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Ethernet POWERLINK Controlled Node

1. 5 2 3 General Structure of the Object Dictionary eccceeceeeeeeeneeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeteeeseeeeteaeeeeaeeeea 64 524 Definition of ODjOCts a araea aeaaaee ra aea a rA EE AAT Eea E aee E crate aea 65 5 2 5 Accessing the Object Dictionary by Packets cecccescceeeeeeeeeeeeeeeeeneeeeeaeeseaeeseeeeseaeeseaeeseaeeseaeeee 69 5 2 6 Object Dictionary Entries Basic Functionality c cceecceeeeeeeeeeeeeeeeneeeeeeeeeeeeeeeeeeeeeseeeeeneeeeeeeeeae 72 5 2 f Cyclic DataCommunication PDO soens eiae reat an einen a apar d Naa aida 5 2 8 Acyclic Data Communication SDO e R e81 EE e At Lo EIEE EAE A A A TOAT 5 2 10 Other Ethernet Powerlink specific Objects in the Object Dictionary cceeeeeeeeeeteeeeee
2. The Application Interface 149 297 Overview over Packets of the EPLCN_PCK Task No of Packet Command Page section code REQ CNF or IND RES Go to NMT State ResetConfiguration with Change of Node Id 0x1363 6 1 12 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_CONFIGURATION_IND RES 0x1306 177 NMT State changed to ResetConfiguration 0x1307 6 1 13 EPLCN_PCK_GO_TO_NOT_ACTIVE_REQ CNF Go to NMT State 0x1328 180 NotActive 0x1329 6 1 14 EPLCN_PCK_STATE_CHG_REQ_TO_NOT_ACTIVE_IND RES NMT State 0x1308 182 changed to NotActive 0x1309 6 1 15 EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_1_IND RES NMT 0x130A 185 State changed to Pre Operational 1 0x130B 6 1 16 EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_2_IND RES NMT 0x130C 188 State changed to Pre Operational 2 0x130D 6 1 17 EPLCN_PCK_STATE_CHG_TO_READY_TO_OPERATE_IND RES NMT 0x130E 191 State changed to ReadyToOperate 0x130F 6 1 18 EPLCN_PCK_STATE_CHG_TO_OPERATIONAL_IND RES NMT State 0x1310 194 changed to Operational 0x1311 6 1 19 EPLCN_PCK_STATE_CHG_TO_STOPPED_IND RES NMT State changed 0x1312 197 to Stopped
3. Overview over Packets of the EPLCN_PCK Task No of Packet Command Page section code REQ CNF or IND RES 0x1381 6 1 32 EPLCN_PCK_OD_CREATE_SUBOBJECT_REQ CNF Create a Subobject 0x1382 232 0x1383 6 1 33 EPLCN_PCK_OD_DELETE_OBJECT_REQ CNF Delete an Object 0x1384 235 0x1385 6 1 34 EPLCN_PCK_OD_CREATE_DATATYPE_REQ CNF Create a Data type 0x1390 238 0x1391 6 1 35 EPLCN_PCK_OD_DELETE_DATATYPE_REQ CNF Delete a Data Type 0x1392 240 0x1393 6 1 36 EPLCN_PCK_OD_WRITE_OBJECT_REQ CNF Write an Object 0x13B0 242 0x13B1 6 1 37 EPLCN_PCK_OD_READ_OBJECT_REQ CNF Read Object 0x13B2 244 0x13B3 6 1 38 EPLCN_PCK_OD_NOTIFY_REGISTER_REQ CNF Register for Notification 0x1386 246 of Reading Writing of an Object 0x1387 6 1 39 EPLCN_PCK_OD_NOTIFY_UNREGISTER_REQ CNF Unregister from 0x1388 248 Notification of Object Read Writes 0x1389 6 1 40 EPLCN_PCK_OD_NOTIFY_READ_IND RES Notification when Object is 0x138A 250 read 0x138B 6 1 41 EPLCN_PCK_OD_NOTIFY_WRITE_IND RES Notification when Object is 0x138C 253 written 0x138D 6 1 42 EPLCN_PCK_OD_UNDEFINED_NOTIFY_REGISTER_REQ CNF Register 0x13A0 256 for No
4. Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 14 Packet Data Length in bytes ulld UINT32 0 2 7 4 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x134E EPLCN_PCK_NEW_STATUS_ENTRY_IND Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_NEW_STATUS_ENTRY_IND_T usStatusEntryNu UINT16 Valid status Index into status entries in StatusResponse mper entry number number of status entries is configured by EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTR IES_REQ usEntryType UINT16 See Table 89 Status Entry Type Entry Type usErrorCode UINT16 See Table 90 Error code Table 95 aulAddInformatio UINT32 Error specific information n 2 Table 205 EPLCN_PCK_NEW_STATUS_ENTRY_IND Status Entry Written Indication Ethernet POWER
5. typedef struct EPLCN_PCK_OD_DELETE_DATATYPE_REQ DATA _Ttag TLR_UINT16 usDatatype EPLCN_PCK_OD_DELETE_DATATYPE_REQ_DATA_T typedef struct EPLCN_PCK_OD_DELETE_DATATYPE_REQ Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_OD_DELETE_DATATYPE_REQ DATA_T tData EPLCN_PCK_OD_DELETE_DATATYPE_REQ T Packet Description structure EPLCN_PCK_OD_DELETE_DATATYPE_REQ T Type Request Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 2 Packet Data Length in bytes ulld UINT32 0 2 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1392 EPLCN_PCK_OD_DELETE_DATATYPE_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_OD_DELETE_DATATYPE_REQ_DATA_T usDatatype UINT16 0x000 0xFFF Data type ID Table 217 EPLCN_PCK_OD_DELETE_DATATYPE_REQ Et
6. Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 18 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x134C EPLCN_PCK_WRITE_STATUS_ENTRY_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_WRITE_STATUS_ENTRY_REQ_DATA_T usStatusEntryNu UINT16 Valid status Index into status entries in StatusResponse met entrynumber number of status entries is configured by EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTR IES_REQ usEntryType UINT16 See Table 89 Status Entry Type Entry Type usErrorCode UINT16 See Table 90 Error code Table 95 aulAddInformatio UINT32 Error specific information n 2 fEnterErrorCondit BOOL32 specifies whether the NMT State machine has to enter ion Error condition TRUE Enter error co
7. Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 8 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1306 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_CONFIGUR ATION_IND Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData Structure EPLCN_PCK_STATE_IND_DATA_T usErrorProfile UINT16 Valid profile EPL Error Profile number Only indicated if fErrorLedlsOn was changed to TRUE from last known Error Led state usErrorCode UINT16 Valid error code Profile specific error code Only indicated if fErrorLedlsOn was changed to TRUE from last known Error Led state fErrorLedlsOn BOOL32 0 1 State of Error Led TRUE On FALSE Off Table 171 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_CONFIGURATION_IND NMT State Changed To ResetConfiguration Indication Ethernet POWERLINK Controlled
8. Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1391 EPLCN_PCK_OD_CREATE_DATATYPE_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 216 EPLCN_PCK_OD_CREATE_DATATYPE_CNF Create Data Type Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 240 297 6 1 35 EPLCN_PCK_OD_DELETE_DATATYPE_REQ CNF Delete a Data Type This packet deletes a data type from the object dictionary Note All objects using this data type will become inaccessible Packet Structure Reference
9. Packet Description structure EPLCN_PCK_SEND_EMERGENCY_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1331 EPLCN_PCK_SEND_EMERGENCY_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 198 EPLCN_PCK_SEND_EMERGENCY_CNF Send CANopen style Emergency Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 215 297 6 1 26 EPLCN_PCK_WRITE_ERROR_ENTRY_REQ CNF Write Error Entry This packet writes a new error entry into the error history For the exact definition of all fields see sections 5 2 9 5 and 5 2 9 6 of this document and the Ethernet Powerlink specification Packet Structure Reference typedef struct EPLCN_PCK_WRITE_
10. typedef struct EPLCN_PCK_STATE_CHG_REQ_TO_INITIALISING_IND_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_STATE_IND_DATA_T tData EPLCN_PCK_STATE_ CHG REQ TO _INITIALISING_IND_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 160 297 structure EPLCN_PCK_STATE_CHG REQ TO INITIALISING_IND_T Type Indication Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 8 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1300 EPLCN_PCK_STATE_CHG_REQ_TO_INITIALISING_R EQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not t
11. ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 10 Packet Data Length in bytes ulld UINT32 0 2 7 4 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1390 EPLCN_PCK_OD_CREATE_DATATYPE_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_OD_CREATE_ DATATYPE _REQ DATA _T usDatatype UINT16 Ox000 OxFFF Data type ID ulBitLength UINT32 0 2 1 Bit length of data type unit fVariableLength BOOL32 0 1 If set to TRUE the is a variable sized array of data type units Table 215 EPLCN_PCK_OD_CREATE_DATATYPE_REQ Create Data Type Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Interface 239 297 The Application Packet Structure Reference typedef struct EPLCN_PCK_OD_CRE Polk DASANE MERER CK ET HE AD ER_T tHead EPLCN_PCK_OD CREATE_DATATYPE_CNF_T Packet Description H_CNE_Ttag structure EPLCN_PCK_OD_CREATE_DATATYPE_CNF_T Type Confirmation
12. Packet Description structure EPLCN_PCK_GO_TO_ READY TO OPERATE_REQ T Type Request Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 29 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1320 EPLCN_PCK_GO_TO_READY_TO_OPERATE_REOQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch Table 191 EPLCN_PCK_GO_TO_READY_TO_OPERATE_REQ Go To NMT State ReadyToOperate Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference 207 297
13. TLR_PACKET_HE ADER_T tHead EPLCN_PCK_GO EPLCN_PCK_GO_TO_RESET_CONF IGURATION_CNF_Ttag TO_RESET_CONFIGURATION_CNF_T Packet Description structure EPLCN_PCK_GO_TO_RESET_CONFIGURATION_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1327 EPLCN_PCK_GO_TO_RESET_CONF IGURATION_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 168 EPLCN_PCK_GO_TO_RESET_CONFIGURATION_CNF Go To NMT State Reset Configuration Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 174 297 6 1 11 EPLCN_PCK_GO_TO_RESET_CONFIGURATION_CHG_NODE_ID_REQ CNF Go to NMT State Res
14. typedef struct EPLCN_PCK_NEW_ERROR_ENTRY_IND_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_NEW_ERROR_ENTRY_IND_DATA_T tData EPLCN_PCK_NEW_ERROR_ENTRY_IND_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 219 297 structure EPLCN_PCK_NEW_ERROR_ENTRY_IND_T Type Indication Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 12 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x134A EPLCN_PCK_NEW_ERROR_ENTRY_IND Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_NEW
15. The confirmation packet EPLCN_DPM_SET_CONFIGURATION_CNF only transfers simple status information but does not repeat the whole parameter set For all former versions up to firmware version V2 0 10 inclusively only the warmstart command the predecessor of the set configuration command was present showing up the following deviations from the behavior described above Multiple warmstart set configuration packets may be sent allowing a reconfiguration of the stack during run time Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Getting started Configuration 49 297 4 3 Configuration of an Ethernet Powerlink Controlled Node 4 3 1 Steps and Hints to configuring with Warmstart Packet The following illustration explains the sequence of steps how to configure the Ethernet POWERLINK Controlled Node stack by sending a warmstart packet to it Register Application using EPLCN_PCK_ REGISTER_REQ Get Status of the Firmware Wait for the response and check if there were no errors to this point Build and Send the Warmstart Packet EPLCN_DPM_WARMSTART _REQ Get Status of the Firmware Check if there were errors and Figure 8 Sequence of Steps how to configure the Ethernet Powerlink Controlled Node Protocol API Stack by sending a Warmstart Packet Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released
16. Note The response has to be sent back in order to complete the write access If it is not returned in time the entire request will be aborted Packet Structure Reference typedef struct EPLCN_PCK_OD NO RISER YS lt Eis NI nl AGAR iterciicy TLR_UINT16 usObjIndex TLR_UINTS8 EPLEN_PCK_OD bSubIdx data follows here OTIFY_WRITE IND_DATA_T typedef struct EPLCN_PCK_OD NOTIFY_WRIT E _ IND_ Ttag TMILIR_ ev ET HE ADEREN EPLCN_PCK_OD NOTIFY_WRITE tHead IND_DATA_T EPLCN_PCK_OD NOTIFY_WRITE IND_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public EDate Hilscher 2006 2013 The Application Interface Packet Description 254 297 structure EPLCN_PCK_OD_NOTIFY_WRITE_IND_T Type Indication Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen
17. cccceeeeeesteeeeteeseneeeeees 140 Table 138 Object 0x1F98 NMT_CycleTiming REC PResMaxLatency _U32 cccsccceeseeeeeeseeeeeesteeeessneeees 141 Table 139 Object 0x1F98 NMT_CycleTiming_REC PRegActPayloadLimit_U16 cccccesseeceesssseeeesseees 141 Table 140 Object 0x1F98 NMT_CycleTiming_REC PResActPayloadLimit_U16 cccscceesseeeeseteeeeeteeees 142 Table 141 Object 0x1F98 NMT_CycleTiming_REC ASndMaxLatency _U32 ccecscccecsececeesseeeeeesneeeessneeees 142 Table 142 Object 0x1F98 NMT_CycleTiming_REC MultiplCycleCnt_U8 eee eeeeeeeeeeeeeeeeteteeeeeeseaeeeeaeees 143 Table 143 Object 0x1F98 NMT_CycleTiming_REC AsynCMTU_U16 cc eceeececeeeeeeeeeeeeeeeeeteaeeeeeeeseaeeenatens 143 Table 144 Object 0x1F98 NMT_CycleTiming_REC Prescaler_U16 c ceecceeeceeeeeeeeeeeseneeeeeeeseaeeeeeeeseaeeeeatens 144 Table 145 Object 0x1F99 NMT_CNBasicEthernetTimeout_U82 ceccccccecsceceeeeneeeeeeeeeeeeeeeeeessaeeesseeeeessnneees 145 Table 146 Object Ox1F9E NMT_ResetCmd_U8 ccccccecceesneceesseeeeeeeeeeeceaeeesseaeeesenaaeeeseaeeessseeessseeessenneess 146 Table 147 EPLCN_PCK Task Process QU UG ccccccseceeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeceeeeeeeeueeueueueneeeneneeeees 148 Table 148 Overview over the Packets of the EPLCN_PCK Task of the Powerlink Slave Protocol Stack 150 Table 149 EPLCN_PCK_SET_IO_SIZES_REQ Set I O sizes re
18. EPLCN_PCK_OD_UNDEFINED_NOTIFY_UNREGISTER_CNF_T Packet Description structure EPLCN_PCK_OD_UNDEFINED_NOTIFY_UNREGISTER_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 2 7 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x13A3 EPLCN_PCK_OD_UNDEF INED_NOTIFY_UNREGISTER _CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 234 EPLCN_PCK_OD_UNDEFINED_NOTIFY_UNREGISTER_CNF Undefined Object Notification Unregister Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 260 297 6 1 44 EPLCN PCK OD UNDEFINED READ PREPARE IND RES Indication of Stack to request Data Type Information This packet requests the data type information i e the data type ID
19. 2 7 4 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1350 EPLCN_PCK_WRITE_STATIC_BIT_FIELD_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_WRITE_STATIC_BIT_FIELD_REQ_DATA_T bBitNumber UINT8 0 63 Number of bit to be set fBitValue BOOL8 0 1 Value of bit to be set TRUE Set bit to 1 FALSE Set bit to 0 Table 207 EPLCN_PCK_WRITE_STATIC_BIT_FIELD_REQ Write Static Error Bit Field Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference 228 297 typedef struct EPLCN_PCK_WRITE_STATIC_BIT_FIELD_CNF_Ttag i TLR_PACKET_HEADER_T tHead EPLCN_PCK_WRITE_STATIC_BIT_FIELD_CNF_T Packet Description structure EPLCN_PCK_WRITE_STATIC_BIT_FIELD_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for
20. Cyclic Data To The Network Table 9 Output Data Image Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 24 297 3 2 Acyclic Data Mailboxes The mailbox of each communication channel has two areas that are used for non cyclic message transfer Send Mailbox Packet transfer from host system to firmware Receive Mailbox Packet transfer from firmware to host system The send and receive mailbox areas are used by field bus protocols providing a non cyclic data exchange mechanism Another use of the mailbox system is to allow access to the firmware running on the netX chip itself for diagnostic and identification purposes The send mailbox is used to transfer cyclic data to the network or to the firmware The receive mailbox is used to transfer cyclic data from the network or from the firmware A send receive mailbox may or may not be available in the communication channel It depends on the function of the firmware whether or not a mailbox is needed The location of the system mailbox and the channel mailbox is described in the netX DPM Interface Manual Note Each mailbox can hold one packet at a time The netX firmware stores packets that are not retrieved by the host application in a packet queue This queue has limited space and may fill up so new packets maybe lost To avoid these data loss situations it is strong
21. This is a counter for errors due to incompatible PDO mapping Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 39 297 ulUnexpectedEndOfPdoCounter This is a counter for the occurrence of unexpected end of PDO events ulStateChangesDueSoCLoss ulStateChangesDueSoCuiiter ulStateChangesDuePReqLoss ulStateChangesDueSoALoss ulStateChangesDueCollision ulStateChangesDueCrcError ulStateChangesDueBusOff These are counters for changes of the NMT Status due to the following error events Loss of SoC Jitter of SoC Loss of PReq Loss of SoA Collision CRC Error ulPResBufferExchangeFailures This is counter for PRes buffer exchange failures ulWatchdogErrorsOccurred This is a counter for the number of watchdog errors which have occurred ulMarker This item is reserved usActPResSize This 16 bit variable contains the current size of the PRes frame bFirstPResDone This is a Boolean value which is set if a PRes is sent to the Ethernet Powerlink Managing Node for the first time Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 40 297 3 4 Control Block A control block is always present within the communication channel In some respects control and status block are used together in order to exchange information between host
22. 0xC0280008 TLR_E_OD2_INVALID_INDEX Object does not exist 0xC0280009 TLR_E_OD2_SUBOBJECT_NOT_ALLOCATED Subobject does not exist 0xC028000A TLR_E_OD2_BUFFER_TOO_SMALL Buffer too small 0xC028000B TLR_E_OD2_READ_ONLY Attempted to write a read only object 0xC028000C TLR_E_OD2_WRITE_ONLY Attempted to read a write only object 0xC028000D TLR_E_OD2_SUBOBJECT_CNT_MISMATCH Subobject count mismatch 0x8028000E TLR_W_OD2_SUBOBJECT_IS_ADDRESSED_RELATIVE Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 CN has no valid output data Status Error Codes Overview 290 297 Hexadecimal Definition Value Description 0xC028000F TLR_E_OD2_NOT_ENOUGH_MEMORY Out of memory 0xC028010 TLR_E_OD2_CALLBACK_IS_ LOCKED Callback storage is locked 0xC0280011 TLR_E_OD2_DATATYPE_LENGTH_TOO_LONG Data type length is too long 0xC0280012L TLR_E_OD2_PDO_LENGTH_WOULD_EXCEED PDO length would exceed maximum transfer size 0xC0280013L TLR_E_OD2_OBJECT_CANNOT_BE_PDO_MAPPED An object cannot be mapped in a PDO 0xC0280014 TLR_E_OD2_BUFFER_TOO BIG Buffer too big 0xC0280015 TLR_E_OD2 UNSUPPORTED_ACCESS Unsupported access 0xC0280016 TLR_E_OD2_VALUE_WRITTEN_TOO_HIGH Value written too high 0xC0280017 TLR_E_OD2_VALUE_WRITTEN_TOO_LOW Value written too low 0xC0280018L TLR_E_OD2_OBJECT_ALREADY_EXISTS Object
23. AsyncMTU_U16 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview Prescaler_U16 144 297 This item represents the so called toggle rate of the SoC PS flag It indicates the number of cycles which are necessary for the Ethernet Powerlink Managing Node in order to toggle this flag A value of 0 indicates that toggling the SoC PS flag is not supported by the Ethernet POWERLINK Controlled Node Sub Index 9 Name Prescaler_U16 Description Data type UNSIGNED16 Entry Category Optional Access Read Write PDO mapping No Value 0 1 1000 Default value 2 Table 144 Object 0x1F98 NMT_CycleTiming_REC Prescaler_U16 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 145 297 5 2 10 13 Object 0x1F99 NMT_CNBasicEthernetTimeout_U32 This object is used for specifying the time in units of microseconds how long the Ethernet POWERLINK Controlled Node will wait until it switches from the state NUT_CS NOT ACTIVE to the state NUT_CS_BASIC_ETHERNET If a value of 0 is specified the Controlled Node will remain in state NUT_CS_NOT_ACTIVE and there will never be a fall back to the state NUT_CS BASIC_ETHERNET Index 0x1F99 Name NMT_CNBasicEthernetTimeout_U32 Description Basic Ethernet
24. DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 137 297 Overview 5 2 10 10Object 0x1F83 NMT_EPLVersion_U8 This object contains the version number of the communication profile supported by the Ethernet POWERLINK Controlled Node This value is set up by the firmware during initialization Index 0x1F83 Name NMT_EPLVersion_U8 Description Version number of Ethernet Powerlink Communication Profile Object code VAR Data type UINT8 Category Mandatory Access Constant PDO mapping No Value Range No no default Table 132 Object 0x1F83 NMT_EPLVersion_U8 The information representation is as follows The Ethernet Powerlink main version number is contained in bits 7 4 The Ethernet Powerlink sub version number is contained in bits 3 0 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 5 2 10 11 Object 0x1F8C NMT_CurrNMTState_U8 138 297 This object holds the current state of the Ethernet POWERLINK Controlled Node a cumulative counter Sub index 1 For more information about the allowed states see section 5 1 State Machine of this document Index 0x1F8C Name NMT_CurrNMTState_U8 Description Current state of the Ethernet POWERLINK Controlled Node Object code VAR Data type UNSIGNED8 Category Mandatory
25. Sub Index 3 accesses only the application related parameters Index values 6000h 9FFFh are reserved for manufacturer specific application parameters Sub Indices 4 127 are reserved for manufacturer specific parameters Index 0x1011 Name NMT_RestoreDefParam_REC Description Restore parameters Object code RECORD Data type UNSIGNED32 Category Optional Table 42 NMT_RestoreDefParam_REC NumberOfEntries This implementation dependent sub index NMT_RestoreDefParam_REC object contains the number of entries of the Sub Index 0 Name NumberOfEntries Description Largest subindex supported Entry Category Mandatory Access Constant PDO mapping No Value 1 127 There is no default value Table 43 NMT_RestoreDefParam_REC NumberOfEntries Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview AllParam_U32 85 297 This sub index relates to information relevant to all parameters that can be stored on the device Sub Index 0 Name AllParam_U32 Description Restore all parameters Entry Category Mandatory Access Read write PDO mapping No Value 0 2 1 UNSIGNED32 There is no default value Table 44 NMT_RestoreDefParam_REC AllParam_U32 CommunicationParam_U32 This sub index relates only to information specifically
26. UINT32 ulDeviceWatchdog NETX_CONTROL_BLOCK_T For more information concerning the Control Block please refer to the netX DPM Interface Manual Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Getting started Configuration 41 297 4 Getting started Configuration This section explains some essential information you should know when starting to work with the Ethernet POWERLINK Controlled Node Protocol API 4 1 Overview about Essential Functionality You can find the most commonly used functionality of the Ethernet POWERLINK Controlled Node Protocol API within the following sections of this document Topic Section Section Name Number Set Configuration 6 2 2 EPLCN_DPM_SET_CONFIGURATION_REQ CNF Configure Controlled Node Cyclic data 6 1 31 EPLCN_PCK_OD_CREATE_OBJECT_REQ CNF Create Object transfer Input Output Note Use this packet to create a PDO object in order to establish cyclic communication 6 1 32 EPLCN_PCK_OD_CREATE_SUBOBJECT_REQ CNF Create a Subobject 6 1 33 EPLCN_PCK_OD_DELETE_OBJECT_REQ CNF Delete an Object Acyclic data 6 1 31 EPLCN_PCK_OD_CREATE_OBJECT_REQ CNF Create Object transfer N
27. is used to transfer cyclic process data from the network normal or high priority Send Mailbox is used to transfer non cyclic data to the netX Receive Mailbox is used to transfer non cyclic data from the netX Control Block allows the host system to control certain channel functions Common Status Block holds information common to all protocol stacks Extended Status Block holds protocol specific network status information This section describes a procedure how to obtain useful information for accessing the communication channel s of your netX device and to check if it is ready for correct operation Proceed as follows 1 2 Start with reading the channel information block within the system channel usually starting at address 0x0030 Then you should check the hardware assembly options of your netX device They are located within the system information block following offset 0x0010 and stored as data type UINT16 The following table explains the relationship between the offsets and the corresponding xC Ports of the netX device 0x0010 Hardware Assembly Options for xC Port 0 0x0012 Hardware Assembly Options for xC Port 1 0x0014 Hardware Assembly Options for xC Port 2 0x0016 Hardware Assembly Options for xC Port 3 Check each of the hardware assembly options whether its value has been set to RCX_HW_ASSEMBLY_ETHERNET 0x0080 If true this denotes that this xCPort is suitable f
28. 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference EPLCN_PCK_ENTER typedef struct TLR_PACKET_HEADER_T tHead EPLCN_PCK_ENTER_ERROR_CONDITION_CNF_T Packet Description 211 297 ERROR_CONDITION_CNF_Ttag structure EPLCN_PCK_ENTER_ERROR_CONDITION_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 2 7 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1345 EPLCN_PCK_ENTER_ERROR_CONDITION_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 196 EPLCN_PCK_ENTER_ERROR_CONDITION_CNF Enter Error Condition Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Applicati
29. Command ulExt UINT32 O Extension reserved ulRout UINT32 x Routing information do not change Table 202 EPLCN_PCK_NEW_ERROR_ENTRY_RES New Error Entry Written Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 221 297 6 1 28 EPLCN_PCK_WRITE_STATUS_ENTRY_REQ CNF Write Status Entry This packet writes a new Status Entry into the StatusResponse frame Packet Structure Reference typedef struct EPLCN_PCK_WRITE_STATUS ENTRY_REQ_DATA_Ttag TLR_UINT16 usStatusEntryNumber TLR_UINT16 usEntryType TLR_UINT16 usErrorCode TLR_UINT32 aulAddInformation 2 TLR_BOOLEAN32 fEnterErrorCondition EPLCN_PCK_WRITE_STATUS_ENTRY_REO_DATA_T typedef struct EPLCN_PCK_WRITE_STATUS ENTRY_REQ Ttag TLR_PACKET_HEADER_T tHead EPLEN_PCK_WRITE_STATUS_ENTRY_REQ_DATA_T tData EPLCN_PCK_WRITE_STATUS_ENTRY_REQ T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 222 297 structure EPLCN_PCK_WRITE_STATUS_ENTRY_REQ T Type Request
30. DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Fundamentals 17 297 Example This example applies to command messages initiated by a process in the context of the host application If the process 22 sends a packet through the channel mailbox to the AP task the packet header has to be filled in as follows Object Variable Numeric Value Explanation Name Destination ulDest 32 This value needs always to be set to 0x00000020 the channel Queue 0x00000020 token when accessing the protocol stack via the local Handle communication channel mailbox Source ulSre 444 Denotes the host application 444 Queue Handle Destination ulDestId 0 In this example it is not necessary to use the destination Identifier identifier Source ulSrcId 22 Denotes the process number of the process within the host Identifier application and needs therefore to be supplied by the programmer of the host application Table 7 Example for correct Use of Source and Destination related parameters For packets through the channel mailbox the application uses 32 0x20 Channel Token for the destination queue handler u Dest The source queue handler ulSrc and the source identifier u Srcid are used to identify the originator of a packet The destination identifier u Destld can be used to address certain resources in the protocol stack It is not used in this example The source que
31. Delete the whole object usIndex UINT16 0x1000 0xFFF Index of the object F bSubldx UINT8 0 0xFF Subindex of the subobject only applicable if fDeleteWholeObject equals FALSE Table 213 EPLCN_PCK_OD_DELETE_OBJECT_REQ Delete Object Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference 237 297 typedef struct EPLCN_PCK_OD_DELETE_OBJECT_CNF_Ttag i TLR_PACKET_HEADER_T tHead EPLCN_PCK_OD_DELETE_OBJECT_CNF_T Packet Description structure EPLCN_PCK_OD_DELETE_OBJECT_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 297 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1385 EPLCN_PCK_OD_DELETE_OBJECT_CNF Command ulExt UINT32 0 Extension re
32. Public Hilscher 2006 2013 Getting started Configuration 50 297 In detail proceed according to the following sequence of steps in order to configure the Ethernet POWERLINK Controlled Node Stack by warmstart parameters Register application This is done by packet EPLCN_PCK_REGISTER_REQ See section EPLCN_PCK_REGISTER_REQ CNF Registration at NMT State Indication Notification Table of this document for more information Registering is necessary in order to be able to receive indications when the state of the slave changes The confirmation packet delivers a handle to be stored for future use Get Status of the Firmware Evaluate the status code ulSta delivered with the EPLCN_PCK_REGISTER_CNF packet in order to get the status see section 7 1 Status Error Codes on page 286 If the error code TLR_E_EPL_NMT_NO_MORE_APP_HANDLES 0xC017001B appears not enough handles are available internally within the protocol stack This means that too many queues have already registered and you need to wait till some queue unregisters Wait for the response and check if no errors occurred until this point Also check for errors of the physical connection Build and Send the Warmstart Packet After receiving a warm start packet see section EPLCN_DPM_WARMSTART_REQ CNF Configure Controlled Node on page 270 of this document the Ethernet POWERLINK Controlled Node Stack stack will initia
33. The protocol stack counts all sorts of errors in this field no matter if they were network related or caused internally Error Log Indicator All Implementations Not supported yet The error log indicator field holds the number of entries in the internal error log If all entries are read from the log the field is set to zero 3 3 1 2 Master Implementation In addition to the common status block as outlined in the previous section a master firmware maintains the additional structures for the administration of all slaves which are connected to the master These are not discussed here as they are not relevant for the Ethernet POWERLINK Controlled Node acting in the role of a slave 3 3 1 3 Slave Implementation The slave firmware uses only the common structure as outlined in section 3 2 5 1 of the Hilscher netX Dual Port Memory Manual Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 36 297 3 3 2 Extended Status The content of the channel specific extended status block is specific to the implementation Depending on the protocol a status area may or may not be present in the dual port memory It is always available in the default memory map see section 3 2 1 of netX Dual Port Memory Manual Note Have in mind that all offsets mentioned in this section are relative to the beginning of the common status block as the start offset o
34. if you provide it with the name of the queue and an instance of your own task The correct ASCll queue names for accessing the EPLCN_PCK Task or the EPLCN_DpPM Task which you have to use as current value for the first parameter pszldn is ASCII Queue name Description QUE_EPLCN_PCK Name of the EPLCN_PCK Task process queue QUE_EPLCN_DPM Name of the EPLCN_DPM Task process queue Table 4 Names of Queues in EtherNet IP Firmware The returned handle has to be used as value ulDest in all initiator packets the AP Task intends to send to the EPLCN_PCK Task This handle is the same handle that has to be used in conjunction with the macros like TLR_QUE_SENDPACKET_FIFO LIFO for sending a packet to the respective task 2 2 2 Meaning of Source and Destination related Parameters The meaning of the source and destination related parameters is explained in the following table Variable Meaning ulDest Application mailbox used for confirmation ulSre Queue handle returned by TLR_QUE_IDENTIFY as described above ulSrcId Used for addressing at a lower level Table 5 Meaning of Source and Destination related Parameters For more information about programming the AP task s stack queue please refer to the Hilscher Task Layer Reference Model Manual Especially the following sections might be of interest in this context 1 Cha
35. structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 3 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0Ox13E0 EPLCN_DPM_CHANGE_MAPPING_VERS_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_DPM_CHANGE_MAPPING_VERS_REQ_DATA_T bPReqMappingV UINT8 PReq mapping version ersion bPResMappingV UINT8 PRes Mapping Version ersion fCheckPReqMap BOOL8 Enables Disables check for PReq Mapping Version pingVersion TRUE Enabled Table 249 EPLCN_DPM_CHANGE_MAPPING_VERS_REQ Enter Error Condition Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference typedef struct TLR_PACKET_HE AD ER_T tHead 285 297 EPLCN_DPM_CHANGE_MAPPING_VI EPLCN_DPM_CHANGE_ MAPPING VER
36. 0 255 PRes Mapping Version ersion Can be reconfigured with packet EPLCN_DPM_CHANGE_MAP_VERS_REQ bNumberOfStatu UINT8 0 32 Number of status entries in the StatusResponse sEntries Can be reconfigured with packet EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTR IES_REQ ulPReqErrorThre UINT32 0 2 1 PReq Bus Synchronous error threshold shold ulPResErrorThre UINT32 0 2 7 1 PRes Bus Synchronous error threshold shold ulSyncFlagErrorT UINT32_ 0 2 1 Sync Flag error threshold hreshold ulDeviceType UINT32 0 2 1 Device Type since firmware version 2 1 38 0 This field defines the device type holding the profile of the device the stack will return when requested for an IdentResponse or object 0x1000 is read out Table 247 EPLCN_DPM_SET_CONF IGURATION_REQ Warmstart Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 281 297 The system flags define MSK_EPLCN_DPM_SET_CONFIGURATION_APP_CONTROLLED 0x0001 If MSK_EPLCN_DPM_SET_CONFIGURATION_APP_CONTROLLED is Set the firmware will wait until the application has set the Bus On Off bit in the handshake cell Otherwise the firmware will automatically be able to go into Operational state If MSK_EPLCN_DPM_SET_CONFI
37. 0x1313 6 1 20 EPLCN_PCK_STATE_CHG_TO_BASIC_ETHERNET_IND RES NMT State 0x1314 200 changed to BasicEthernet 0x1315 6 1 21 EPLCN_PCK_STATE_ENABLE_RDY_TO_OPERATE_IND RES NMT 0x1316 203 Command EnableReadyToOperate received 0x1317 6 1 22 EPLCN_PCK_GO_TO_READY_TO_OPERATE_REQ CNF Go to NMT State 0x1320 206 ReadyToOperate 0x1321 6 1 23 EPLCN_PCK_RESET_NODE_REQ CNF Reset EPL Node 0x1360 208 0x1361 6 1 24 EPLCN_PCK_ENTER_ERROR_CONDITION_REQ CNF Enter Error 0x1344 210 Condition 0x1345 6 1 25 EPLCN_PCK_SEND_EMERGENCY_REQ CNF Send Emergency 0x1330 212 0x1331 6 1 26 EPLCN_PCK_WRITE_ERROR_ENTRY_REQ CNF Write Error Entry 0x1346 215 0x1347 6 1 27 EPLCN_PCK_NEW_ERROR_ENTRY_IND RES Indication of a new Error 0x134A 218 Entry written 0x134B 6 1 28 EPLCN_PCK_WRITE_STATUS_ENTRY_REQ CNF Write Status Entry 0x134C 221 0x134D 6 1 29 EPLCN_PCK_NEW_STATUS_ENTRY_IND RES Indication of a Status Entry 0x134E 224 written 0x134F 6 1 30 EPLCN_PCK_WRITE_STATIC_BIT_FIELD_REQ CNF Write a Bit in the 0x1350 227 Static Bit Field 0x1351 6 1 31 EPLCN_PCK_OD_CREATE_OBJECT_REQ CNF Create Object 0x1380 229 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 150 297
38. 12 English 2013 10 Released Public Hilscher 2006 2013 Introduction 7 297 1 3 Functional Overview This stack has been written to meet the requirements outlined in the EPL specification The user of this stack is provided with a fully functional general purpose Software package with the following main features Implementation of the EPL state machine Implementation of the CANopen style object dictionary according to the EPL specification 1 4 System Requirements This software package has the following environmental system requirements netX Chip as CPU hardware platform Operating system for task scheduling required 1 5 Intended Audience This manual is suitable for software developers with the following background Knowledge of the programming language C Knowledge of the use of the real time operating system rcX Knowledge of the Hilscher Task Layer Reference Model Knowledge of the Ethernet Powerlink V 2 0 Specification Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Introduction 8 297 1 6 Specifications The data below applies to the POWERLINK Controlled Node firmware and stack version V2 1 x x 1 6 1 Technical Data State Machine Implementation of the EPL state machine Object dictionary Implementation of the CANopen style object dictionary according to the EPL specification Technical Data Maximum number of cyclic input dat
39. 2013 Overview 100 297 PDO mapping for the input object to be mapped Sub Index 1 254 Name Object mapping Description PDO mapping for the input object to be mapped Data type UNSIGNED64 Entry Category Optional Access Read only PDO mapping No Value o 2 1 Default value 0 Table 72 Transmit PDO Mapping PDO Mapping for the Input Object to be mapped The bit mask of the values describing the mapping has the following meaning Object Mapping Interpretation of values UNSIGNED64 No of 63 48 47 32 31 24 23 16 15 0 bits Name Length Offset Reserved Sub index Index Data type UNSIGNED16 UNSIGNED16 UNSIGNED8 UNSIGNED16 Table 73 Receive PDO Mapping Object Mapping Interpretation of Values Remarks The length means the number of bits of the PDO and the mapped objects respectively if a gap in the PDO is intended specify the bit length of the gap here The offset means the number of the first bit of the PDO and the mapped objects related to start of PDO data area respectively The index and the sub index apply to the mapped object if a gap in the PDO is intended specify the value 0 here 5 2 7 5 Possible Error Situations due to PDO Mapping There are two main kinds of errors when performing PDO mapping Incompatible Mapping Versions If an incompatible mapping is received the PDO should just be ignored This event will be logge
40. 6 1 16 EPLCN PCK STATE CHG TO PRE OPERATIONAL 2 IND RES NMT State changed to Pre Operational 2 This packet indicates a change of the NMT state to Pre Operational 2 See section 5 1 State Machine for more information about NMT states Packet Structure Reference typedef struct EPLCN_PCK_STATE_IND_DATA_Ttag TERS UTNE 6 usErrorProfile TLR_UINT16 usErrorCode TLR_BOOLEAN32 fErrorLedIsOn BPLON PCR STATE IND DATA T typedef struct EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_2_IND_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_STATE_IND_DATA_T tData EPLCN_PCK_STATE_CHG_TO_PRE_ OPERATIONAL 2 IND_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 189 297 structure EPLCN_PCK_STATE_CHG_TO_ PRE_OPERATIONAL 2 IND_T Type Indication Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initial
41. Access Read only PDO mapping Yes Value Range All possible states Default NUT_CS_ NOT ACTIVE Table 133 Object Ox1F8C NMT_CurrNMTState_U8 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 5 2 10 12Object 0x1F98 NMT_CycleTiming_REC 139 297 This object allows to adjust some timing parameters of the Ethernet POWERLINK Controlled Node Index 0x1F98 Name NMT_CycleTiming_REC Description Timing parameters Object code RECORD Data type NMT_CycleTiming_TYPE Category Mandatory Table 134 Object 0x1F98 NMT_CycleTiming_REC NumberOfEntries Sub Index 0 Name NumberOfEntries Description Number of entries Entry Category Mandatory Access Const PDO mapping No Value Range 9 Default value 9 Table 135 Object 0x1F98 NMT_CycleTiming_REC NumberOfEntries Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview IlsochrTxMaxPayload_U16 140 297 This item specifies the allowed upper limit of the data area size to be transmitted by the device within isochronous messages The size of PRes telegrams is limited by this item Sub Index 1 Name IsochrTxMaxPayload_U16 Description Upper limit for data area size in isochronous data transmission Data type UNSIGNE
42. Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x13A1 EPLCN_PCK_OD_UNDEFINED_NOTIFY_REGISTER_C NF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 232 EPLCN_PCK_OD_UNDEF INED_NOTIFY_REGISTER_CNF Undefined Object Notification Register Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 258 297 6 1 43 EPLCN_PCK_OD_UNDEFINED_NOTIFY_UNREGISTER_REQ CNF Unregister for Notification of Undefined Objects This packet unregisters the AP task from indications of read and write attempts to non existing objects in the object dictionary Packet Structure Reference typedef struct EPLCN_PCK_OD_UNDEFINED_NOTIFY_UNREGISTER_REQ_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_OD_UNDEFINED_NOTIFY_UNREGISTER_REQ_ T Packet Description structure E
43. EPLCN_PCK_OD_CREATE_SUBOBJECT_REQ_DATA_T typedef struct EPLCN_PCK_OD_CREATE_SUBOBJECT_REQ Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_OD_CREATE_SUBOBJECT_REQ_DATA_T tData EPLCN_PCK_OD_CREATE_SUBOBJECT_REQ_T Packet Description structure EPLCN_PCK_OD_CREATE_SUBOBJECT_REQ T Type Request Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 19 Packet Data Length in bytes ulld UINT32 0 2 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1382 EPLCN_PCK_OD_CREATE_SUBOBJECT_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_OD_CREATE_SUBOBJECT_REQ_DATA_T ulMode UINT32 0 1 Creation mod
44. EPLCN_PCK_OD_NOTIFY_REGISTER_CNF Object Notify Register Confirmation cceeeee 247 Table 225 EPLCN_PCK_OD_NOTIFY_UNREGISTER_REQ Object Notify Unregister Request ceeeee 248 Table 226 EPLCN_PCK_OD_NOTIFY_UNREGISTER_CNF Object Notify Unregister Confirmation 249 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Appendix 296 297 Table 227 EPLCN_PCK_OD_NOTIFY_READ_IND Object Read Indication ecceecceeeseeeeeeeeeeeeeeeeseeeeeatens 251 Table 228 EPLCN_PCK_OD_NOTIFY_READ_RES Object Read ReSponse cccceesceeeseeeeeeeteeeeeeeeseeeeeates 252 Table 229 EPLCN_PCK_OD_NOTIFY_WRITE_IND Object Write Indication c ceecceeseeeeeeeeteneeeeeeteeeeeatens 254 Table 230 EPLCN_PCK_OD_NOTIFY_WRITE_RES Object Write RESPONSE c ceeceeeeeeeeeeteneeteneeteeeenetes 255 Table 231 EPLCN_PCK_OD_UNDEFINED_NOTIFY_REGISTER_REQ Undefined Object Notification Register Request s an E E E E E E E E E TA E E A 256 Table 232 EPLCN_PCK_OD_UNDEFINED_NOTIFY_REGISTER_CNF Undefined Object Notification Register C
45. Entry Category Mandatory Access Read Write PDO mapping No Value 0 255 Default value none Table 77 SDO SDO_ServerContainerParam_XXh_REQ ServerNode lD_U8 ContainerLen_U8 This item represents the maximum data length of the container for the SDO server in bytes including the length of the header Sub Index 3 Name ContainerLen_U8 Description Container Length Data type UNSIGNED8 Entry Category Mandatory Access Read Write PDO mapping No Value 0 255 Default value none Table 78 SDO SDO_ServerContainerParam_XXh_REQ ContainerLen_U8 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview HistorySize_U8 This item represents the size of the client history 104 297 Sub Index 4 Name HistorySize_U8 Description History Size Data type UNSIGNED8 Entry Category Mandatory Access Read Write PDO mapping No Value 0 63 Default value none Table 79 SDO SDO_ServerContainerParam_XXh_REQ HistorySize_U8 5 2 8 2 SDO Client Container Parameter Index 0x1280 0x12FF Name SDO_ClientContainerParam_XXh_REQ Description SDO Client Container Parameter Object code SDO_ParameterRecord_TYPE Data type RECORD Category Optional Table 80 SDO SDO_ClientContainerParam_XXh_REQ NumberOfEntries This item represents the
46. Ethernet Powerlink firmware described in this document provides error recognition for too large jitter of SoC events on the network this object can be used for monitoring such events detected by the Ethernet POWERLINK Controlled Node The object provides the following items a cumulative counter Sub index 1 a threshold counter data object Sub index 2 its threshold data object Sub index 3 Index 0x1C0E Name DLL_CNSoCuitter_REC Description SoC Jitter recognition counter and threshold object of Ethernet Powerlink Data Link Layer Object code RECORD Data type DLL_ErrorCntRec_TYPE Category Conditional Table 117 Object 0x1COE DLL_CNSoCuitter_REC NumberOfEntries This item contains the number of entries of the object Sub Index 0 Name NumberOfEntries Description Number of entries Access Read only PDO mapping No Value Range 1 3 Default value 3 Table 118 Object 0x1COE DLL_CNSoCJitter_REC NumberOfEntries Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 128 297 CumulativeCnt_U32 The cumulative counter should be incremented by 1 each time a SoC jitter event occurs Its value is the sum of all monitored SoC jitter events that were detected by the Ethernet POWERLINK Controlled Node Sub Index 1 Name CumulativeCnt_U32 Description Cumul
47. Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference typedef struct 179 297 EPLCN_PCK_STATE CHGER FOMEOSRESETACONETCURAMITONECNERARNESY TLR_PACKET_HE ADER_T tHead EPLCN_PCK_STATE_CHG_REQ TO RESET _CONFIGURATION_CNF_T Packet Description structure EPLCN_PCK_STATE_CHG REQ TO RESET _CONFIGURATION_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32_ 0x1307 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_CONFIGUR ATION_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 172 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_CONFIGURATION_CNF NMT State Changed to R
48. POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Getting started Configuration 43 297 Default 1 Revision Number Revision number of the device as specified by the 0x00000000 manufacturer OxFFFFFFFF Default 0 Serial Number Serial number of the device 0x00000000 OxFFFFFFFF Default 0 Disable Host Triggered Input Data Exchange Bit 0 of the stack configuration flags controls the host triggered input data exchange MSK_EPLCN_DPM_SET_CONFIG_STACK_CFG_DISABLE_ HOST_TRIGGERED_INPUT_XCHG 0 Host Triggered Update enabled 1 Host Triggered Update disabled Default Host Triggered Update enabled Disable Host Triggered Output Data Exchange Bit 1 of the stack configuration flags controls the host triggered output data exchange MSK_EPLCN_DPM_SET_CONFIG_STACK_CFG_DISABLE_ HOST_TRIGGERED_OUTPUT_XCHG 0 Host Triggered Update enabled 1 Host Triggered Update disabled Default Host Triggered Update enabled Configure Default Objects Bit 2 of the stack configuration flags controls whether the default objects have to be configured MSK_EPLCN_DPM_SET_CONFIG_STACK_CFG_CONFIGU RE_DEFAULT_OBJECTS 0 Do not create default objects 1 Create default objects If the objects will be created the old set of previously existing objects will be cleared Default Create default objects Delete Applicati
49. Packet Description DATA_RES_DATA_T tData EPLCN_PCK_OD_UNDEFINED_READ DATA_RES_T Type Response structure EPLCN_PCK_OD_UNDEFINED_READ DATA RES T Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 n Packet Data Length in bytes ulld UINT32 0 2 7 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x13AB EPLCN_PCK_OD_UNDEFINED_READ_DATA_RES Command ulExt UINT32 O Extension reserved ulRout UINT32 x Routing information do not change tData Structure EPLCN_PCK_OD_UNDEFINED_READ_DATA_RES_DATA_T abData UINT8 n Data of the object Table 238 EPLCN_PCK_OD_UNDEFINED_READ_DATA_RES Undefined Object Read Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 266 297 6 1 46 EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_IND RES Undefined Object Write I
50. SIZE PDO will exceed Poll In size 0xC0170008 TLR_E_EPL_NMT_PDO_EXCEEDS_POLL_OUT_SIZE PDO will exceed Poll Out size 0xC0170009 TLR_E_EPL_NMT_INVALID_ STARTUP_PARAMETER Invalid startup parameters for task 0xC017000A TLR_E_EPL_NMT_INVALID_STATE_CHANGE Invalid state change requested 0xC017000B TLR_E_EPL_NMT_FAILED_TO_LOCK_MUTEX Failed to lock mutex 0xC017000C TLR_E_EPL_NMT_COULD_NOT_CREATE_SDO_MUTEX Could not create SDO mutex 0xC017000D TLR_E_EPL_NMT_COULD_NOT_CREATE_NMT_MUTEX Could not create NMT mutex 0xC017000E TLR_E_EPL_NMT_COULD_NOT_CREATE_ERRH_MUTEX Could not create Error Handling mutex 0xC017000F TLR_E_EPL_NMT_COULD_NOT_CREATE_SDO_TASK Could not create SDO task 0xC0170010 TLR_E_EPL_NMT_COULD_NOT_CREATE_NMT_TASK Could not create NMT task 0xC0170011 TLR_E_EPL_NMT_COULD_NOT_CREATE_SDO_SIGNAL Could not create SDO signal 0xC0170012 TLR_E_EPL_NMT_COULD_NOT_CREATE_NMT_SIGNAL Could not create NMT signal 0xC0170013 TLR_E_EPL_NMT_COULD_NOT_CREATE_BASIC_ETH_TIMER Could not create Basic Ethernet timer 0xC0170014 TLR_E_EPL_NMT_COULD_NOT_CREATE_SOC_TIMER Could not create SoC timer 0xC0170015 TLR_E_EPL_NMT_COULD_NOT_CREATE_SEQU_LAYER_TIMER Could not create Sequence Layer timer 0xC0170016 TLR_E_EPL_NMT_COULD_NOT_CREATE_OBJECT_DICTIONARY Could not create object dictionary 0xC0170017 TLR_E_EPL_NMT_EMERGENCY_QUEUE_OVERFLOW Emergency Queue overflow 0xC0170018 TLR_E_EPL_NMT_INVALID_STATUS_ENTRY_INDEX Invalid Status Entry inde
51. Table 204 EPLCN_PCK_WRITE_STATUS_ENTRY_CNF Write Status Entry Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 224 297 6 1 29 EPLCN_PCK_NEW_STATUS_ENTRY_IND RES Indication of a Status Entry written This packet indicates a newly written StatusEntry in the StatusResponse frame Note For the exact definition of all fields see sections 5 2 9 5 and 5 2 9 6 of this document and the Ethernet Powerlink specification Packet Structure Reference typedef struct TLR_UIN T16 usStatus EPLCN_PCK_N EW_STATUS ENTRY_IND_DATA_Ttag TLR_UIN 16 usEntryType TLR_UIN TLR_UIN1 EPLCN_PCK_NI GUSH EEO meode ENT EntryNumber 32 aulAddInformation 2 EW_STATUS RY_IND_DA TA_T typedef struct TLR_PACKE EPLCN_PCK N EW_STATUS ENTRY_IND_Ttag T HF AD ER_T EPLCN_PCK_NI EW_STATUS ENT RY_IND_DA tHead TA Le Data EPLCN_PCK_NEW_STATUS_ENTRY_IND_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 225 297 structure EPLCN_PCK_NEW_STATUS_ENTRY_IND_T Type Indication
52. UINT32 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x138C EPLCN_PCK_OD_NOTIFY_WRITE_IND Command ulExt UINT32 0 Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_OD_NOTIFY_WRITE_IND_DATA_T usObjlndex UINT16 000 0xFFF Index of the object bSubldx UINT8 0 0xFF Subindex of the object abData UINT8 n Data of the object Table 229 EPLCN_PCK_OD_NOTIFY_WRITE_IND Object Write Indication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 255 297 The Application Interface Packet Structure Reference typedef struct EPLCN_PCK_OD_NOTIFY_WRITE_RES_Ttag i TLR_PACKET_HEADER_T tHead EPLCN_PCK_OD_NOTIFY_WRITE_RES_T Packet Description structure EPLCN_PCK_OD_NOTIFY_WRITE_RES_T Type Response Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrc
53. UNSIGNED32 Entry Category Optional Access Read write PDO mapping No Value 0 2 1 Default value 0 Table 99 Object 0x1C0A DLL_CNCollision_ REC Cumulative Counter ThresholdCnt_U32 The threshold counter variable ThresholdCnt_U32 should be incremented by 8 counts each time a collision event occurs and decremented by 1 at each cycle without occurrence of such an event This value might be used as a measure for the network quality Sub Index 2 Name ThresholdCnt_U32 Description Threshold counter for collision events Data type UNSIGNED32 Entry Category Optional Access Read only PDO mapping No Value 0 2 1 Default value 0 Table 100 Object 0x1COA DLL_CNCollision_REC ThresholdCnt_U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 117 297 Threshold_U32 This item represents the threshold value of the counter for collision events When the threshold is reached a specific action might be executed and the counter for collision events should be reset to 0 according to the Ethernet Powerlink specification Setting the value to 0 disables the entire threshold counting mechanism for this kind of event Sub Index 3 Name Threshold_U32 Description Threshold for collision events Data type UNSIGNED32 Entry Category Optional Access Read write PDO mapping No Valu
54. UNSIGNED64 Entry Category Optional Access Read only PDO mapping No Value Bit mask Table 65 Receive PDO Mapping Object Mapping The bit mask of the values describing the mapping has the following meaning Object Mapping Interpretation of values UNSIGNED64 No of 63 48 47 32 31 24 23 16 15 0 bits Name Length Offset Reserved Sub index Index Data type UNSIGNED16 UNSIGNED16 UNSIGNED8 UNSIGNED16 Table 66 Receive PDO Mapping Object Mapping Interpretation of Values Remarks The length means the number of bits of the PDO and the mapped objects respectively if a gap in the PDO is intended specify the bit length of the gap here The offset means the number of the first bit of the PDO and the mapped objects related to start of PDO data area respectively The index and the sub index apply to the mapped object if a gap in the PDO is intended specify the value 0 here Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 97 297 5 2 7 3 Transmit PDO Communication Parameters This parameter can be used to provide the communication parameters for the PDOs that can be transmitted by the device This includes A fixed and unique assignment between a specific node of the network identified by its node ID to a specific PDO channel The mapping version to apply can be specified he
55. aa A a ae eaaa ae a aio iaaea EAs 51 Table 19 State Diagram of the Ethernet POWERLINK Controlled Node Part 1 cccccsceceesseeeeeesneeeseneeeees 54 Table 20 State Diagram of the Ethernet POWERLINK Controlled Node Patt 2 ccccsscceessseeeeeseeeeeeeneeeees 55 Table 21 General Structure of Object Dictionary eecceeceeececeeeeeeeeeeeeeeeeeeetaeeeeeeeeaeeeeaeeesaeeeeaeeesieeseneetsaeeseneeeaas 64 Table 22 Definition OF ODjSCtS n ae a a a a aE a a Ea a a a r E aa aa a aa ae o e aaaea aa ianiai aiaa Sat 65 Table 23 Available Data Type Definitions Part 1 oo eee ee eeseeeeeeneeereneeeeeeeaeeeeeeaaeeeseaaeeeeseaeeeeeenaeesenaaeeeeenaeeeeees 67 Table 24 Available Data Type Definitions Part 2 00 ee eeeenseeeeeneeeteneeeeeeeeeeeeeaeeeseaeeeeeeaaeeeeeeaeesenaaeeeeenaeeeetes 68 Table 25 Communication Profile General Overview cccccccccessneeeeeeeeeeeenceeeeseaeeeseseeeeeeceeeeeseaeessseeeeeneeeeeees 74 Table 26 Device Type NMT_DeviceT ype U2 cccecceeceneceeeeeeeeeeeneeeeeeeeeseeeaaeeeeeeeesecaaaeeeeeeeeeseciaeeeeeseeeeeenneees 75 Table 27 Error Register ERR_ErrorRegister_U8 ccecceeececceeeeeeeeeneeeeeeeeeeeeeaeeeeeeeeesecaaeeeeeeeesecenaeeeeeeseeenaaees 76 Table 28 Meaning of Bits within Error ReQister esseeeesenereeeeeneeeeeneeeeeeeaeeeeeeaaeeeseaeeeeseeeeeeseaeereeneeeeeenaeeeeees 76 Table 29 Pre defined error field ERR_History_ADOM 0 ecceeeseecseeeeeeeeeeeeeeee
56. and the field length from the AP task to determine the current buffer size required for storing the actual SDO upload data stream Note The response has to be sent back in order to complete the read access If it is not returned in time the entire request will be aborted Packet Structure Reference typedef struct EPLCN_PCK_OD_UNDEFINED_READ_PREPARE_IND_DATA_Ttag TLR_UINT16 usIndex cle Rem Ne Seale Silitonll dz EPLCN_PCK_OD_UNDEFINED_READ_ PREPARE _IND_DATA_T typedef struct EPLCN_PCK_OD_UNDEFINED_READ_PREPARE_IND_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_OD_UNDEFINED_READ PREPARE _IND_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 261 297 structure EPLCN_PCK_OD_UNDEFINED_READ_PREPARE_IND_T Type Indication Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point I
57. as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x13B0 EPLCN_PCK_OD_WRITE_OBJECT_REQ Command ulExt UINT32 0 Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_OD_WRITE_OBJECT_REQ_DATA_T usIndex UINT16 a 000 0xFFF Index of object to access bSubldx UINT8 0 0xFF Subindex of object to access abData UINT8 n Data to be written Table 219 EPLCN_PCK_OD_WRITE_OBJECT_REQ Write Object Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference 243 297 EPLCN_PCK_OD_WRITE typedef struct OBJECT_CNF_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_OD_WRITE_OBJECT_CNF_T Packet Description structure EPLCN_PCK_OD_WRITE_OBJECT_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier sp
58. be issued see section 6 1 7 of this document You can force the node to change to the NMT_GS RESET_APPLICATION state by a EPLCN_PCK_GO_TO_RESET_APPLICATION_REQ CNF Go to NMT State ResetApplication request see section 6 1 6 of this document NMT_GS_RESET_COMMUNICATION Bit mask 0011 1001 When the Ethernet Powerlink Controlled Node has reached this state the parameters of the communication profile are set to their Power On values These are the last stored parameters if any are available Otherwise the default values from the communication or device profile will be taken After that the device should proceed to the state NUT_GS_ RESET CONFIGURATION autonomously If an internal communication error occurs or an NUTResetCommunication command is received from any of the states of the communication phase the device will change to the NMT_GS_ RESET COMMUNICATION state Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 57 297 When the EPL CN firmware gets into this state a EPLCN_PCK_STATE_CHG_REQ_TO_RESET_COMMUNICATION_IND RES NMT State changed To ResetCommunication indication will be issued see section 6 1 9 of this document You can force the node to change to the NMT_GS_RESET_COMMUNICATION state by an EPLCN_PCK_GO_TO_RESET_COMMUNICATION_REQ CNF Go to NMT State ResetCommunication requ
59. by counters that hold the number of packages that can be accepted 3 2 5 Receive Mailbox The receive mailbox area is used by protocols utilizing a non cyclic data exchange mechanism Another use of the mailbox system is to provide access to the firmware running on the netX chip itself The receive mailbox is used to transfer non cyclic data from the network or from the protocol stack The size is 1596 bytes for the receive mailbox in the default memory layout The mailbox is accompanied by counters that hold the number of waiting packages for the receive mailbox Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 29 297 3 2 6 Channel Mailboxes Details of Send and Receive Mailboxes Master Status Offset Type Name Description 0x0200 UINT16 usPackagesAccepted Packages Accepted Number of Packages that can be Accepted 0x0202 UINT16 usReserved Reserved Set to 0 0x0204 UINT8 abSendMbx 1596 Send Mailbox Non Cyclic Data To The Network or to the Protocol Stack 0x0840 UINT16 usWaitingPackages Packages waiting Counter of packages that are waiting to be processed 0x0842 UINT16 usReserved Reserved Set to 0 0x0844 UINT8 abRecvMbx 1596 Receive Mailbox Non Cyclic Data from the network or from the protocol stack Table 11 Channel M
60. c ceeee vos ENE A E SEA EEE a RA ei eee 172 6 1 11 EPLCN_PCK_GO_TO_RESET_CONF IGURATION_CHG_NODE_ID_REQ CNF Go to NMT State ResetConfiguration with Change of Node Id uo eeeeeesceseeeeseeeeeeeeeeeeeseaeeeeaeeteaeeseaeeseaeeseaeeseaeeseaeeseaeeeneeensas 174 6 1 12 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_CONFIGURATION_IND RES NMT State changed to ResetConfiguration E E E nea eae ee A ete oe 177 6 1 13 EPLCN_PCK_GO_TO_NOT_ACTIVE_REQ CNF Go to NMT State NotActive eeeee 180 6 1 14 EPLCN_PCK_STATE_CHG_REQ_TO_NOT_ACTIVE_IND RES NMT State changed to NotActive 182 6 1 15 EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_1_IND RES NMT State changed to Pre Operational 1 0 0 0 E ait ens aie AR E Hoe GR Ae 185 6 1 16 EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_2_IND RES NMT State changed to Pre Operational 2 00 E EA A A east saasteataeadgehessbed savas E E AA T 188 6 1 17 EPLCN_PCK_STATE_CHG_TO_READY_TO_OPERATE_IND RES NMT State changed to ReadyToOperate eee Seed Pecos etehellaea au A E Sletwats Gaaced Seeleeesetens etek aheeeses 191 6 1 18 EPLCN_PCK_STATE_CHG_TO_OPERATIONAL_IND RES NMT State changed to Operational 194 6 1 19 EPLCN_PCK_STATE_CHG_TO_STOPPED_IND RES NMT State changed to Stopped 197 6 1 20 EPLCN_PCK_STATE_CHG_TO_BASIC_ETHERNET_IND RES NMT State changed to BasicEthernet 000 ERTE E E E A E 200 6 1 21 EPLCN_PCK_STATE_ENABLE_RDY_TO_OPERATE_IND RES NMT Command EnableReadyToOperate
