F50h: PDL_DownloadProgData_ADOM
207 9.6.1.2 Object 1F51h: PDL_ProgCtrl_AU8
208 9.6.1.3 Object 1F52h: PDL_LocVerApplSw_REC
209 9.6.1.4 Object 0427h: PDL_LocVerApplSw_TYPE
9.6.2 Object Dictionary entries on the MN
9.6.2.1 Object 1F53h: PDL_MnExpAppSwDateList_AU32
210 9.6.2.2 Object 1F54h: PDL_MnExpAppSwTimeList_AU32
211 9.7 Configuration management
9.7.1 Device description
9.7.1.1 Local storage on the device
9.7.1.2 Central storage on the MN
212 9.7.2 Device configuration storage
9.7.2.1 Device configuration file storage
9.7.2.2 Concise configuration storage
9.7.2.3 Check configuration process
213 9.7.2.4 Request configuration
9.7.3 Object Dictionary entries
9.7.3.1 Object 1020h: CFM_VerifyConfiguration_REC
215 9.7.3.2 Object 1021h: CFM_StoreDevDescrFile_DOM
9.7.3.3 Object 1022h: CFM_StoreDevDescrFormat_U16
216 9.7.3.4 Object 1F20h: CFM_StoreDcfList_ADOM
9.7.3.5 Object 1F21h: CFM_DcfStorageFormatList_AU8
217 9.7.3.6 Object 1F22h: CFM_ConciseDcfList_ADOM
218 9.7.3.7 Object 1F23h: CFM_StoreDevDescrFileList_ADOM
219 9.7.3.8 Object 1F24h: CFM_DevDescrFileFormatList_AU8
220 9.7.3.9 Object 1F25h: CFM_ConfCNRequest_AU32
221 9.7.3.10 Object 1F26h: CFM_ExpConfDateList_AU32
9.7.3.11 Object 1F27h: CFM_ExpConfTimeList_AU32
222 9.7.3.12 Object 1F28h: CFM_ExpConfIdList_AU32
223 9.7.3.13 Object 0435h: CFM_VerifyConfiguration_TYPE
9.8 Input from a programmable device
9.8.1 Basics
9.8.2 Dynamic index assignment
224 9.8.3 Object Dictionary entries
9.8.3.1 Object 1F70h: INP_ProcessImage_REC
225 9.8.3.2 Object 0428h: INP_ProcessImage_TYPE
226 10. Network management (NMT)
10.1 NMT state machine
10.1.1 Overview
10.1.2 Common initialization NMT state machine
227 10.1.2.1 States
10.1.2.1.1 NMT_GS_POWERED
228 10.1.2.1.1.1 NMT_GS_INITIALISATION
10.1.2.1.1.1.1 Sub-states
229 10.1.2.1.1.2 NMT_GS_COMMUNICATING
10.1.2.2 Transitions
230 10.1.3 MN NMT state machine
10.1.3.1 Overview
10.1.3.2 States
10.1.3.2.1 NMT_MS_NOT_ACTIVE
232 10.1.3.2.2 NMT_MS_EPL_MODE
10.1.3.2.2.1 NMT_MS_PRE_OPERATIONAL_1
10.1.3.2.2.2 NMT_MS_PRE_OPERATIONAL_2
233 10.1.3.2.2.3 NMT_MS_READY_TO_OPERATE
10.1.3.2.2.4 NMT_MS_OPERATIONAL
234 10.1.3.2.3 NMT_MS_BASIC_ETHERNET
10.1.3.3 Transitions
235 10.1.4 CN NMT state machine
10.1.4.1 States
10.1.4.1.1 NMT_CS_NOT_ACTIVE
237 10.1.4.1.2 NMT_CS_EPL_MODE
10.1.4.1.2.1 NMT_CS_PRE_OPERATIONAL_1
10.1.4.1.2.2 NMT_CS_PRE_OPERATIONAL_2
238 10.1.4.1.2.3 NMT_CS_READY_TO_OPERATE
10.1.4.1.2.4 NMT_CS_OPERATIONAL
239 10.1.4.1.2.5 NMT_CS_STOPPED
10.1.4.1.3 NMT_CS_BASIC_ETHERNET
240 10.1.4.2 Transitions
10.1.4.3 States and communication object relation
242 10.1.4.4 Relationship to other state machines
10.2 NMT Object Dictionary entries
10.2.1 NMT general objects