61. communication change of state register see section 3 2 5 1 of the netX DPM Interface Manual Communication with controller is allowed only with the BUS_ON flag For more information concerning this topic see section 4 4 1 Controlled or Automatic Start of the netX DPM Interface Manual Application controlled Automatic O Status This parameter is represented by bits 1 and 2 of the system flags Using this parameter you can set the status of the input or the output data For each input and output date the following status information in Byte is memorized in the dual port memory The bits have the following meaning Bit 1 I O Status Enable 0 Status disabled 1 Status enabled not yet supported Bit 2 I O Status 8 32Bit 0 1 Byte mode not yet supported 1 4 Byte mode not yet supported Watchdog Time Watchdog time in milliseconds 0 20 65535 ms ims Time for the application program for retriggering the device default 1000 ms watchdog The application program monitoring has to be 0 Watchdog timer activated A value of 0 indicates that the watchdog timer has off been switched off and the application program monitoring is therefore deactivated Vendor ID Vendor Identification number of the manufacturer of the 0x00000000 device OxFFFFFFFF Default 0x44 denoting device has been manufactured by Hilscher Product Code Product code of the device 0x00000000 OxFFFFFFFF Ethernet
62. define General INITIALIZATION FAULT define DATABASE ACCESS FAILED _ define Configuration Failures NOT CONFIGURED define General CONFIGURATION FAULT define INCONSISTENT DATA SET define DATA SET MISMATCH define INSUFFICIENT LICENSE define PARAMETER ERROR define INVALID NETWORK ADDRESS define NO SECURITY MEMORY define Ethernet POWERLINK Controlled Node RCX_ RCX_ RCX RCX RCX__ RCX_ RCX_ define RCX_SYS_SUCCES S E_WATCHDOG_TIMEOUT E_INIT_FAULT E_DATABASE __ ACC ESS FAILED E_NOT_CONF ITGURED E_ DATA SET_MISMATCH E_CONFIGURATION_FAULT RCX_ RCX_ RCX_ RCX_E E_INCONSISTENT_DATA_SET E_INVA E_PARAMET E_INSUFFICI ENT_LICENSE ER ERROR ID_NETWORK_ADDRESS __NO_S DOC071104API12EN Revision 12 English 2013 10 Released Public ECURITY_MEMORY 0x00000000 OxCO000000C 0xC0000100 0xC0000101 0xC0000119 0xC0000120 0xC0000121 0xC0000122 0xC0000123 0xC0000124 0xC0000125 0xC0000126 Hilscher 2006 2013 Dual Port Memory 35 297 Network Failures General NETWORK FAULT define RCX_COMM_NETWORK_FAULT 0xC0000140 CONNECTION CLOSED define RCX_COMM_CONNECTION_CLOSED 0xC0000141 CONNECTION TIMED OUT define RCX_COMM_CONNECTION_TIMEOUT 0xC0000142 LONELY NETWORK define RCX_COMM_L
63. erroneous information nor any liability can be assumed Descriptions accompanying texts and documentation included in the user manual do not present a guarantee nor any information about proper use as stipulated in the contract or a warranted feature It cannot be ruled out that the user manual the accompanying texts and the documentation do not correspond exactly to the described features standards or other data of the delivered product No warranty or guarantee regarding the correctness or accuracy of the information is assumed We reserve the right to change our products and their specification as well as related user manuals accompanying texts and documentation at all times and without advance notice without obligation to report the change Changes will be included in future manuals and do not constitute any obligations There is no entitlement to revisions of delivered documents The manual delivered with the product applies Hilscher Gesellschaft fir Systemautomation mbH is not liable under any circumstances for direct indirect incidental or follow on damage or loss of earnings resulting from the use of the information contained in this publication 1 9 3 Exclusion of Liability The software was produced and tested with utmost care by Hilscher Gesellschaft f r Systemautomation mbH and is made available as is No warranty can be assumed for the performance and flawlessness of the software for all usage conditions and cases and for the res
64. error code The error code has a size of 16 bits For instance it can be given by Error codes should be chosen according the following table unless a suitable error code can clearly be derived from an applicable device profile Error Code Meaning 00xx Error Reset or No Error 10xx Generic Error 20xx Current 21Xxx Current device input side 22XX Current inside the device 23XxX Current device output side 30xx Voltage 31Xxx Mains Voltage 32xx Voltage inside the device 33xx Output Voltage 40xx Temperature Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 114 297 41xx Ambient Temperature 42xx Device Temperature 50xx Device Hardware 60xx Device Software 61xx Internal Software 62xx User Software 63xx Data Set 70xx Additional Modules 80xx Monitoring 81xx Communication errors 8110 Overrun objects have been lost 8120 Error passive mode 8140 Recovered from bus off 8150 Collision 82xx Protocol error 8210 PDO not processed due to length error 8220 PDO length exceeded 90xx External error FOxx Additional functions FFxx Device specific error Table 96 Error Codes to be used with Emergency Objects The error register This item has a size of 8 bit It conforms with the format defined for the object 0x1001 o
65. ii ATTOND RE Smita TLR_PACKET_HEAD ER_T tHead EPLCN_PCK_STATE_CHG_REQ TO RESET_APPLICATION_RES_T Packet Description structure EPLCN_PCK_STATE_CHG REQ TO RESET _APPLICATION_RES_ T Type Response Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1303 XEPLCN_PCK_STATE_CHG_REQ_TO_RESET_APPLICA TION_RES Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 162 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_APPLICATION_RES NMT State Changed to ResetApplication Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 167 297 6 1 8 EPLCN _PCK GO TO RESET COMMUNICATION REQ CNF Go to NMT State ResetCo
66. into this state an EPLCN_PCK_STATE_CHG_TO_READY_TO_OPERATE_IND RES NMT State changed to ReadyToOperate indication will be issued see section 6 1 17 of this document You can force the node to change to the NMT_GS_ RESET CONFIGURATION state by a EPLCN_PCK_GO_TO_READY_TO_OPERATE_REQ CNF request see section 6 1 22 of this document NMT_CS_OPERATIONAL Bit mask 1111 1101 This is the only state in which the Ethernet POWERLINK Controlled Node is fully operational Only in this state the device participates fully in the cyclic data exchange and transmission On reception of a PReq command coming from the Ethernet Powerlink Managing Node the device answers with a PRes The device also answers to SoA Asynclnvite command commands received from the Ethernet Powerlink Managing Node Only in this state the guarding mechanism may be active The interpretation of PDO data must have a correct result in this state Also transmitted data must match the requirements of the PDO mapping The RD flag is controlled by the application If the application clears the RD flag this indicates the PDO data are invalid The following reactions to error situations might possibly occur while being in the NMT_CS_OPERATIONAL state o Falling back to state NUuT_CS_PRE_OPERATIONAL_1 due to some error condition such as the errors listed in section 4 7 2 table 27 CN Error Handling of the EPL specification o
67. is read This packet indicates a read access to a particular object The accessed data is expected to be placed into the response Note The response has to be sent back in order to complete the read access If it is not returned in time the entire request will be aborted Packet Structure Reference typedef struct EPLCN_PCK_OD_NOTIFY_READ_IND_DATA_Ttag TLR_UINT16 usObjIndex TIES _ UILINGES RESUL d TLR_UINT32 ulExpectedDataSize EPLCN_PCK_OD_NOTIFY_READ_IND_DATA_T typedef struct EPLCN_PCK_OD_NOTIFY_READ_IND_Ttag TLR_PACKET_HEADER_T tHead IE MICIN IPCI OND _INOUE ICT _IRJEVAND _IEJNID _ IDV JE e Dyenee EPLCN_PCK_OD_NOTIFY_READ_IND_T e Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 251 297 structure EPLCN_PCK_OD_NOTIFY_READ_IND _T Type Indication Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifi
68. mapping No Value Range 0 274 Default value 100000 Table 128 Object 0x1C 14 DLL_LossOfFrameTolerance_U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 134 297 5 2 10 9 Object 0x1F82 NMT_FeatureFlags U32 This object contains a description of the capabilities of the Ethernet POWERLINK Controlled Node Index 0x1F82 Name NMT_FeatureFlags_ U32 Description Feature Flags Word Bit mask Object code VAR Data type UINT32 Category Mandatory Access Constant PDO mapping No Value Range No no default Table 129 Object 0x1F82 NMT_FeatureFlags_U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 135 297 The two tables below explain the meaning and significance of the single bits of the feature flag set Byte 0 of Object 0x1F82 NMT_FeatureFlags_U32 Description D7 NMT Service by UDP IP TRUE Support for NMT Service by UDP IP PP ase eooni amter Dynamic PDO Mapping TRUE Support for Dynamic PDO Mapping PrE alse arent onanera nanen Extended NMT State TRUE Support for Extended NMT State Commands NMT Info Services TRUE Support for NMT Info Services eee FALSE No support for NMT Info Services SDO by PDO TRUE Support for SDO communication via UDP IP frames FALSE No support for SDO communic
69. of configured PDO channels Note A channel is configured in this sense if its NumberOfEntries_U8 entry value of the corresponding PDO_RxMappParam_XXh_AU64 object is different from 0 If you intend to change the receive PDO communication parameter first set the number of entries sub object to 0 in order to deactivate the object before starting to reconfigure it Then setting the number of entries sub object to a non zero value enables the changes to be effective Verify that the overall length of all mapped data does not exceed the length of the PDO data area Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 93 297 Overview Index 0x1400 0x14FF Name PDO_RxCommParam_XXh_REC Object code RECORD Data type PDO_CommParamRecord_TYPE Category Conditional Mandatory for each supported PDO Table 59 Receive PDO Communication Parameter NumberOfEntries Sub Index 0 Name NumberOfEntries Description Number of entries largest sub index supported Entry Category Mandatory Access Read only PDO mapping No Value range 2 Default value 2 Table 60 Receive PDO Communication Parameter NumberOfEntries NodelD_U8 Sub Index 1 Name NodelD_U8 Description Node ID Data type UNSIGNED8 Entry Category Mandatory Access Read write PDO mapping No Value 0 indicates the C
70. open network connections If set the protocol stack has the permission to communicate on the network if cleared the permission was denied and the protocol stack will not open network connections Configuration Locked RCX_COMM_COS_CONFIG_LOCKED O 1 The Configuration Locked flag is set if the communication channel firmware has locked the configuration database against being overwritten Re initializing the channel is not allowed in this state To unlock the database the application has to clear the Lock Configuration flag in the control block see page 40 Configuration New RCX_COMM_COS_CONFIG_NEW O 1 The Configuration New flag is set by the protocol stack to indicate that a new configuration became available which has not been activated This flag may be set together with the Restart Required flag Restart Required RCX_COMM_COS_RESTART_REQUIRED O 1 The Restart Required flag is set when the channel firmware requests to be restarted This flag is used together with the Restart Required Enable flag below Restarting the channel firmware may become necessary if a new configuration was downloaded from the host application or if a configuration upload via the network took place Restart Required Enable RCX_COMM_COS_RESTART_REQUIRED_ENABLE O 1 The Restart Required Enable flag is used together with the Restart Required flag above If set this flag enables the execution of the Restart Required com
71. received scceeseeeeeeeeteee E T E E a Citas couaioaas sane ete E E 203 6 1 22 EPLCN_PCK_GO_TO_READY_TO_OPERATE_REQ CNF Go to NMT State ReadyToOperate 206 6 1 23 EPLCN_PCK_RESET_NODE_REQ CNF Reset EPL Node eeeeseeeeeseeeeeeeneeeresneeeereneeerees 208 6 1 24 EPLCN_PCK_ENTER_ERROR_CONDITION_REQ CNF Enter Error Condition 210 6 1 25 EPLCN_PCK_SEND_EMERGENCY_REQ CNF Send Emergency cccceecceseeeeeeeeeseneeeeneetens 212 6 1 26 EPLCN_PCK_WRITE_ERROR TRY_REQ CNF Write Error Entry 215 6 1 27 EPLCN_PCK_NEW_ERROR_ENTRY_IND RES Indication of a new Error Entry written 218 6 1 28 EPLCN_PCK_WRITE_STATUS_ENTRY_REQ CNF Write Status Entry 0 cceeeeeeeseeeeetees 221 6 1 29 EPLCN_PCK_NEW_STATUS_ENTRY_IND RES Indication of a Status Entry written 224 6 1 30 EPLCN_PCK_WRITE_STATIC_BIT_FIELD_REQ CNF Write a Bit in the Static Bit Field 227 6 1 31 EPLCN_PCK_OD_CREATE_OBJECT_REQ CNF Create Object eceeeeteteneeeeeeeteneeeeeerees 229 6 1 32 EPLCN_PCK_OD_CREATE_SUBOBJECT_REQ CNF Create a SubObjeCt eeeeeeeeeeee 232 6 1 33 EPLCN_PCK_OD_DELE OBJECT_REQ CNF Delete an ObjeCt ecceeeceeeseeeeeeeeeeeeeneeees 235 6 1 34 EPLCN_PCK_OD_CREATE_DATATYPE_REQ CNF Create a Data type eceeeeeeeeeeeeetees 238 6 1 35 EPLCN_PCK_OD_DELETE_DATATYPE_REQ CNF Delete a Data Type cecce 240 6 1 36 EPLCN_PCK_OD_WRITE_OBJECT_REQ CNF Write an ObjeCt eeeceeeeceee
72. specific to device profile or vendor Table 87 Static Error Bit Field 5 2 9 5 Entries History entries are used to record status and error messages about events occurring during operation of the Ethernet Powerlink device You should distinguish between status entries and error entries as these kinds of entries are stored in different areas within the status response frame Status entries These are used for recording status information within the history They are stored including a entry number The following packets can be used for dealing with entries in the error history EP EP Error history entries These are used for recording error related information within the history They are stored without specifying an explicite entry number as the number is generated automatically The following packets can be used for dealing with entries in the error history EP EP iCN_PCK_NEW_ERROR_ENTRY_IND R LCN_PCK_WRITE_STATUS_ENTRY_REQ CNF Write Status Entry LCN_PCK_NEW_STATUS_ENTRY_IND RES Indication of a Status Entry written LCN_PCK_WRITE_ERROR_ENTRY_REQ CNF Write Error Entry ES Indication of a new Error Entry written Status entries are located in front of error history entries in the status response frame Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 109 297 5 2 9 6 Structu
73. system rcX is through the system mailbox the preferred way to address a protocol stack is through its channel mailbox All mailboxes however have a mechanism to route packets to a communication channel or the system channel respectively Therefore the destination identifier u Dest in a packet header has to be filled in according to the targeted receiver See the following example 4 ylDest 0x01 Channel 0 Channel 1 Mainbox Mailbox Figure 2 Use of ulDest in Channel and System Mailbox For use in the destination queue handle the tasks have been assigned to hexadecimal numerical values as described in the following table ulDest Description 0x00000000 Packet is passed to the netX operating system rcX 0x00000001 Packet is passed to communication channel 0 0x00000002 Packet is passed to communication channel 1 0x00000003 Packet is passed to communication channel 2 0x00000004 Packet is passed to communication channel 3 0x00000020 Packet is passed to communication channel of the mailbox else Reserved do not use Table 6 Meaning of Destination Parameter ulDest Parameters The figure and the table above both show the use of the destination identifier u Dest Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Fundamentals 16 297 A remark on th
74. the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1351 EPLCN_PCK_WRITE_STATIC_BIT_FIELD_CNF Command ulExt UINT32 O Extension reserved ulRout UINT32 x Routing information do not change Table 208 EPLCN_PCK_WRITE_STATIC_BIT_FIELD_CNF Write Static Error Bit Field Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 229 297 6 1 31 EPLCN_PCK_OD_CREATE_OBJECT_REQ CNF Create Object This packet creates an object in the object dictionary Packet Structure Reference typedef struct EPLCN_PCK_OD_CREATE_OBJECT_REQ_DATA_Ttag TLR_UINT16 usIndex TLR_UINT8 bNumOfSubObjs TLR_UINT8 bMaxNumOfSubObjs TLR_UINT16 usObjAccess TLR_UINT8 bObjectCode TLR_UINT16 usDatatype EPLCN_PCK_OD_CREATE_OBJECT_REQ_DATA_T typedef struct EPLCN_PCK_OD_CREATE_OBJECT_REQ_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_OD_CREATE_OBJECT
75. typedef struct EPLCN_PCK_GO_TO_READY_TO_OPERATE_CNF_Ttag i TLR_PACKET_HEADER_T tHead EPLCN_PCK_GO_TO_READY_TO_OPERATE_CNF_T Packet Description structure EPLCN_PCK_GO_TO_READY_TO_OPERATE_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 2 7 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1321 EPLCN_PCK_GO_TO_READY_TO_OPERATE_CNF Command ulExt UINT32 O Extension reserved ulRout UINT32 x Routing information do not change Table 192 EPLCN_PCK_GO_TO_READY_TO_OPERATE_CNF Go To NMT State ReadyToOperate Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 208 297 6 1 23 EPLCN_PCK RESET NODE_REQ CNF Reset EPL Node This packet triggers a reset of the NMT state machine Its consequences are equal to issueing the NMT command ResetNode via the bus Packet Structur
76. unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1325 EPLCN_PCK_GO_TO_RESET_COMMUNICATION_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 164 EPLCN_PCK_GO_TO_RESET_COMMUNICATION_CNF Go To NMT State Reset Communication Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 169 297 6 1 9 EPLCN_PCK_STATE CHG REQ TO RESET _COMMUNICATION_IND RES NMT State changed To ResetCommunication This packet indicates a change of the NMT state to ResetCommunication See section 5 1 State Machine for more information about NMT states If no other AP task is processing this request the AP task has to send one of the following request EPLCN_PCK_GO_TO_RESET_CONF IGURATION_REQ EPLCN_PCK_GO_RESET_CONFIGURATION_CHG_NODE_ID_REQ Note Only one AP task is allowed to answer this indication with such a request On DPM firmwares the AP task contained within the firmware will respond to this indication that way Packet Structure Reference typedef struct EPLCN_PCK_STATE_IND_DATA_Ttag TLR_UINT16 usErrorProfile TLR_UINT16 usErrorCode TLR_BOOLEAN32 fErrorLedIsOn EPLCN_PCK STATE IND DATA T typedef struct EPLCN_
77. x Routing information do not change Table 248 EPLCN_DPM_SET_CONFIGURATION_CNF Packet 1 Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 283 297 6 2 3 EPLCN_DPM_CHANGE_MAPPING_VERS_REQ CNF Change Mapping Versions This packet changes the parameter set used for PDO Mapping version In addition it configures whether the slave will check the PReq Mapping version Packet Structure Reference typedef struct EPLCN_DPM_CHANGE_MAPPING_VERS_REQ_DATA_Ttag TLR_UINTS8 bPReqMappingVersion TLR_UINT8 bPResMappingVersion TLR_BOOLEAN8 fCheckPReqMappingVersion EPLCN_DPM_CHANGE_MAPPING_ VERS REQ DATA _T typedef struct EPLCN_DPM_CHANGE_MAPPING_VERS_REQ_Ttag TLR_PACKET_HEADER_T tHead EPLCN_DPM_CHANGE_MAPPING_VERS_REQ_DATA_T tData EPLCN_DPM_CHANGE_ MAPPING VERS_REQ_ T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 284 297 structure EPLCN_DPM CHANGE MAPPING VERS_REQ T Type Request Area _ Variable Type Value Range Description tHead
78. 0 A value of 0 indicates to use the last known value or if this does not exist the internal default value of 15 A value different from 0 indicates to use the specified value for the threshold 0 2 7 4 Loss SoA Threshold specifies the Loss SoA Threshold If the threshold is enabled by Disable Loss SoA Threshold 0 A value of 0 indicates to use the last known value or if this does not exist the internal default value of 15 A value different from 0 indicates to use the specified value for the threshold 0 2 7 41 SoC Jitter Threshold specifies the SoC Jitter Threshold If the threshold is enabled by Disable SoC Jitter Threshold 0 A value of 0 indicates to use the last known value or if this does not exist the internal default value of 0 A value different from 0 indicates to use the specified value for the threshold 0 2 7 4 Collision Threshold specifies the Collision Threshold If the threshold is enabled by Disable Collision Threshold 0 A value of 0 indicates to use the last known value or if this does not exist the internal default value of 15 A value different from 0 indicates to use the specified value for the threshold 0 2 7 41 CRC Error Threshold specifies the CRC Error Threshold If the threshold is enabled by Disable CRC Error Threshold 0 A value of 0 indicates to use the last known value or if this does not exist the internal default value of