10.2.1.1 Identification
10.2.1.1.1 Object 1000h: NMT_DeviceType_U32
243 10.2.1.1.2 Object 1008h: NMT_ManufactDevName_VS
10.2.1.1.3 Object 1009h: NMT_ManufactHwVers_VS
244 10.2.1.1.4 Object 100Ah: NMT_ManufactSwVers_VS
10.2.1.1.5 Object 1018h: NMT_IdentityObject_REC
245 10.2.1.1.6 Object 1F82h: NMT_FeatureFlags_U32
247 10.2.1.1.7 Object 1F83h: NMT_EPLVersion_U8
248 10.2.1.2 Parameter storage
10.2.1.2.1 Object 1010h: NMT_StoreParam_REC
250 10.2.1.2.2 Object 1011h: NMT_RestoreDefParam_REC
252 10.2.1.3 Communication interface description
10.2.1.3.1 Object 1F93h: NMT_EPLNodeID_REC
253 10.2.1.3.2 Object 1030h .. 1039h: NMT_InterfaceGroup_Xh_REC
256 10.2.1.3.3 Object 1F9Ah: NMT_HostName_VSTR
10.2.1.4 Node list
10.2.1.4.1 Object 1F81h: NMT_NodeAssignment_AU32
259 10.2.1.5 Timing
10.2.1.5.1 Object 1006h: NMT_CycleLen_U32
10.2.1.5.2 Object 1F98h: NMT_CycleTiming_REC
263 10.2.1.5.3 Object 1F9Bh: NMT_MultiplCycleAssign_AU8
264 10.2.1.5.4 Object 1016h: NMT_ConsumerHeartbeatTime_AU32
265 10.2.1.5.5 Object 1F8Dh: NMT_PResPayloadLimitList_AU16
266 10.2.1.6 NMT service interface
10.2.1.6.1 Object 1F9Eh: NMT_ResetCmd_U8
10.2.1.7 NMT diagnostics
10.2.1.7.1 Object 1F8Ch: NMT_CurrNMTState_U8
10.2.2 NMT MN objects
267 10.2.2.1 MN start-up behavior
10.2.2.1.1 Object 1F80h: NMT_StartUp_U32
268 10.2.2.1.2 Object 1F89h: NMT_BootTime_REC
271 10.2.2.2 NMT master network node lists
10.2.2.2.1 Object 1F84h: NMT_MNDeviceTypeIdList_AU32
272 10.2.2.2.2 Object 1F85h: NMT_MNVendorIdList_AU32
273 10.2.2.2.3 Object 1F86h: NMT_MNProductCodeList_AU32
274 10.2.2.2.4 Object 1F87h: NMT_MNRevisionNoList_AU32
275 10.2.2.2.5 Object 1F88h: NMT_MNSerialNoList_AU32
276 10.2.2.3 Timing
10.2.2.3.1 Object 1F8Ah: NMT_MNCycleTiming_REC
277 10.2.2.3.2 Object 1F8Bh: NMT_MNPReqPayloadLimitList_AU16
10.2.2.3.3 Object 1F92h: NMT_MNCNPResTimeout_AU32
278 10.2.2.3.4 Object 1F9Ch: NMT_IsochrSlotAssign_AU8
280 10.2.2.4 CN NMT state surveillance
10.2.2.4.1 Object 1F8Eh: NMT_MNNodeCurrState_AU8
281 10.2.2.4.2 Object 1F8Fh: NMT_MNNodeExpState_AU8
10.2.2.5 NMT service interface
10.2.2.5.1 Object 1F9Fh: NMT_RequestCmd_REC
283 10.2.3 NMT CN objects
10.2.3.1 CN start-up behavior
10.2.3.1.1 Object 1F99h: NMT_CNBasicEthernetTimeout_U32
10.2.4 NMT object types
10.2.4.1 Object 0023h: IDENTITY
10.2.4.2 Object 0429h: NMT_ParameterStorage_TYPE
284 10.2.4.3 Object 042Bh: NMT_InterfaceGroup_Xh_TYPE
10.2.4.4 Object 042Ch: NMT_CycleTiming_TYPE
10.2.4.5 Object 042Eh: NMT_BootTime_TYPE
10.2.4.6 Object 042Fh: NMT_MNCycleTiming_TYPE
285 10.2.4.7 Object 0439h: NMT_EPLNodeID_TYPE
10.2.4.8 Object 043Ah: NMT_RequestCmd_TYPE
10.3 Network management services
10.3.1 NMT state command services
286 10.3.1.1 Implicit NMT state command services