79. 0xC0150002 TLR_E_EPL_PDO_INVALID_STARTUP_PARAMETER Invalid Startup parameter 0xC0160001 TLR_E_EPL_SDO_COMMAND_INVALID Invalid command received 0xC0160002 TLR_E_EPL_SDO_PROTOCOL_TIMEOUT SDO Protocol Timeout occurred 0xC0160003 TLR_E_ EPL_SDO_SCS_SPECIFIER_INVALID SDO Request invalid 0xC0160004 TLR_E_EPL_SDO_OUT_OF_MEMORY Out of memory during SDO access 0xC0160005 TLR_E_EPL_SDO_UNSUPPORTED_ACCESS_TO_OBJECT Unsupported access to object 0xC0160006 TLR_E_ EPL_SDO_ATTEMPT_TO_READ_A_WRITE_ONLY_ OBJECT Attempted to read a write only object 0xC0160007 TLR_E_EPL_SDO_ATTEMPT_TO_WRITE_A_ READ _ONLY_ OBJECT Attempted to write a read only object 0xC0160008 TLR_E_ EPL_SDO_ OBJECT DOES _NOT_EXIST Object does not exist 0xC0160009 TLR_E_EPL_SDO_OBJECT_CAN_NOT_BE_MAPPED_INTO_THE_PDO Object cannot be mapped into the PDO 0xC016000A TLR_E_EPL_SDO OBJECTS WOULD_EXCEED_PDO_LENGTH Objects would exceed PDO length 0xC016000B TLR_E_EPL_SDO_GENERAL_PARAMETER_ INCOMPATIBILITY_REASON General Parameter Incompatibility Reason 0xC016000C TLR_E_EPL_SDO_GENERAL_INTERNAL_ INCOMPATIBILITY_IN_ DEVICE General Internal Incompatibility in the device 0xC016000D TLR_E_EPL_SDO_ACCESS_FAILED_DUE_TO_A_HARDWARE_ERROR Access failed due to a hardware error 0xC016000E TLR_E_ EPL_SDO_DATA_TYPE_DOES_ NOT_MATCH_LEN_OF_SRV_PARAM DOES_NOT_MATCH Data type does not match Length of service parameter does not match Ethernet POWERLINK Controlled Node DOC071104API12EN Revis
80. 1104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 38 297 usNmtErrorProfile This item contains a number identifying the error profile to be used usNmtError This item contains the error code of the last error that has occurred For a list of error codes refer to App 3 9 of the Ethernet Powerlink specification abNmtStatusAscii 7 This item contains an ASCII text containing status information binternalState This is the internal state of the NMT state machine of the Ethernet POWERLINK Controlled Node The state machine and all possible status values are discussed in section 5 1 State Machine of this document The internal state is not signalled to other nodes on the network During the initialization phase there are the states NMT_GS_INITIALISING NMT_GS_RESET_APPLICATION NMT_GS_RESET_COMMUNICATION NMT_GS_RESET_CONFIGURATION which will be distinguishable as individual states here but not as NMT Status abNmiErrAscii 8 abErrinfoAscii 4 These items contain error describing ASCII text information ulValidDpminputExchangesToPResOnSoC ulBlockedDpminputExchangesToPResOnSoC ulValidDpmOutputExchangesOnPReqdReceive ulBlockedDpmOutputExchangesOnPRegReceive ulDpminputExchangesToPResOnInputCallback ulDpmOutputExchangesFromPReqOnOutputCallback These are counters for special error situations according to data transfer from and to DPM ullncompatibleMappingCounter
81. 15 A value different from 0 indicates to use the specified value for the threshold 0 2 7 4 Cycle Length specifies the actual cycle length in microseconds to be set 0 Ignore configuration parameter 0 2 1 Change to new cycle length value 6 2751 Default 1000 1 millisecond SoC Jitter Range specifies the maximum allowed jitter in nanoseconds on two consecutive SoC frames 0 Ignore configuration parameter 0 2 1 Change to SoC jitter range value 0 2 1 Default 2000 2000 nanoseconds Output Length Length of the output data in byte 0 1490 Byte Default 4 Byte Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Getting started Configuration 46 297 Input Length Length of the input data in byte 0 1490 Byte Default 4 Byte DNS Node Name Node name for DNS Gateway Address Gateway address for IP stack 192 168 100 1 192 1 68 100 254 Node Id EPL Node ID 1 239 SoC Trigger Config Configuration of the SoC Trigger output Default Output 0 2 Output disabled R 1 Output is low active 3 Output is high active SoC Trigger Delay Delay of SoC Trigger Impulse in units of 10 nanoseconds 0 1 second Note This value must be smaller than the cycle time SoC Trigger Length Length of SoC Trigger Impulse in units of 10 nanos
82. 2 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1381 EPLCN_PCK_OD_CREATE_OBJECT_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 210 EPLCN_PCK_OD_CREATE_OBJECT_CNF Create Object Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 232 297 6 1 32 EPLCN_PCK_OD_CREATE_SUBOBJECT_REQ CNF Create a Subobject This packet creates a new sub object in the object dictionary Additional initialization data for the packet may be appended at the end of the packet Packet Structure Reference typedef struct EPLCN_PCK_OD_CREATE_SUBOBJECT_REQ DATA _Ttag TLR_UINT32 ulMode TLR_UINT16 usIndex THIS ULI DS UDA TLR_UINT16 usDirection TLR_UINT16 usSubObjAccess TLR_UINT16 usDatatype TLR_UINT16 usFieldLen TLR_UINT32 ulRelativeAddress
83. 2013 10 Released Public Hilscher 2006 2013 Overview 113 297 EPLCN_PCK_ENTER_ERROR_CONDITION_REQ CNE Enter Error Condition Error condition processing has the following consequences The error indicator LED will be lighted up The state machine will enter the NMT state PRE_OPERATIONAL_1 5 2 9 8 Emergency Queue Ethernet Powerlink implements an emergency mechanism for device internal error situations according to the implementation by the CANopen standard which has been adopted by Ethernet Powerlink This is done as a part of the Ethernet Powerlink error signaling concept The emergency mechanism follows the producer consumer model Emergency objects can be applied for error alerts similarly to interrupts An emergency object may be transmitted only once when an error event has happened Note No further emergency objects must be transmitted unless a new error occurs on the device There is a device internal state machine concerning the emergency state of the device providing the two states Error free Error occurred When the device is initialized successfully it gets into the error free state If the device detects an error it acts as an emergency Producer and creates an emergency object This gives the Managing Node or other controlled nodes the possibility to react as a emergency consumer But reaction is not mandatory An emergency object consists of 8 bytes It is structured in this manner The
84. 31 Table 211 EPLCN_PCK_OD_CREATE_SUBOBJECT_REQ Create Subobject Request cceeeeeeeeeeeeeees 233 Table 212 EPLCN_PCK_OD_CREATE_SUBOBJECT_CNF Create Subobject Confirmation 00 0 0 cceeeeeeeees 234 Table 213 EPLCN_PCK_OD_DELETE_OBJECT_REQ Delete Object ReEqQuest cecceseseeeeeteneeeereseneeeeetes 236 Table 214 EPLCN_PCK_OD_DELETE_OBJECT_CNF Delete Object Confirmation c ccecccseeeeeeeeeeeeneees 237 Table 215 EPLCN_PCK_OD_CREATE_DATATYPE_REQ Create Data Type ReqQueSt esceeseeeeeeseteeeeerens 238 Table 216 EPLCN_PCK_OD_CREATE_DATATYPE_CNF Create Data Type Confirmation ccecceseeeeees 239 Table 217 EPLCN_PCK_OD_DELETE_DATATYPE_REQ Delete Data Type Request eeeesseeeessnreereneees 240 Table 218 EPLCN_PCK_OD_DE E_DATATYPE_CNF Delete Data Type Confirmation 0 cceeeeeeeeee 241 Table 219 EPLCN_PCK_OD_WRI OBJECT_REQ Write Object REQUeST eceeeseeeteteeeteaeeeeeeeteaeeneeeeeee 242 Table 220 EPLCN_PCK_OD_WRI OBJECT_CNF Write Object Confirmation c ccceeeceseeeeeeeeeteeeeneee 243 Table 221 EPLCN_PCK_OD_READ_OBJECT_REQ Read Object Request eccccsceeeeteceseseeeeteneeeeeeseneeenatens 244 Table 222 EPLCN_PCK_OD_READ_OBJECT_CNF Read Object Confirmation ecceeceeeeeeseeeeeeeeeeeeeeneeee 245 Table 223 EPLCN_PCK_OD_NOTIFY_REGISTER_REQ Object Notify Register Request eeseeeees 246 Table 224
85. 32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 8 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x130A EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_1_ IND Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData Structure EPLCN_PCK_STATE_IND_DATA_T usErrorProfile UINT16 Valid profile EPL Error Profile number Only indicated if fErrorLedlsOn was changed to TRUE from last known Error Led state usErrorCode UINT16 Valid error code Profile specific error code Only indicated if fErrorLedlsOn was changed to TRUE from last known Error Led state fErrorLedlsOn BOOL32 0 1 State of Error Led TRUE On FALSE Off Table 177 EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_1_IND NMT State changed to Pre Operational 1 Indication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference type
86. 6 2013 Overview 68 297 Data Type Index Name Object 0020 PDO_COMMUNICATION_PARAMETER 0021 PDO_MAPPING DEFSTRUCT 0022 SDO_PARAMETER 0023 IDENTITY DEFSTRUCT 0024 003F Reserved 0040 005F Manufacturer Specific Complex Data Types DEFSTRUCT 0060 007F Device Profile 0 Specific Standard Data Types DEFTYPE 0080 009F Device Profile 0 Specific Complex Data Types DEFSTRUCT 00A0 00BF Device Profile 1 Specific Standard Data Types DEFTYPE 00C0 00DF Device Profile 1 Specific Complex Data Types DEFSTRUCT 00E0 00FF Device Profile 2 Specific Standard Data Types DEFTYPE 0100 011F Device Profile 2 Specific Complex Data Types DEFSTRUCT 0120 013F Device Profile 3 Specific Standard Data Types DEFTYPE 0140 015F Device Profile 3 Specific Complex Data Types DEFSTRUCT 0160 017F Device Profile 4 Specific Standard Data Types DEFTYPE 0180 019F Device Profile 4 Specific Complex Data Types DEFSTRUCT 01A0 01BF Device Profile 5 Specific Standard Data Types DEFTYPE 01C0 01DF Device Profile 5 Specific Complex Data Types DEFSTRUCT 01E0 01FF Device Profile 6 Specific Standard Data Types DEFTYPE 0100 021F Device Profile 6 Specific Complex Data Types DEFSTRUCT 0220 023F Device Profile 7 Specific Standard Data Types DEFTYPE 0240 025F Device Profile 7 Specific Complex Data Types DEFSTRUCT 0260 O0F FF Reserved Reserved Table 24 Available Data Type Definitions Part 2 More
87. 7 Object 0x1COE DLL_CNSoCuJitter_REC Cumulative Counter cccccccsssceeeseeeeeeneeeeessneeeeenees 128 Object 0x1COE DLL_CNSoCuitter REC ThresholdCnt_U32 00 ccccccccsceeeeeeceeeeseeeeeseseeeeessteeeeesees 128 Object 0x1COE DLL_CNSoCuitter REC Threshold _U32 cccccccceceececeeseneeeseseeeseeneeeessneeeeneaes 129 Object 0x1COF DLL_CNCRCError_REC ccccsccccesecceeeeeeeeeeeeeeeeseneeeecnaeeesseaeecesseeeeseneeeesssneeeeseaes 130 Object 0x1COF DLL_CNCRCError_REC NumberOfEntries cccccecceeeeeeeeeeesneeeeseteeeeeeneeeeees 130 Object 0x1COF DLL_CNCRCError_REC Cumulative Counter cccccccccsssceceeseeeeeeeseeeeeeeneeeees 131 Object 0x1COF DLL_CNCRCError_REC ThresholdCnt_U32 cccccscceeeeseeeeeseeeeeseneeeessneeeeseaes 131 Object 0x1COF DLL_CNCRCError_REC Threshold _U32 cccccccccesceceeeeneeeeeeeeeeseneeeessneeeeseaes 132 Object 0x1C13 DLL_CNSoCuitterRange U82 cceccccccecceceseeneeeeeseeeeeeeeeeeecaeeesseneeeesseeeessneeenaaes 133 Object 0x1C14 DLL_LossOfFrameT olerance _U82 ccccccccecececeeeeeeeeeeeneeeeeseeeeesseeeeseeneeeessseeeseaes 133 Object 0x1F82 NMT_FeatureFlags U32 occ eeececeeeeeeeeeeeeeeeeeeeeeeeeeeeeesaeeseaeeesaeeeeaeeesieeeneeesseeseneesaas 134 Byte 0 of Object 0x1F82 NMT_FeatureFlags U82 cccccccessceeeeneeeesseeeeeeceeeeseeeeeeecsaeeeessneeeessneeees 135 Byte 1 of Object 0x1F82 NMT_FeatureFlags U82 cc
88. 9 297 The following reactions to error situations might possibly occur while being in the NMT_CS_PRE_OPERATIONAL_1 state o Falling back to state NMT_GS_INITIALISING due to a global reset or after reception of an NMTBootNode command on the network o Falling back to state NUT_GS_RESET_APPLICATION after reception of an NMTResetNode command on the network o Falling back to state NUT_GS_RESET_COMMUNICATION due to either the occurrence of an internal communication error or the reception of a NMTResetCommunication signal o Falling back to state NUT_GS_RESET_CONFIGURATION after reception of an NMTResetConfiguration command on the network When the EPL CN firmware gets into this state an EPLCN_PCK_STATE_CHG_REQ_TO_INITIALISING_IND RES NMT State Changed To Initialising indication will be issued see section 6 1 15 of this document NMT_CS_PRE_OPERATIONAL_2 Bit mask 0101 1101 This state is used to complete the configuration In this state PReq frames are received from the Ethernet Powerlink Managing Node During this stage the received PDO data may be invalid Even neither the received PDO data nor the transmitted PRes frames need to match the PDO mapping requirements yet The PDO data should simply be ignored by the Ethernet POWERLINK Controlled Node The Ethernet Powerlink Controlled Node does not send any Ethernet frames autonomously as long as it stays in NMT_CS_PRE_OPERATIONAL 2 state unless it has been authorized
89. A TLR_E_ EPL_SDO_NO_OBJECT_DICTIONARY_PRESENT No object dictionary is present 0xC016001B TLR_E_EPL_SDO_UNKNOWN_ABORT_CODE Unknown abort code in SDO 0xC016001C TLR_E_ EPL_CONN_BUFFER_FULL Connection buffer full 0xC016001D TLR_E_EPL_SDO_INVALID_STARTUP_PARAMETER Invalid Startup parameter 0xC016001E TLR_E_ EPLCN_SDO_OD_DPM_MODE_OBJECTS_CAN_ONLY_BE_ READONLY DPM mode objects can only be defined read only 0xC016001F TLR_E_EPLCN_SDO_OD_DPM_MODE_OBJECTS_DIRECTION_PARAMETER_INVALID DPM mode direction parameter is invalid 0xC0160020 TLR_E_EPLCN_SDO_OD_DPM_MODE_SUBOBJECT_OFFSET_OUT_OF_RANGE DPM offset out of range of specified block 0xC0170001 TLR_E_EPL_NMT_COMMAND_INVALID Invalid command received 0xC0170002 TLR_E_EPL_NMT_OUTPUT_DATA_INVALID Output data invalid 0xC0170003 TLR_E_EPL_NMT_INPUT_DATA_OVERSIZED Input data oversized Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Status Error Codes Overview 288 297 Hexadecimal Definition Value Description 0xC0170004 TLR_E_EPL_NMT_NODE_INPUT_DATA_INVALID Node specific Input data invalid 0xC0170005 TLR_E_EPL_NMT_PDO_DOES_NOT_EXIST Node specific PDO does not exist 0xC0170006 TLR_E_EPL_NMT_PDO_EXIST Node specific PDO exists 0xC0170007 TLR_E_EPL_NMT_PDO_EXCEEDS POLL_IN
90. Application Interface Packet Structure Reference 152 297 typedef struct EPLCN_PCK_SET_IO_SIZES_CNF_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_SET_IO SIZES_CNF_T Packet Description structure EPLCN_PCK_SET_IO SIZES_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1349 EPLCN_PCK_SET_IO_SIZE_CNF Command ulExt UINT32 O Extension reserved ulRout UINT32 x Routing information do not change Table 150 EPLCN_PCK_SET_IO_SIZES_CNF Set I O Sizes Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 153 297 6 1 2 EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTRIES_REQ CNF Configure Number of Status Entries This packet configur
91. B Consumer Heartbeat Time Bits 31 24 23 16 15 8 7 0 Value Reserved Node ID Heartbeat time Encoded as UNSIGNED8 UNSIGNED8 UNSIGNED16 fixed value 00h Table 48 Coding of Consumer Heartbeat Time The object and the entries then looks like Index 0x1016 Name NMT_Consumer Heartbeat Time_AU32 Object code ARRAY Data type UNSIGNED32 Category Optional Table 49 Consumer Heartbeat Time NMT_Consumer Heartbeat Time_AU32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 88 297 Number of entries Sub Index 0 Description Number of entries Entry Category Mandatory Access Read only PDO mapping No Value 1 127 There is no default value Table 50 Consumer Heartbeat Time Number of entries Consumer Heartbeat Time Sub Index 1 Description Consumer Heartbeat Time Data type UNSIGNED32 Entry Category Mandatory Access Read write PDO mapping No Value 0 UNSIGNED32 Default value 0 Table 51 Consumer Heartbeat Time Consumer Heartbeat Time Sub Index 2 0x7F Description Consumer Heartbeat Time Data type UNSIGNED32 Entry Category Optional Access Read write PDO mapping No Value 0 27 1 UNSIGNED32 There is no default value Table 52 Consumer Heartbeat Time o
92. CK_GO_TO_RESET_CONFIGURATION_CHG NODE_ID_REQ T Type Request Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 1 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1362 EPLCN_PCK_GO_TO_RESET_CONF IGURATION_CHG_N ODE_ID_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_GO_TO_RESET_CONFIGURATION_CHG_NODE_ID_REQ_DATA_T bNodeld UINT8 1 239 EPL Node Id Table 169 EPLCN_PCK_GO_TO_RESET_CONFIGURATION_CHG_NODE_ID_REQ Go To NMT State ResetConfiguration with Change of Node Id Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packe
93. CK_STATE_CHG_REQ_TO_NOT_ACTIVE_RES NMT state changed to NotActive response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 185 297 6 1 15 EPLCN PCK STATE CHG TO PRE OPERATIONAL 1 IND RES NMT State changed to Pre Operational 1 This packet indicates a change of the NMT state to Pre Operational 1 See section 5 1 State Machine for more information about NMT states Packet Structure Reference typedef struct EPLCN_PCK_STATE_IND_DATA_Ttag TERS UTNE 6 usErrorProfile TLR_UINT16 usErrorCode TLR_BOOLEAN32 fErrorLedIsOn BPLON PCR STATE IND DATA T typedef struct EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_1_IND_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_STATE_IND_DATA_T tData EPLCN_PCK_STATE CHG TO PRE OPERATIONAL _1 IND T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 186 297 structure EPLCN_PCK_STATE_CHG_ TO _PRE_OPERATIONAL_1_IND_T Type Indication Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT
94. CN_DPM_SET_CONFIGURATION_REQ T Type Request ionFlags Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 Packet Data Length in bytes ulld UINT32 0 2 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x13C2 EPLCN_DPM_SET_CONFIGURATION_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_DPM_SET_CONFIG_REQ_DATA_T ulSystemFlags UINT32 System flags ulWatchdogTime VINT32 0 20 65535 DPM Watchdog time in ms ulVendorld UINT32 Vendor Id ulProductCode UINT32 Product Code ulRevisionNumbe UINT32 Revision Number r ulSerialNumber UINT32 Serial Number 0 means to use the serial number from Security EEPROM if available ulStackConfigurat UINT32 Stack configuration flags Bit 0 1 Host Triggered Input Exchange disabled Bit 1 1 Ho
95. CN_PCK_OD_NOTIFY_READ_ RES T Type Response Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 3 n Packet Data Length in bytes ulld UINT32 0 297 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x138B EPLCN_PCK_OD_NOTIFY_READ_RES Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change tData structure EPLCN_PCK_OD_NOTIFY_READ_RES_DATA_T usObjlndex UINT16 Index of the object bSubldx UINT8 Subindex of the object abData UINT8 n Data of the object Table 228 EPLCN_PCK_OD_NOTIFY_READ_RES Object Read Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 253 297 6 1 41 EPLCN_PCK_OD_NOTIFY_WRITE_IND RES Notification when Object is written This packet indicates a write access to a particular object
96. Cmd UINT32 0x1386 EPLCN_PCK_OD_NOTIFY_REGISTER_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_OD_NOTIFY_REGISTER_REQ_DATA_T usIndex UINT16 0x1000 0xFFF Index of the object F fReadNotify BOOL32 0 1 TRUE if read accesses have to be processed via notify fWriteNotify BOOL32 0 1 TRUE if write accesses have to be processed via notify Table 223 EPLCN_PCK_OD_NOTIFY_REGISTER_REQ Object Notify Register Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference typedef struct 247 297 EPLCN_PCK_OD_NOTIFY_REGIST ER _CNE_Ttag TLR_PACKET_HE ADER_T tHead EPLCN_PCK_OD NOTIFY_REGISTER_CNF_T Packet Description structure EPLCN_PCK_OD_NOTIFY_REGISTER_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulS
97. D ana EPLCN_PCK_OD DELETE_OBJECT_REQ_ T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 236 297 structure EPLCN_PCK_OD_DELETE_OBJECT_REQ T Type Request Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 7 Packet Data Length in bytes ulld UINT32 0 2 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1384 EPLCN_PCK_OD_DELETE_OBJECT_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_OD_DELETE_OBJECT_REQ_DATA fDeleteWholeObj BOOL32 0 1 Specifies whether the whole object has to be deleted ect FALSE Delete only the specified subobject TRUE
98. D16 Entry Category Mandatory Access Const PDO mapping No Value 36 C_DLL_ISOCHR_MAX_PAYL Default value none Table 136 Object 0x1F98 NMT_CycleTiming_REC IsochrTxMaxPayload_U16 IsochrRxMaxPayload_U16 This item specifies the allowed upper limit of the data area size to be received by the device within isochronous messages Sub Index 2 Name IsochrRxMaxPayload_U16 Description Upper limit for data area size in isochronous data transmission Data type UNSIGNED16 Entry Category Mandatory Access Const PDO mapping No Value 36 C_DLL_ISOCHR_MAX_PAYL Default value none Table 137 Object 0x1F98 NMT_CycleTiming_REC IsochrRxMaxPayload_U16 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 141 297 Overview PResMaxLatency_U32 This item represents the maximum allowed response time of the Ethernet POWERLINK Controlled Node to PReg telegrams specified in units of nanoseconds Sub Index 3 Name PResMaxLatency_U32 Description Maximum allowed response time to PReq telegram Data type UNSIGNED32 Entry Category Mandatory Access Const PDO mapping No Value O21 Default value none Table 138 Object 0x1F98 NMT_CycleTiming_REC PResMaxLatency_U32 PReqgActPayloadLimit_U16 This item represents the size of the data area for data in the PReq tel
99. DO mapping No Value 0 2 1 Default value none Table 141 Object 0x1F98 NMT_CycleTiming_REC ASndMaxLatency_U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview MultipICycleCnt_U8 143 297 This item represents the length of the multiplexed cycle specified in multiples of the EPL cycle time A value of 0 indicates missing support of multiplexed cycle on the network Note This value might be restricted by the Managing Node of the network Sub Index 7 Name MultiplCycleCnt_U8 Description Length of the multiplexed cycle Data type UNSIGNED8 Entry Category Mandatory Access Read write PDO mapping No Value 0 255 Default value 0 Table 142 Object 0Ox1F98 NMT_CycleTiming_REC MultipICycleCnt_U8 AsyncMTU_U16 This item represents the maximum asynchronous frame size in bytes applies both to ASnd frames and UDP IP frames The length of Ethernet header and check sum is not taken into account here This value should be equal for all nodes within the network Sub Index 8 Name AsyncMTU_U16 Description Maximum asynchronous frame size in bytes Data type UNSIGNED16 Entry Category Mandatory Access Read Write PDO mapping No Value C_DLL_MIN_ASYNC_MTU Default value C_DLL_MIN_ ASYNC_MTU Table 143 Object Ox1F98 NMT_CycleTiming_REC
100. DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 27 297 Status Error Code The ulState field is used in response or confirmation packets It informs the originator of the packet about success or failure of the execution of the command The field may be also used to hold status information in a request packet Command Response The ulCmd field holds the command code or the response code respectively The command response is specific to the receiving task If a task is not able to execute certain commands it will return the packet with an error indication A command is always even the least significant bit is zero In the response packet the command code is incremented by one indicating a confirmation to the request packet Extension The extension field u Ext is used for controlling packets that are sent in a sequenced manner The extension field indicates the first last or a packet of a sequence If sequencing is not required the extension field is not used and set to zero Routing Information The u Rout field is used internally by the netX firmware only It has no meaning to a driver type application and therefore set to zero User Data Field This field contains data related to the command specified in u Cmd field Depending on the command a packet may or may not have a data field The length of the data field is given in the ulLen field Ethernet PO
101. DPM_WARMSTART_REQ Warmstart REQUEST cceeeeseeeeesneeeeeeeaeeetenaeeeeeeeeeeeenneeerenaneeees 274 Table 246 EPLCN_DPM_WARMSTART_CNF Packet 1 Confirmation c cccesceeseeseeeeeeneeeeeeeseeeeeereseeeeeatens 275 Table 247 EPLCN_DPM_SET_CONFIGURATION_REQ Warmstart REQUEST ec cceeesseeeeseneeeeeeenetereenneeetenaeeee 280 Table 248 EPLCN_DPM_SET_CONFIGURATION_CNF Packet 1 Confirmation 0 c ccccceeeeeeeeeeeeeeeeeeeeneeees 282 Table 249 EPLCN_DPM_CHANGE_MAPPING_VERS_REQ Enter Error Condition Request ccesceeeseeeeees 284 Table 250 EPLCN_DPM_CHANGE_MAPPING_VERS_CNF Enter Error Condition Confirmation ccee 285 Pable 251 sStatus Error Cod6S 2223 lt essse vexaee e es cack tog hens countess e r Aion seeds de cede seed edie 290 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Appendix 8 3 Contact Headquarters Germany Hilscher Gesellschaft f r Systemautomation mbH Rheinstrasse 15 65795 Hattersheim Phone 49 0 6190 9907 0 Fax 49 0 6190 9907 50 E Mail info hilscher com Support Phone 49 0 6190 9907 99 E Mail de support hilscher com Subsidiaries China Hilscher Systemautomation Shanghai Co Ltd 200010 Shanghai Phone 86 0 21 6355 5161 E Mail info hilscher cn Support Phone 86 0 21 6355 5161 E Mail cn support hilscher com France Hilscher Fran
102. Data EPLCN_PCK_OD_UNDEFINED_ READ PREPARE RES T Packet Description structure EPLCN_PCK_OD_UNDEFINED_READ_ PREPARE _RES_T Type Response Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 4 Packet Data Length in bytes ulld UINT32 0 2 7 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x13A9 EPLCN_PCK_OD_UNDEFINED_READ_PREPARE_RES Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change iData Structure EPLCN_PCK_OD_UNDEF INED_READ_PREPARE_RES_DATA_T usDataType UINT16 Ox000 OxFFF Data type ID usFieldLength UINT16 0 255 Length of object in data type units Table 236 EPLCN_PCK_OD_UNDEF INED_READ_PREPARE_RES Data Type Information Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 263 297 6 1 45 EPLCN_PCK_OD_UNDEFINED_READ DATA _IND RES Undefined Object Read Indication This packet indica
103. Data Exchange occurs at SOC Receive ceeeceeeeeeeneeeeteeeeeeeeeeeeeeaeeeseaeeeaeeseaeesaeeseaeeteaeesieeeeeeee 47 Figure 7 PRes Data Exchange occurs at PREq Receive 1 0 0 0 eeeeeeeneeeeeeneeeeseneeeeeeeneeetesaeeeeseeeeeeeeaeeesenaeeeteneeeeened 47 Figure 8 Sequence of Steps how to configure the Ethernet Powerlink Controlled Node Protocol API Stack by sending a Warmstart Packet s cic a a a a a a a a ea eaaa N eae gated 49 Figure 9 Internal Structure of Ethernet Powerlink Controlled Node Protocol API Firmware s s s 51 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Appendix 292 297 8 2 List of Tables Tables Elst of REVISIONS 22 eesiess essen is bodes testeat a a ee eapaiadee a einen r e e a e e a rE 6 Table 2 Terms Abbreviations and Definitions ccccccccceceeceeeeeeeeeneeeeeeeeeeeeeeaeeeeeeeeesecaaeeeeeeeesccceeeeeeeseensneeeeeeess 9 Tabl e g References eari a Sia Altes tee beanie ded tia edhe oc secant eed ee net ee a eee ee 9 Table 4 Names of Queues in EtherNet IP Firmware cccccsccccessneeeeeeeeeeecneeeeeseneeeseneeecesseaeeeeesaeeeessneeeesseeeeees 13 Table 5 Meaning of Source and Destination related Parameters cccccsccceeseneeeeeeeeeeeeeneeeeesceeeeeseeeeeeenneeeees 13 Table 6 Meaning of Destination Parameter ulDest Parameters cccceeeeeeeeeeeeeeeeeeeeenneeeeeeeeesecneeeeeeeesessna
104. ERROR_ENTRY_REO_DATA_Ttag TLR_UINT16 usEntryType TLR_UINT16 usErrorCode WIS OLIN S 2 aulAddInformation 2 TLR_BOOLEAN32 fEnterErrorCondition EPLCN_PCK_WRITE_ERROR_ENTRY_REQ_ DATA _T typedef struct EPLCN_PCK_WRITE_ERROR_ENTRY_REQ_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_WRITE_ERROR_ENTRY_REQ_DATA tData EPLCN_PCK_WRITE_ERROR_ENTRY_REQ_ T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 216 297 structure EPLCN_PCK_WRITE_ERROR_ENTRY_REQ T Type Request Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 16 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of th
105. Error Entries within Status Response Frames Timing Errors Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 112 297 Category Frame errors 0x824n Name Value E DLL_INVALID_FORMAT 0x8241 E DLL_LOSS_PREQ_TH 0x8242 E DLL_LOSS_PRES_TH 0x8243 E DLL_LOSS_ SOA_TH 0x8244 E DLL_LOSS_SOC_TH 0x8245 Table 94 Error Entries within Status Response Frames Frame Errors Category Boot up errors 0x84nn Name Value E_ NMT_BA1 0x8410 E NMT_BA1_NO_MN_SUPPORT 0x8411 E NMT_BPO1 0x8420 E NMT_BPO1_GET_IDENT 0x8421 E NMT_BPO1_DEVICE_TYPE 0x8422 E NMT_BPO1_VENDOR_ID 0x8423 E NMT_BPO1_PRODUCT_CODE 0x8424 E NMT_BPO1_REVISION_NO 0x8425 E NMT_BPO1_SERIAL_NO 0x8426 E NMT_BPO1_CONFIGURATION 0x8428 E NMT_BPO2 0x8430 E_NMT_BRO 0x8440 E NMT_WRONG_STATE 0x8480 Table 95 Error Entries within Status Response Frames Boot up Errors Time Stamp The time stamp should contain the current SoC net time at exactly the cycle where event occurred error was detected Additional Info This area may contain vendor specific or device profile specific information 5 2 9 7 Error Condition of NMT State Change The following packet causes error condition processing Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English
106. Falling back to state NUT_CS_PRE_OPERATIONAL_2 due to an EnterPreoperational2 event o Falling back to state NUT_CS_STOPPED after reception of a StopNode event an NMTStopNode command on the network o Falling back to state NUT_GS_INITIALISING due to a global reset or after reception of an NMTBootNode command on the network o Falling back to state NUT_GS_RESET_APPLICATION after reception of an NMTResetNode command on the network o Falling back to state NUT_GS_RESET_ COMMUNICATION due to either the occurrence of an internal communication error or the reception of a NMTResetCommunication signal o Falling back to state NUT_GS_ RESET CONFIGURATION after reception of an NMTResetConfiguration command on the network When the EPL CN firmware gets into this state an EPLCN_PCK_STATE_CHG_TO_OPERATIONAL_IND RES NMT State changed to Operational indication will be issued see section 6 1 18 of this document Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 62 297 NMT_CS_STOPPED Bit mask 0100 1101 In the NUT_CS_ STOPPED state the behavior of the Ethernet POWERLINK Controlled Node is mainly a passive one For instance this state is used for performing a selective shut down of the Ethernet POWERLINK Controlled Node while the rest of the networks continues operation Reception of SoA frames is still possible when being in NUT_CS
107. GENCY_REQ Send CANopen style Emergency Request seeee 213 Table 198 EPLCN_PCK_SEND_EMERGENCY_CNF Send CANopen style Emergency Confirmation 214 Table 199 EPLCN_PCK_WRITE_ERROR_ENTRY_REQ Write Error Entry Request ssscesssseeessneeeeeneees 216 Table 200 EPLCN_PCK_WRITE_ERROR_ENTRY_CNF Write Error Entry Confirmation 0 c cesceeseeseeeeeeees 217 Table 201 EPLCN_PCK_NEW_ERROR_ENTRY_IND New Error Entry Written Indication 219 Table 202 EPLCN_PCK_NEW_ERROR_ENTRY_RES New Error Entry Written Response l 220 Table 203 EPLCN_PCK_WRITE_STATUS_ENTRY_REQ Write Status Entry Request eccccseeesteeeeeeeneees 222 Table 204 EPLCN_PCK_WRITE_STATUS_ENTRY_CNF Write Status Entry Confirmation cceseseeeeeees 223 Table 205 EPLCN_PCK_NEW_STATUS_ENTRY_IND Status Entry Written Indication c ccseeeseeeeeeeeees 225 Table 206 EPLCN_PCK_NEW_STATUS_ENTRY_CNF Status Entry Written ReSponse ccccceeeeeeeneeeeneees 226 Table 207 EPLCN_PCK_WRITE_STATIC_BIT_FIELD_REQ Write Static Error Bit Field Request 227 Table 208 EPLCN_PCK_WRITE_STATIC_BIT_FIELD_CNF Write Static Error Bit Field Confirmation 228 Table 209 EPLCN_PCK_OD_CREATE_OBJECT_REQ Create Object Request eceeeeceeeeeeseeeeteneeeeeeteaeeeeatens 230 Table 210 EPLCN_PCK_OD_CREATE_OBJECT_CNF Create Object Confirmation cccceecceeeeeeeteeeteeeneees 2
108. GURATION_STACK_CFG_CONFIGURE_BUS_SYNCHRONOUS_MODE is set the last three warmstart parameters are evaluated and need to be supplied otherwise they are ignored and need not to be specified i e the old warmstart packet format is expected Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference 282 297 typedef struct TLR_PACKET_HEADER_T tHead EPLCN_DPM_SET_CONFIGURATION_CNF_T Packet Description EPLCN_DPM_SET_CONF IGURATION_CNF_Ttag structure EPLCN_DPM_SET_CONFIGURATION_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 297 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x13C3 EPLCN_DPM_SET_CONF IGURATION_CNE Command ulExt UINT32 0 Extension reserved ulRout UINT32
109. G_REQ_TO_NOT_ACTIVE_IND NMT State changed to Not Active Indication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 184 297 The Application Interface Packet Structure Reference typedef struct HHEMLICIN IPCC ASEAN IE Chel IRVEKO _ INO INKONIE_ INC IE Wh IRIS Mtag TLR_PACKET_HEAD ER_T tHead EPLCN_PCK_STATE_CHG_REQ TO NOT _ACTIVE_RES_T Packet Description structure EPLCN_PCK_STATE_CHG REQ TO NOT _ACTIVE_RES T Type Response Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1309 EPLCN_PCK_STATE_CHG_REQ_TO_NOT_ACTIVE_RES Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 176 EPLCN_P
110. HG_TO_PRE_OPERATIONAL_2_IND NMT State changed to Pre Operational 2 INGICATON P een AEE E Bigs esis Sei ee Sh gees ee ee eee ei eee 189 Table 180 EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_2_RES NMT State changed to Pre Operational SIRECSPONSC ER ceicdchasd icetsscesdesbeccs tana dsadecdaee agagve bed pedactecgecuceshasaaecebaaadeasisccsdsaysedssahate lgeedebtexisecdeesgzecbastagienytety 190 Table 181 EPLCN_PCK_STATE_CHG_TO_READY_TO_OPERATE_IND NMT State changed to ReadyToOperate INGICATION 3 ee eeann aaa ea ued ee ead tial weal Neat See Mate ne See ae 192 Table 182 EPLCN_PCK_STATE_CHG_TO_READY_TO_OPERATE_RES NMT Stat changed to ReadyToOperate Rt Oo a E tice hfntacteausdageusdscagcedesttecna uccitsgdantaeeekees cndndecaedsaacciiasal sactsiesusadtesuadhetessnandeesec 193 Table 183 EPLCN_PCK_STATE_CHG_TO_OPERATIONAL_IND NMT State changed to Operational Indication EEA ER oe vider daa thks paguteesuee With ate ceauibany E ce chal tons cites sh Anh A A E 195 Table 184 EPLCN_PCK_STATE_CHANGE_TO_OPERATIONAL_RES NMT State changed to Operational Response isis ee ini eA ed Sigua E en Sa eats ee E EE T T feetetes awe es 196 Table 185 EPLCN_PCK_STATE_CHG_TO_STOPPED_IND NMT State changed to Stopped Indication 198 Table 186 EPLCN_PCK_STATE_CHG_TO_STOPPED_RES NNMT State changed to Stopped Response 199 Table 187 EPLCN_PCK_STATE_CHG_TO_BASIC_ETHERNET_IND NMT State changed to BasicEthernet NING IC ATION iiie fos cee
111. LCN_PCK_GO_TO_RESET_CONFIGURATION_REQ_T H Packet Description structure EPLCN_PCK_GO_TO_RESET_CONFIGURATION_REQ T Type Request Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 0 See chapter Status Error Codes Overview ulCmd UINT32 0x1326 EPLCN_PCK_GO_TO_RESET_CONFIGURATION_REOQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch Table 167 EPLCN_PCK_GO_TO_RESET_CONF IGURATION_REQ Go To NMT State ResetConfiguration Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference typedef struct 173 297
112. LINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference 226 297 EPLCN_PCK_NEW_STATUS typedef struct ENTRY_RES_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_NEW_STATUS_ENTRY_RES_T Packet Description structure EPLCN_PCK_NEW_STATUS_ENTRY_RES_T Type Response Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 297 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x134F EPLCN_PCK_NEW_STATUS_ENTRY_CNF Command ulExt UINT32 O Extension reserved ulRout UINT32 x Routing information do not change Table 206 EPLCN_PCK_NEW_STATUS_ENTRY_CNF Status Entry Written Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hils
113. Len UINT32 1 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1352 EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTR IES_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTRIES_REQ_DATA_T bNumberOfStatu UINT8 0 32 Number of status entries sEntries Table 151 EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTRIES_REQ Configure Number of Status Entries Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference typedef struct TLR_PACKET_HE EPLCN_PCK_CONFIGURE AD 154 297 ER_T tHead NUMBER_OF_STATUS ENTRIES _CNF_Ttag EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTRIES_CNF_T Packet Description structure EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTRIES_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UI
114. Mandatory Access Read write PDO mapping No Value 0 2 1 UNSIGNED32 There is no default value Table 38 Store parameters AllParam_U32 CommunicationParam_U32 This sub index relates to information specifically relevant to communication related parameters Index ranging from 1000h to 1FFFh manufacturer specific communication parameters Sub Index 2 Name CommunicationParam_U32 Description Save communication parameters Entry Category Optional Access Read write PDO mapping No Value 0 2 1 UNSIGNED32 There is no default value Table 39 Store parameters Save communication parameters Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 83 297 ApplicationParam_U32 This sub index relates to information specifically relevant to application related parameters Index ranging from 6000h to 9FFFh manufacturer specific application parameters sub index 7Fh Sub Index 3 Name ApplicationParam_U32 Description Save application parameters Entry Category Optional Access Read write PDO mapping No Value 0 2 1 UNSIGNED32 There is no default value Table 40 Store parameters Save application parameters ManufacturerParam_XXh_U32 This sub index relates to information specifically relevant to manufacturer defined parameters Index r
115. NET_RES_Ttag TLR_PACKET_HE AD ER_T tHead EPLCN_PCK_STATE_CHG_TO_BASIC_ETHERNET_RES_T Packet Description structure EPLCN_PCK_STATE_CHG TO _BASIC_ETHERNET_RES T Type Response Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 2 7 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1315 EPLCN_PCK_STATE_CHG_TO_BASIC_ETHERNET_RES Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 188 EPLCN_PCK_STATE_CHG TO_BASIC_ETHERNET_RES NMT State changed to BasicEthernet Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 203 297 6 1 21 EPLCN PCK STATE ENABLE RDY TO OPERATE IND RES NMT Command EnableReadyToOperate received This packet i
116. NT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1353 EPLCN_CONFIGURE_NUMBER_OF_STATUS_ENTRIES_ CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 152 EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTRIES_CNF Configure Number of Status Entries Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 155 297 The Application Interface 6 1 3 EPLCN_PCK_REGISTER_REQ CNF Registration at NMT State Indication Notification Table This packet registers a queue for state indications of the NMT state machine Afterwards the AP task will be able to receive state change indications If all registration slots are already used for registered queues the confirmation packet will return the error status code TLR_E EPL_NMT_NO_MORE_APP_HANDLES 0xC017001B change indications Note As long as this packet has not been received the AP task will not receive any state Note This pack
117. NT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 3 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x13B2 EPLCN_PCK_OD_READ_OBJECT_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_OD_READ_OBEJCT_REQ_DATA_T usIndex UINT16 000 0xFFF Index of the object bSubldx UINT8 0 0xFF Subindex of the object Table 221 EPLCN_PCK_OD_READ_OBJECT_REQ Read Object Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Interface 245 297 The Application Packet Structure Reference typedef struct EPLCN_PCK_OD_READ_OBJECT_CNF_DATA_Ttag TLR_UINTS8 abData n EPLCN_PCK_OD_READ_OBJECT_CNF_DATA_T typedef struct EPLCN_PCK_OD_READ_OBJECT_CNF_Ttag TLR_PACKET_HEADER_T tH