287 10.3.1.1.1 Implicit NMT state command transmission
10.3.1.2 Explicit NMT state command services
288 10.3.1.2.1 Plain NMT state command
290 10.3.1.2.1.1 NMT reset commands to the MN
10.3.1.2.2 Extended NMT state command
10.3.1.2.3 POWERLINK node list format
291 10.3.2 NMT managing command services
292 10.3.2.1 Service descriptions
10.3.2.1.1 NMTNetHostNameSet
293 10.3.2.1.2 NMTFlushArpEntry
294 10.3.3 NMT response service
10.3.3.1 NMT state response
295 10.3.3.2 IdentResponse service
296 10.3.3.2.1 IdentResponse frame
299 10.3.3.3 StatusResponse service
10.3.3.3.1 StatusResponse frame
300 10.3.4 NMT info services
301 10.3.4.1 Service descriptions
10.3.4.1.1 NMTPublishConfiguredNodes
302 10.3.4.1.2 NMTPublishActiveNodes
10.3.4.1.3 NMTPublishPreOperational1
10.3.4.1.4 NMTPublishPreOperational2
10.3.4.1.5 NMTPublishReadyToOperate
303 10.3.4.1.6 NMTPublishOperational
10.3.4.1.7 NMTPublishStopped
10.3.4.1.8 NMTPublishNodeStates
304 10.3.4.1.9 NMTPublishEmergencyNew
10.3.4.1.10 NMTPublishTime
10.3.5 NMT guard services
10.3.5.1 Guarding CNs
305 10.3.5.1.1 Guarding async-only CNs
10.3.5.2 Guarding the MN
10.3.6 Request NMT services by a CN
10.3.6.1 NMTRequest frame
306 10.3.6.1.1 Invalid NMTRequests
10.3.7 NMT services via Object Dictionary
10.3.7.1 NMT reset commands
307 10.3.7.2 NMT requests to the MN
10.3.8 NMT services via UDP/IP
10.4 Boot-up managing node
10.4.1 NMT_MS-dependent network boot-up
10.4.1.1 Overview
308 10.4.1.2 NMT_MS_NOT_ACTIVE
10.4.1.3 NMT_MS_PRE_OPERATIONAL_1
311 10.4.1.4 NMT_MS_PRE_OPERATIONAL_2
312 10.4.1.5 NMT_MS_READY_TO_OPERATE
314 10.4.1.6 NMT_MS_OPERATIONAL
316 10.4.2 MN boot-up procedure on CN level
10.4.2.1 Overview
10.4.2.2 Boot-up of optional and mandatory CNs
317 10.4.2.2.1 BOOT_STEP1
318 10.4.2.2.1.1 CHECK_IDENTIFICATION
320 10.4.2.2.1.2 CHECK_SOFTWARE
321 10.4.2.2.1.3 CHECK_CONFIGURATION
322 10.4.2.2.1.3.1 GET_IDENT
323 10.4.2.2.2 BOOT_STEP2
324 10.4.2.2.3 CHECK_COMMUNICATION
326 10.4.2.2.4 START_CN
327 10.4.2.2.5 START_ALL
328 10.4.2.2.6 CHECK_STATE
330 10.4.2.2.7 CHANGE_NMT_STATE
10.4.2.2.8 OPERATIONAL
331 10.4.2.2.9 ERROR_TREATMENT
332 10.4.3 Boot-up errors
10.4.3.1 Bus activity
10.4.3.2 BOOT_STEP1 failed
10.4.3.3 BOOT_STEP2 failed
10.4.3.4 Boot-up in NMT_MS_READY_TO_OPERATE failed
333 10.4.3.5 Get Ident failed
10.4.3.6 Device Type Invalid
10.4.3.7 Vendor ID invalid
10.4.3.8 Configuration failed
10.4.3.9 Product Code invalid
334 10.4.3.10 Revision number invalid
10.4.3.11 Serial number invalid
10.4.3.12 NMT state invalid
10.4.3.13 Invalid Software
10.4.3.14 Invalid NMT state for SW update
10.4.3.15 SW update not allowed
335 10.4.3.16 SW update failed
10.4.4 Minimal boot-up MN