118. N_PCK_SET_IO_SIZES_REQ CNF Set I O Sizes 0x1348 151 0x1349 6 1 2 EPLCN_PCK_CONF IGURE_NUMBER_OF_STATUS_ENTRIES_REQ CNF 0x1352 153 Configure Number of Status Entries 0x1353 6 1 3 EPLCN_PCK_REGISTER_REQ CNF Registration at NMT State Indication 0x1340 155 Notification Table 0x1341 6 1 4 EPLCN_PCK_UNREGISTER_REQ CNF Unregistration at NMT State 0x1342 157 Indication Notification Table 0x1343 6 1 5 EPLCN_PCK_STATE_CHG_REQ_TO_INITIALISING_IND RES NMT 0x1300 159 State Changed To Initialising 0x1301 6 1 6 EPLCN_PCK_GO_TO_RESET_APPLICATION_REQ CNF Go to NMT State 0x1322 162 ResetApplication 0x1323 6 1 7 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_APPLICATION_IND RES 0x1302 164 NMT State changed to ResetApplication 0x1303 6 1 8 EPLCN_PCK_GO_TO_RESET_COMMUNICATION_REQ CNF Go to NMT 0x1324 167 State ResetCommunication 0x1325 6 1 9 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_COMMUNICATION_IND RES 0x1304 169 NMT State changed To ResetCommunication 0x1305 6 1 10 EPLCN_PCK_GO_TO_RESET_CONF IGURATION_REQ CNF Go to NMT 0x1326 172 State ResetConfiguration 0x1327 6 1 11 EPLCN_PCK_GO_TO_RESET_CONF IGURATION_CHG_NODE_ID_REQ CNE 0x1362 174 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013
119. N_PCK_STATE_CHG_TO_STOPPED_IND NMT State changed to Stopped Indication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference 199 297 typedef struct TLR_PACKET_HEADER_T tHead EPLCN_PCK_STATE_CHG TO _STOPPED_RES_T Packet Description ERTCNERCKESTATEMCHGATORS TOERE DAR S IM eeu structure EPLCN_PCK_STATE_CHG TO STOPPED_RES T Type Response Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 2 7 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1313 EPLCN_PCK_STATE_CHG_TO_STOPPED_RES Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 186 EPLCN_PCK_STATE_CHG_TO_STOPPED_RES NMT State changed to Stopped
120. NumberOfEntries Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 98 297 NodelD_U8 Sub Index 1 Name NodelD_U8 Description Node ID Data type UNSIGNED8 Entry Category Mandatory Access Read write PDO mapping No Value Only the value 0 is allowed on a Controlled Node indicating the Controlled Node itself is meant Default value 0 Table 69 Receive PDO Communication Parameter NodelD_U8 Note In this context the NodelD applies to the node transmitting the corresponding response frame PRes MappingVersion_U8 This item provides a version number that is used to check whether transmitting node and receiving node use compatible versions The mapping version is a byte where Bits 4 7 contain the main version number Bits 0 3 contain the sub version number The Hilscher firmware only supports static version mapping y For more information about the PDO mapping version refer to section 6 4 2 PDO Mapping Version of the Ethernet Powerlink specification Of the Sub Index 2 Name MappingVersion_U8 Description Mapping version Data type UNSIGNED8 Entry Category Mandatory Access Read only PDO mapping No Value 0 255 Default value 0 Table 70 Receive PDO Communication Parameter MappingVersion_U8 Ethernet POWERLINK Controlled Node DOC071104API12EN R
121. ONELY_NETWORK 0xC0000143 DUPLICATE NODE define RCX_COMM_DUPLICATE_NODE 0xC0000144 CABLE DISCONNECT define RCX_COMM_CABLE_DISCONNECT 0xC0000145 Version All Implementations The version field holds version of this structure It starts with one zero is not defined STRUCTURE VERSION define RCX_STATUS_BLOCK_VERSION 0x0001 Watchdog Timeout All Implementations This field holds the configured watchdog timeout value in milliseconds The application may set its watchdog trigger interval accordingly If the application fails to copy the value from the host watchdog location to the device watchdog location the protocol stack will interrupt all network connections immediately regardless of their current state For details see section 4 13 of the netX DPM Interface Manual Host Watchdog All Implementations The protocol stack supervises the host system using the watchdog function If the application fails to copy the value from the device watchdog location section 3 2 5 of the netX DPM Interface Manual to the host watchdog location section 3 2 4 of the netX DPM Interface Manual the protocol stack assumes that the host system has some sort of problem and shuts down all network connections For details on the watchdog function refer to section 4 13 of the netX DPM Interface Manual Error Count All Implementations This field holds the total number of errors detected since power up respectively after reset
122. ONNEA tHead tData structure EPLCN_PCK_SET_IO_ SIZES_REQ T Type Request Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 4 Packet Data Length in bytes ulld UINT32 0 2 7 4 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1348 EPL_PCK_SET_IO_SIZES_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_SET_IO_SIZES_REQ_DATA_T usProcessDataO UINT16 0 1490 Process Data Output Size Master to Slave utputSize usProcessDataln UINT16 0 1490 Process Data Input Size Slave to Master putSize Table 149 EPLCN_PCK_SET_IO_SIZES_REQ Set I O sizes request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The
123. PCK_STATE_CHG_REQ_TO_RESET_COMMUNICATION_IND_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_STATE_IND_DATA_T tData EPLCN_PCK_STATE_CHG REQ TO _RESET_COMMUNICATION_IND_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 170 297 Packet Description structure EPLCN_PCK_STATE_CHG REQ TO RESET _COMMUNICATION_IND_T Type Indication Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 8 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1304 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_COMMUNCI ATION_IND Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData
124. PI12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 242 297 6 1 36 EPLCN_PCK_OD_WRITE_OBJECT_REQ CNF Write an Object This packet writes data to an object in the object dictionary Packet Structure Reference typedef struct EPLCN_PCK_OD_WRITE_OBJECT_REO_DATA_Ttag TLR_UINT16 usIndex TLR_UINT8 bSubIdx actual data follows here EPLCN_PCK_OD_WRITE_OBJECT_REQ_DATA_T typedef struct EPLCN_PCK_OD_WRITE_OBJECT_REQ_ Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_OD_WRITE_OBJECT_REQ_ DATA_T tData EPLCN_PCK_OD_WRITE_OBJECT_REQ T Packet Description structure EPLCN_PCK_OD_WRITE_OBJECT_REQ T Type Request Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 34n Packet Data Length in bytes ulld UINT32 0 2 1 Packet Identification
125. PLCN_PCK_OD_UNDEFINED_NOTIFY_UNREGISTER_REQ T Type Request Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x13A2 EPLCN_PCK_OD_UNDEFINED_NOTIFY_UNREGISTER_ REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch Table 233 EPLCN_PCK_OD_UNDEF INED_NOTIFY_UNREGISTER_REQ Undefined Object Notification Unregister Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 259 297 The Application Interface Packet Structure Reference typedef struct EPLCN_PCK_OD_UNDEFINED_NOTIFY_UNREGISTER_CNF_Ttag TLR_PACKET_HEAD ER_T tHead
126. Parameter SDO Parameter O 22h 1201 RECORD 2nd Server SDO Parameter SDO Parameter O 22h 127F RECORD 128th Server SDO Parameter SDO Parameter O 22h Client SDO Parameter 1280 RECORD 1st Client SDO Parameter SDO Parameter O 23h 1281 RECORD 2nd Client SDO Parameter SDO Parameter O 23h 12FF RECORD 128th Client SDO Parameter SDO Parameter O 23h Receive PDO Communication Parameter 1400 RECORD 1st receive PDO Parameter PDO CommPar M O 20h 1401 RECORD 2nd receive PDO Parameter PDO CommPar M O 20h 15FF RECORD 512th receive PDO Parameter PDO CommPar M O 20h Receive PDO Mapping Parameter 1600 RECORD 1st receive PDO Mapping PDO Mapping M O 21h 1601 RECORD 2nd receive PDO Mapping PDO Mapping M O 17FF RECORD 512th receive PDO Mapping PDO Mapping M O Transmit PDO Communication Parameter 1800 RECORD 1st transmit PDO Parameter PDO CommPar M O 20h 1801 RECORD 2nd transmit PDO Parameter PDO CommPar M O 20h 19FF RECORD 512th transmit PDO Parameter PDO CommPar M O 20h Transmit PDO Mapping Parameter 1A00 RECORD 1st transmit PDO Mapping PDO Mapping M O 21h 1A01 RECORD 2nd transmit PDO Mapping PDO Mapping M O Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 74 297 1BFF RECORD 512th transmit PDO Mapping PDO Mapping M O Table 25 Communication Profile Genera
127. Pre Operational 2 Bit 10 1 if writable in ReadyToOperate Bit 11 1 if writable in Operational Bit 12 1 if writable in Stopped Bit 13 1 if writable in BasicEthernet Bit 14 1 if writable in NotActive Bit 15 1 if writable during Gs States usDatatype UINT16 0x000 0xFFF Data type of subobject usFieldLen UINT16 0 0xFFFF Length of field in data type units fixed to 1 if the data type is defined as a fixed length data type ulRelativeAddres UINT32 S Offset into DPM block if ulMode equals EPLCN_PCK_OD_SUBOBJECT_MODE_IN_DPM_BLOCK The particular block is selected by usDirection Table 211 EPLCN_PCK_OD_CREATE_SUBOBJECT_REQ Create Subobject Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference typedef struct FRTCNERCKERODMCRE AIE SUBOBJI 234 297 MERER CK ET HE AD EPLCN_PCK_OD ER_T tHead CREATE_SUBOBJECT_CNF_T ECT_CNE_Ttag Packet Description structure EPLCN_PCK_OD_CREATE_SUBOBJECT_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged u
128. Q CNF Configure Controlled Node described in the next subsection which contains identical functionality Do not use this packet for all new developments The 6 related threshold parameters LossSoC Threshold LossPReq Threshold LossSoA Threshold SoCuJitter Threshold Collision Threshold CrcError Threshold have a common logic which can be described as follows To each of these parameters there is an associated Set to zero bit Parameter Associated Set to zero bit LossSoC Threshold Bit 0 of ulThresholdDisableFlags LossPReq Threshold Bit 1 of ulThresholdDisableFlags LossSoA Threshold Bit 2 of ulThresholdDisableFlags SoCuJitter Threshold Bit 3 of ulThresholdDisableFlags Collision Threshold Bit 4 of ulThresholdDisableFlags CrcError Threshold Bit 5 of ulThresholdDisableFlags Table 243 Set to zero bit For each of these parameters the consequence specified in the following table will happen depending on the value and the contents of the associated Set to zero bit Set to zero bit Value Consequence 0 0 Threshold remains unchanged 0 Value Threshold is set to value 1 Does not matter Threshold is set 0 Table 244 Usage of Set to zero bit The default value for LossSoC Threshold can be calculated according to the following formula LossSoC 1000 CycleLength LossOfFrameTolerance Ethernet POWERLINK Controlled N
129. QUEST oo eee eeeeeeeeeteneeeeeeeteeeeeaeeteaeeteaeeteeeenaeees 151 Table 150 EPLCN_PCK_SET_IO_SIZES_CNF Set I O Sizes Confirmation ccceeceeeeeeeeeeeeeeeeeeeeteeeeneeens 152 Table 151 EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTRIES_REQ Configure Number of Status Entries Request aa me ee aay aeaio Ss ewer a a a phe e oe ates 153 Table 152 EPLCN_PCK_CONF IGURE_NUMBER_OF_STATUS_ENTRIES_CNF Configure Number of Status Entries Confirmation rescindi aea leven cee ki ear eaa bed leh aeie aa adira eii ansieae 154 Table 153 EPLCN_PCK_REGISTER_REQ Register Request ccccceceeeeeeneeeeeeeeeeeenneeeeeeeseseenaaeeeeeeeeeeeeaaee 155 Table 154 EPLCN_PCK_REGISTER_CNF Register Confirmation ccccccccceseecceeeeseeeeeeeeeeeessneeeeeseeeeessaeees 156 Table 155 EPLCN_PCK_UNREGISTER_REQ Unregister REQuest ccccccccceeceeeeeeeeneeeeeeeeesesesnaeeeeeeeeeesnaees 157 Table 156 EPLCN_PCK_UNREGISTER_CNF Unregister Confirmation ccccscccecsesseceeeeeeeeseseeeessneeeeesnaeees 158 Table 157 EPLCN_PCK_STATE_CHG_REQ_TO_INITIALISING_IND NMT State Changed to NMT State Initialising Indications 2 csc gol eal dee ea A A es deeb beaded ee raa a aa e A aaa ae aaae Eanna enone 160 Table 158 EPLCN_PCK_CHG_REQ_TO_INITIALISING_RES NMT State Changed to NMT State Initialising GOnfirmation ien n eee obese ated E ie duel ia a a iae io EE TEA ra ea aa Tarea 161 Table 159 EPLCN_PCK_GO_
130. Q_TO_NOT_ACTIVE_RES NMT state changed to NotActive response tee BU Petes Ri atin ed eee niin Peta en hte ahi Nida eet Monnet ee agen ahead ete teat ee 184 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Appendix 295 297 Table 177 EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_1_IND NMT State changed to Pre Operational UN ato ore tita a EE E cos iede E id secenle cose shasaaihcaetaaaadaiataccctassdsasdecaiecpatassacsinesfeeastsisedsdaiadenesececteceteeseetes 186 Table 178 EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_1_RES NMT State changed to Pre Operational WRESPONSE woe hide eed a teen eed al ae E ee a on E 187 Table 179 EPLCN_PCK_STATE_C
131. Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 200 297 6 1 20 EPLCN PCK STATE CHG TO BASIC ETHERNET IND RES NMT State changed to BasicEthernet This packet indicates a change of the NMT state to BasicEthernet See section 5 1 State Machine for more information about NMT states Packet Structure Reference typedef struct EPLCN_PCK_STATE_IND_DATA_Ttag TERS UTNE 6 usErrorProfile TLR_UINT16 usErrorCode TLR_BOOLEAN32 fErrorLedIsOn BPLON PCR STATE IND DATA T typedef struct EPLCN_PCK_STATE_CHG_TO_BASIC_ETHERNET_IND_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_STATE_IND_DATA_T tData EPLCN_PCK_STATE_CHG TO BASIC_ETHERNET_IND_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 201 297 structure EPLCN_PCK_STATE_CHG TO _BASIC_ETHERNET_IND_T Type Indication Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Dest
132. S_CNF_T Packet Description ERS_CNF_Ttag structure EPLCN_DPM CHANGE MAPPING VERS_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 2 7 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x13E1 EPLCN_DPM_CHANGE_MAPPING_VERS_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 250 EPLCN_DPM_CHANGE_MAPPING_VERS_CNF Enter Error Condition Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Status Error Codes Overview 286 297 7 Status Error Codes Overview 7 1 Status Error Codes Hexadecimal Definition Value Description 0x00000000 TLR_S_OK Status ok 0xC0000007 TLR_E_INVALID_ PACKET_LEN Invalid packet length
133. Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 2 7 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1311 EPLCN_PCK_STATE_CHANGE_TO_OPERATIONAL_RE S Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 184 EPLCN_PCK_STATE_CHANGE_TO_OPERATIONAL_RES NMT State changed to Operational Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 197 297 6 1 19 EPLCN_PCK_STATE_CHG_TO_STOPPED_IND RES NMT State changed to Stopped This packet indicates a change of the NMT state to Stopped See section 5 1 State Machine for more information about NMT states Packet Structure Reference typedef struct EPLCN_PCK_STATE_IND_DATA_Ttag TERS UTNE 6 usErrorProfile TLR_UINT16 usErrorCode TLR_BOOLEAN32 fErrorLedIsOn BPLON PCR STATE IND DATA T typedef struct EPLCN_PCK_STATE_CHG_TO_STOPPED_IND_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_STATE_IND_DATA_T tData EPLCN_PCK_STATE_CHG TO _STOPPED_IND_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Pa
134. State changed to Stopped indication will be issued see section 6 1 19 of this document Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 63 297 NMT_CS_BASIC_ETHERNET Bit mask 0001 1110 In this state the Ethernet POWERLINK Controlled Node can be used as a usual legacy Ethernet device according to the IEEE 802 3 communication standard There is no Ethernet Powerlink specific control of the network traffic Network communication is performed in a pure non deterministic way Collision control is managed exclusively by CSMA CD according to IEEE 802 3 On reception of one of the following types of frames the device switches back to state NMT_CS_PRE_OPERATIONAL_1 o SoC o PReq o PRes o SoA The following reactions to error situations might possibly occur while being in the NMT_CS_BASIC_ETHERNET state o Falling back to state NMT_GS_INITIALISING due to a global reset or after reception of an NMTBootNode command on the network o Falling back to state NUT_GS_RESET_APPLICATION after reception of an NMTResetNode command on the network o Falling back to state NUT_GS_ RESET COMMUNICATION due to either the occurrence of an internal communication error or the reception of a NMTResetCommunication signal o Falling back to state NUT_GS_RESET_CONFIGURATION after reception of an NMTResetConfiguration command on the network When t
135. Structure EPLCN_PCK_STATE_IND_DATA_T usErrorProfile UINT16 Valid profile EPL Error Profile number Pan a Only indicated if fErrorLedIson was changed to TRUE from last known Error Led state usErrorCode UINT16 Valid error code Profile specific error code Only indicated if fErrorLedIson was changed to TRUE from last known Error Led state fErrorLedlsOn BOOL32 0 1 State of Error Led TRUE On FALSE Off Table 165 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_COMMUNICATION_IND NMT State Changed To ResetCommunication indication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference typedef struct 171 297 JEMEMLICIN JKC SLAVIN Chel IO IRVE S ET_COMMUNICATION_RES_Ttag TLR_PACKET_HEAD ER_T tHead EPLCN_PCK_STATE_CHG_REQ TO RESET _COMMUNICATION_RES_T Packet Description structure EPLCN_PCK_STATE_CHG_ TO _RESET_COMMUNICATION_RES_T Type Response Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Proces
136. TO_RESET_APPLICATION_REQ Go To NMT State ResetApplication Request 162 Table 160 EPLCN_PCK_GO_TO_RESET_APPLICATION_CNF Go To NMT State ResetApplication Confirmation a eh Noe Seat ae ie E a ea a a a E i hee ie lel eile E ai 163 Table 161 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_APPLICATION_IND NMT State Changed to ResetApplication indication eee aae aiia E E S E 165 Table 162 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_APPLICATION_RES NMT State Changed to ResetApplication ReSp nS cecc cccccseeceeeseeneeeeseeeeeetenceeesneeeeesceeeeeseesenesenseeseseeeeseseenenedeeneesneneeseneenenees 166 Table 163 EPLCN_PCK_GO_TO_RESET_COMMUNICATION_REQ Go To NMT State Reset Communication ROQUCSt i ic c seiccesess sreeesetieattedess AEE A A sna deseduapaacus huesseed eauanocuaetaasadinsaetsens resuscdacesiaddeduicrnsaoeartee 167 Table 164 EPLCN_PCK_GO_TO_RESET_COMMUNICATION_CNF Go To NMT State Reset Communication oTa iln aleio aN tees hes ect cg th ce cach E A A hea aL Nate oe ck Dh choad atone aoe At 168 Table 165 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_COMMUNICATION_IND NMT State Changed To ResetCommunication indication sses e a e e eiie Ee aatas aaea 170 Table 166 EPLCN_PCK_STATE_CHG_TO_RESET_COMMUNICATION_RES NMT State Changed To ResetCommunication RESponse ceceeeeeeeees spade delay eed tesa ta Sea A A eae a eke 171 Table 167 EPLCN_PCK_GO_TO_RESET_CONFIGURATION_REQ Go To NMT State ResetConfiguration Request Jelt
137. WERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 28 297 3 2 2 Status amp Error Codes The following status and error codes can be returned in ulState List of codes see manual named netX Dual Port Memory Interface 3 2 3 Differences between System and Channel Mailboxes The mailbox system on netX provides a non cyclic data transfer channel for field bus and industrial Ethernet protocols Another use of the mailbox is allowing access to the firmware running on the netX chip itself for diagnostic purposes There is always a send and a receive mailbox Send and receive mailboxes utilize handshake bits to synchronize these data or diagnostic packages through the mailbox There is a pair of handshake bits for both the send and receive mailbox The netX operating system rcX only uses the system mailbox The system mailbox however has a mechanism to route packets to a communication channel A channel mailbox passes packets to its own protocol stack only 3 2 4 Send Mailbox The send mailbox area is used by protocols utilizing a non cyclic data exchange mechanism Another use of the mailbox system is to provide access to the firmware running on the netX chip itself The send mailbox is used to transfer non cyclic data to the network or to the protocol stack The size is 1596 bytes for the send mailbox in the default memory layout The mailbox is accompanied