10.4.5 Example boot-up sequence
10.4.6 Application notes
338 11. Diagnostics
11.1 Diagnostic Object Dictionary entries
11.1.1 Object 1101h: DIA_NMTTelegrCount_REC
340 11.1.2 Object 1102h: DIA_ERRStatistics_REC
341 11.1.3 Diagnostics object types
11.1.3.1 Object 0437h: DIA_NMTTelegrCount_TYPE
342 11.1.3.2 Object 0438h: DIA_ERRStatistics_TYPE
12. Routing
12.1 Routing type 1
12.1.1 Core tasks of a POWERLINK router
344 12.1.2 Reference model
345 12.1.3 Data link layer
12.1.3.1 DLL POWERLINK interface
12.1.3.2 DLL interface to the external network
12.1.4 Network Layer
12.1.4.1 Communication between POWERLINK and the external network
12.1.4.2 IP coupling
346 12.1.4.2.1 IP routing
12.1.4.2.1.1 Configuration
347 12.1.4.2.1.1.1 SNMP
12.1.4.2.1.1.2 SDO
12.1.4.2.2 Network Address Translation (NAT)
349 12.1.4.2.2.1 Configuration
12.1.4.2.2.1.1 SNMP
350 12.1.4.2.2.1.2 SDO
12.1.5 Security
12.1.5.1 Packet filter—firewall
351 12.1.5.1.1 ACL—Filter entries
352 12.1.5.1.2 Filter strategy
12.1.5.1.3 Configuration
12.1.5.1.3.1 SNMP
12.1.5.1.3.2 SDO
12.1.6 Additional services of a POWERLINK router
353 12.1.7 Object description
12.1.7.1 Object 1E80h: RT1_EplRouter_REC
12.1.7.2 Object 1E90h .. 1ECFh: RT1_IpRoutingTable_XXh_REC
355 12.1.7.3 Object 1D00h .. 1DFFh: RT1_NatTable_XXh_REC
357 12.1.7.4 Object 1E81h: RT1_SecurityGroup_REC
358 12.1.7.5 Object 1B00h .. 1BFFh: RT1_AclFwdTable_XXh_REC
360 12.1.7.6 Object 1ED0h .. 1EDFh: RT1_AclInTable_Xh_REC
362 12.1.7.7 Object 1EE0h .. 1EEFh: RT1_AclOutTable_Xh_REC
365 12.1.7.8 Router type I object types
12.1.7.8.1 Object 0430h: RT1_EplRouter_TYPE
12.1.7.8.2 Object 0431h: RT1_IpRoutingTable_TYPE
12.1.7.8.3 Object 0432h: RT1_NatTable_TYPE
12.1.7.8.4 Object 0433h: RT1_SecurityGroup_TYPE
366 12.1.7.8.5 Object 0434h: RT1_AclTable_TYPE
12.1.8 POWERLINK router MIB
12.2 Routing type 2
13. Indicators
367 13.1 Indicator states and flash rates
13.2 Indicator signaling
369 13.3 Recommended labelling
370 Annex A (normative) Summary object library
A.1 Object Dictionary entries, sorted by index
376 A.2 Object Dictionary entries, sorted by name
380 Annex B (normative) Device description entries
385 Annex C (normative) Constant value assignments
C.1 POWERLINK message type IDs
C.2 AsyncSend request priorities
C.3 ASnd ServiceIDs
386 C.4 SoA RequestedServiceIDs
C.5 Object Dictionary object types
C.6 NMT states
387 C.7 NMT commands
C.8 General purpose constants
389 C.9 Error code constants
390 C.10 SDO abort codes
392 Annex D (normative) Data sheet requirements
393 Annex E (informative) Bibliography
395 Back cover

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IEEE 61158 2017
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