138. _ERROR_ENTRY_IND_DATA_T usEntryType UINT16 See Table 89 Error Entry Type Entry Type usErrorCode UINT16 See Table 90 Error Code Table 95 aulAddInformatio UINT32 Additional Error specific information n 2 Table 201 EPLCN_PCK_NEW_ERROR Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 ENTRY_IND New Error Entry Written Indication Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference 220 297 typedef struct EPLCN_PCK_NEW_ERROR_ENTRY_RES_Ttag i TLR_PACKET_HEADER_T tHead EPLCN_PCK_NEW_ERROR_ENTRY_RES_T Packet Description structure EPLCN_PCK_NEW_ERROR_ENTRY_RES_T Type Response Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x134B EPLCN_PCK_NEW_ERROR_ENTRY_RES
139. _OPERATIONAL_2 RES _T Packet Description structure EPLCN_PCK_STATE_CHG TO PRE OPERATIONAL 2 RES T Type Response Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x130D EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_2_ CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 180 EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_2_RES NMT State changed to Pre Operational 2 Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 191 297 6 1 17 EPLCN PCK STATE CHG TO READY TO OPERATE IND RES NMT State changed to ReadyToOperate This packet indicates a change of the NMT state to ReadyToOperate See section 5 1 State Machine for more in
140. _REQ_DATA_T tData EPLCN_PCK_OD_CREATE_OBJECT_REQ_T Packet Description structure EPLCN_PCK_OD_CREATE_OBJECT_REQ T Type Request Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 9 Packet Data Length in bytes ulld UINT32 0 2 7 4 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1380 EPLCN_PCK_OD_CREATE_OBJECT_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_OD_CREATE_OBJECT_REQ_DATA_T usIndex UINT16 0x1000 0xFFF Index of object F bNumOfSubObjs UINT8 0 0xFF Initial number of sub indexes bMaxNumOfSub UINT8 0 0xFF maximum number of sub indexes Objs If this value is set to 0 the sub object count will be read only usObjAccess UINT16 0 0x1F Object access type Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Applic
141. _STOPPED state The device does not participate at the cyclic data exchange in this state The device is not being queried by the Ethernet Powerlink Managing Node with PReq frames It also does not respond on reception of PReq frames However it still answers to SoA Asynclnvite commands received from the Ethernet Powerlink Managing Node There is no transmission of Ethernet frames possible in this state unless such an SoA Asynclinvite command is received The following reactions to error situations might possibly occur while being in the NMT_CS_STOPPED state o Falling back to state NUT_CS_PRE_OPERATIONAL_1 due to some error condition such as the errors listed in section 4 7 2 table 27 CN Error Handling of the EPL specification o Falling back to state NUT_CS_PRE_OPERATIONAL_2 due to an EnterPreoperational2 event o Falling back to state NMT_GS_INITIALISING due to a global reset or after reception of an NMTBootNode command on the network o Falling back to state NUT_GS_RESET_APPLICATION after reception of an NMTResetNode command on the network o Falling back to state NUT_GS_RESET_COMMUNICATION due to either the occurrence of an internal communication error or the reception of a NMTResetCommunication signal o Falling back to state NUT_GS_RESET_CONFIGURATION after reception of an NMTResetConfiguration command on the network When the EPL CN firmware gets into this state an EPLCN_PCK_STATE_CHG_TO_STOPPED_IND RES NMT
142. _T Packet Description EEA Neve Chal COMO m ES Halas Palle Aviias Nn Niki malate structure EPLCN_PCK_GO_TO_RESET_APPLICATION_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 2 7 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1323 EPLCN_PCK_GO_TO_RESET_APPLICATION_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 160 EPLCN_PCK_GO_TO_RESET_APPLICATION_CNF Go To NMT State ResetApplication Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 164 297 6 1 7 EPLCN _PCK STATE CHG REQ TO RESET APPLICATION _IND RES NMT State changed to ResetApplication This packet indicates a change of the NMT state to ResetApplication See
143. a hilsclier COMPETENCE IN COMMUNICATION Protocol API Ethernet POWERLINK Controlled Node V2 1 x x Hilscher Gesellschaft fur Systemautomation mbH www hilscher com DOC071104API12EN Revision 12 English 2013 10 Released Public Table of Contents 2 297 Table of Contents 1 NTF O CUI CTION aaan aaa ete EE Concave vetienacet ce detien etuene ste unsees auto E E canteeutedeeseeetuel 5 a fd LEN 01 co el o a un rire eer Srrerl rerce a erect tein teat ere a pt ate re terre a errr e a 5 V2 LIST OF REVISIONS na erore Eae adel oc casdetibiascectveugdicovenaseozeadaaten saad gaceecaaceseveadacteners N 6 1 9 RUNGHONAlOVEMVIGW e oeren a Eia E E EE E EAE E EEEREN 7 1 4 System Reg irementSi is sieieciiiiiidisiiinieiieaniiiinia ieii dadi iad ideada dids didai idide 7 1 5 Intended Audiente siosiisscininiiiiiisiiiis iinne iiidid iiaa iied adi aaia TA 1 6 Specification SiNi idn ai aa aiiin i ea a aaa ad aiioa adi diaa aidia 8 1 6 1 Technical Datas iistri aeea e aa a PIS ee ees ed ee 8 1 7 Terms Abbreviations and Definitions cccccccecssscssscsesescscseeeseseseseeesseeeeesessseseseesssseseeeeeeees 9 t e SRETELENGES eea a E Ti a a EE EE A ENEA E EET 9 WS Legal Notes eaei a tid fee e E E EE e A tll AE EA EA 10 1 9 1 Copyrights 138i E E A A E A ee el 10 1 9 2 Important Note Sici a aa e iR ea a shite cen a a E aie bs saute E ri EN 10 1 9 3 Exclusion Ori Liability teere are a a e eet aE Eaa Na eana ETa Es EEEN aE edie aeons eee e
144. a 1490 bytes Maximum number of cyclic output data 1490 bytes Acyclic data transfer SDO Upload Download Functions SDO over ASND and UDP Baud rate 100 MBit s half duplex Data transport layer Ethernet Il IEEE 802 3 Ethernet Powerlink version V2 Firmware stack available for netX netX 50 yes netX 100 netX 500 yes Configuration Configuration by packet to transfer warmstart parameters Diagnostic Firmware supports common diagnostic in the dual port memory for loadable firmware Limitations No slave to slave communication Loadable firmware Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Introduction 9 297 1 7 Terms Abbreviations and Definitions Term Description PReq Poll Request PRes Poll Response SoC Start of Cyclic SoA Start of Asynchronous ASnd Asynchronous Send Table 2 Terms Abbreviations and Definitions All variables parameters and data used in this manual have the LSB MSB Intel data representation This corresponds to the convention of the Microsoft C Compiler 1 8 References This document is based on the following specifications Task Layer Reference Manual Hilscher GmbH Hilscher Gesellschaft f r Systemautomation mbH Dual Port Memory Interface Manual netX based products Revision 12 English 2012 3 Ethernet Powerlink V 2 0 Communication Profile Sp
145. a field If present the content of the data field is specific to the command respectively the reply Destination Queue Handle The ulDest field identifies a task queue in the context of the netX firmware The task queue represents the final receiver of the packet and is assigned to a protocol stack The u Dest field has to be filled out in any case Otherwise the netX operating system cannot route the packet This field is mandatory Source Queue Handle The ulSrc field identifies the sender of the packet In the context of the netX firmware inter task Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 26 297 communication this field holds the identifier of the sending task Usually a driver uses this field for its own handle but it can hold any handle of the sending process Using this field is mandatory The receiving task does not evaluate this field and passes it back unchanged to the originator of the packet Destination Identifier The ulDestld field identifies the destination of an unsolicited packet from the netX firmware to the host system It can hold any handle that helps to identify the receiver Therefore its use is mandatory for unsolicited packets The receiver of unsolicited packets has to register for this Source Identifier The ulSrcid field identifies the originator of a packet This field is used by a host ap
146. acket ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x130E EPLCN_PCK_STATE_CHG_TO_READY_TO_OPERATE_I D Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData Structure EPLCN_PCK_STATE_IND_DATA_T usErrorProfile UINT16 Valid profile EPL Error Profile number Pan a Only indicated if fErrorLedIson was changed to TRUE from last known Error Led state usErrorCode UINT16 Valid error code Profile specific error code Only indicated if fErrorLedIson was changed to TRUE from last known Error Led state fErrorLedlsOn BOOL32 0 1 State of Error Led TRUE On FALSE Off Table 181 EPLCN_PCK_STATE_CHG_TO_READY_TO_OPERATE_IND NMT State changed to ReadyToOperate Indication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference typedef struct 193 297 EPRECNSE Chas Ein CHG a lORREAD YS LOBORE IRVINE IRIS BENG TLR_PACKET_HEAD ER_T tHead EPLCN_PCK_STATE_CHG_TO_READY_ TO OPERATE_RES_T Packet Description structure EPLCN_PCK_STATE_CHG TO READY TO OPERATE_RES T Type Response Area Variable Type Value Range Description tHead Des
147. ailboxes Channel Mailboxes Structure UIN UINT typedef s UINT16 us UINT16 us T8 abSendMbx 15 ETX_SE truct tagN Reserved EB DXS END_MAILBOX_BLOCK 96 D_MAILBOX_BLOC typedef s UNELE US UINT8 abRecvMbx 15 truct tagN 16 usWaitingPac Reserved PackagesAccepted K ETX_R r ECV_MAILBOX_BLOCK 96 kages NETX_RECV_MATLBOX_BLOCK Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 30 297 3 3 Status A status block is present within the communication channel It contains information about network and task related issues In some respects status and control block are used together in order to exchange information between host application and netX firmware The application reads a status block whereas the control block is written by the application Both status and control block have registers that use the Change of State mechanism see also section 2 2 1 of the netX Dual Port Memory manual 3 3 1 Common Status The Common Status Block contains information that is the same for all communication channels The start offset of this block depends on the size and location of the preceding blocks The status block is always present in the dual port memory 3 3 1 1 All Implementations The structure o
148. already exists 0xC0280019L TLR_E_OD2_SUBOBJECT_ALREADY_EXISTS Sub Object already exists 0xC028001AL TLR_E_OD2_SUBOBJECT_DOES NOT EXIST Sub Object does not exist 0xC028001BL TLR_E_OD2_OBJECT_CREATION_LOCKED Object creation locked 0xC03D0001L TLR_E_EPL_MN_COMMAND_INVALID Invalid command received 0xC03D0002L TLR_E_EPL_MN_CN_EXISTS CN exists already 0xC03D0003L TLR_E_EPL_MN_CN_DOES NOT_EXIST CN does not exist 0xC03D0004L TLR_E_EPL_MN_CN_ALREADY_ CONNECTED CN already connected 0xCO3D0005L TLR_E_EPL_MN_CN_NO_OUTPUT_DATA Table 251 Status Error Codes Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Appendix 291 297 8 Appendix 8 1 List of Figures Figure 1 The three different Ways to access a Protocol Stack running on a netX System s s 12 Figure 2 Use of ulDest in Channel and System MailboX eecceeecceeeeeeeeeeeseeeeeeeeeseeeeeeeeseaeeeseeeteaeesseeessaeeeaees 15 Figure S Using yl Sre aNd UlSr CL des ssescscisecten cea oeeatescshacteeeshpiagdessasascshincajdsaasciacasadechssicesesseaedeseadaetenacteeesiniagecaue 16 Figure 4 Transition Chart Application aS Client 2 00 cee eeececeeeeeseeeeeeeeeneeeeeeeeaeeeeaeeeeaeeesaeeeeeeeseeeeaeeeseeeeieeesieeeeeeees 20 Figure 5 Transition Chart Application aS S rvel ecccecccecececeeeeeeneeeeeeeeaeeseaeeseaeeseaeeseaeeseaeeseaeeseaeesieeeeeeesieeeeeeees 21 Figure 6 PRes
149. anging from 2000h to 5FFFh manufacturer specific application parameters The sub index is designed in order to store manufacturer specific lists of data In practice to allow access by name _Xn is replaced with a name index For example the name index is _04h if the sub index is 04h The name index may be incremented up to _7Fh according to sub index value Sub Index 4 0x7F Name ManufacturerParam_XXh_U32 Description Save manufacturer defined parameters Entry Category Optional Access Read write PDO mapping No Value 0 2 1 UNSIGNED32 There is no default value Table 41 Store parameters Save manufacturer defined parameters Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 5 2 6 9 Restore Parameters NMT_RestoreDefParam_REC 84 297 This object allows to restore the default values of parameter sets Information about the capabilities to restore these values can be retrieved by read access to the device There are several parameter groups which need to be distinguished Sub Index 0 contains the number of entries i e value of the largest supported sub Index Sub Index 1 accesses all parameters that can be stored on the device as a whole Sub Index 2 accesses only the communication related parameters Index values 1000h 1FFFh manufacturer specific communication parameters
150. application and netX firmware The control block is written by the application whereas the application reads a status block Both control and status block have registers that use the Change of State mechanism see also section 2 2 1 of the netX Dual Port Memory Manual The following gives an example of the use of control and status block The host application wishes to lock the configuration settings of a communication channel to protect them against changes The application sets the Lock Configuration flag in the control block to the communication channel firmware As a result the channel firmware sets the Configuration Locked flag in the status block see below indicating that the current configuration settings cannot be deleted altered overwritten or otherwise changed The control block of a dual port memory features a watchdog function to allow the operating system running on the netX supervise the host application and vice versa The control area is always present in the dual port memory Control Block Offset Type Name Description 0x0008 UINT32 ulApplicationcos Application Change Of State State Of The Application Program INITIALIZATION LOCK CONFIGURATION 0x000C UINT32 ulDeviceWatchdog Device Watchdog Host System Writes Protocol Stack Reads Table 15 Communication Control Block Communication Control Block Structure typedef struct NETX_CONTROL_BLOCK_Ttag UINT32 ulApplicationCOSs
151. ara 258 6 1 44 EPLCN_PCK_OD_UNDEFINED_READ_PREPARE_IND RES Indication of Stack to request Data hype Information rns a ie ee dee ee ee a ee eve 260 6 1 45 EPLCN_PCK_OD_UNDEFINED_READ_DATA_IND RES Undefined Object Read Indication 263 6 1 46 EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_IND RES Undefined Object Write Indication266 6 2 ThesEPLCN DPM Task sisidentititeainniiiadiiucdd ant ide eddies aa a aaae aiai 269 6 2 1 EPLCN_DPM_WARMSTART_REQ CNF Configure Controlled NOde cccsssceeeeeteeeesenteeeesees 270 6 2 2 EPLCN_DPM_SET_CONFIGURATION_REQ CNF Configure Controlled Node cceeeeeees 276 6 2 3 EPLCN_DPM_CHANGE_MAPPING_VERS_REQ CNF Change Mapping Versions 0e 283 7 Status Error Codes OvervieW e sssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nnne nn ennnen ennnen nnmnnn nennen nenene 286 Yi Stat s Error CodeS an a i a e al a e i a a a a G 286 8 APpendiX sssi ae net ca aaas escent ete ated ee aaan eaen Se aeae oaaae Ea eaaa Se aeaa oaaae i du iaaii iaia 291 Oe LEISHOT EIUS S ar e a a a a Soe ee eetees 291 aE Sie lae E AE E A E A E A ET 292 Sides COMA A cis aniu e a a a a dada Rta a a a a A a NA 297 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Introduction 5 297 1 Introduction 1 1 Abstract This manual describes the application interface of the Ethernet POWERLINK Controlled Node stack with th
152. aram_XXh_REC cccsccceessseeeseteeees 97 Transmit PDO Communication Parameter NumberOfEntries cccccsccceeeeneeeeeeeeeeesneeeeesseeesenaeees 97 Receive PDO Communication Parameter NodelD_U8 cccescceceseeeceeeneeeeeeeeeeeeseeeesenaeeeessneeessaes 98 Receive PDO Communication Parameter MappingVersion_US8 cceeeceeeeeeeeeeeeseeeeeeeeeseaeeeeeeeeaees 98 FransmitsP DOiMappinGss tan ces4tetictns E E E A E A A AT 99 Transmit PDO Mapping PDO Mapping for the Input Object to be mapped sessessessessesereseeesreeen 100 Receive PDO Mapping Object Mapping Interpretation of Values cceeccceeeeeteeeeeeteeeeseneeeeeeees 100 SDO SDO_ServerContainerParam_XXh_REQ ececcccsesccceeseeeeeceeeeeeseeeceseeaeeeseeaeeeessneeeeesneeesseaaees 102 SDO SDO_ServerContainerParam_XXh_REQ NumberOfEntries cceseeceeeeeeeeeeessneeeeeseeeees 102 SDO SDO_ServerContainerParam_XXh_REQ ClientNodelD_US8 cccccceeceeesesteeeeeeteeeeesaeees 102 SDO SDO_ServerContainerParam_XXh_REQ ServerNodelD_USB8 c ccccseceeeseeteeeessteeeeseeeees 103 SDO SDO_ServerContainerParam_XXh_REQ ContainerLen_UB8 ccccccceeseeeeeseeeeeesnteeessnneees 103 SDO SDO_ServerContainerParam_XXh_REQ HistorySiZe_U8 cccecsceceeeseeeeeseeeeeeseeeesseaeees 104 SDO SDO_ClientContainerParam_XXh_REQ cecsccceessceeeeeeeeeeceneeeeeeeaaeeeescaeeesceeeeeeseneeees
153. arameters of this packet are not relevant in this context The ulLen parameter will have the value 1 indicating the error register is one byte long By masking bit 1 2 and 3 of the abData parameter you can now check whether current voltage or temperature excess events have occurred or not Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 71 297 Example 2 Setting the Communication Cycle Period to its default value Write the value 0 to the object 0x1006 Communication Cycle Period 1 Send an EPLCN_PCK_OD_WRITE_OBJECT_REQ packet with the following parameter values to EPLCN_PCK task usIndex 0x1006 bSubIdx 0 This will cause writing the value 0 indicating to use the default value to the communication cycle period object to the object dictionary 2 The task will then receive an EPLCN_PCK_OD_WRITE_OBJECT_CNF confirmation packet indicating the value has been set Example 3 Notification on Write Access on an Object Collision detection If you want to get an indication packet when a collision event occurs you can proceed as follows 1 Send an EPLCN_PCK_OD_NOTIFY_REGISTER_REQ packet with the following parameter values to EPLCN_PCK task usIndex 0x1COA Index of the collision counter DLL_CNCollision_ REC RECORD fReadNotify 0 no supervision of read acc
154. ata Exchange PRes Data Exchange Figure 6 PRes Data Exchange occurs at SoC Receive Bus Cycle Start Bus Cycle Start PRes Data Exchange PRes Data Exchange Figure 7 PRes Data Exchange occurs at PReq Receive Remarks The flag MSK_EPLCN_DPM_SET_CONFIG_STACK_CFG_USE PREQ_RX_FOR_PRES_DATA_EXCHANGE must be set for synchronous applications since the exchange time point at SoC Receive does not have a predictable cycle latency in all timing configurations Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Getting started Configuration 48 297 4 2 2 Behavior when receiving a Set Configuration Warmstart Command The following rules apply for the behavior of the Ethernet POWERLINK Controlled Node protocol stack when receiving a set configuration command The configuration packets name is EPLCN_DPM_SET_CONFIGURATION_REQ for the request and EPLCN_DPM_SET_CONFIGURATION_CNF for the confirmation valid since version 2 0 10 inclusively The configuration data are checked for consistency and integrity In case of failure all data are rejected with a negative confirmation packet being sent In case of success the configuration parameters are stored internally within the RAM The parameterized data will be activated only after a channel init has been performed No automatic registration of the application at the stack happens
155. ation Interface 230 297 Bit 0 If set to 1 Object is marked RxPDO mappable OD2_OBJ_ACCESS_RXPDOMAP Bit 1 if set to 1 Object is marked TxPDO mappable OD2_OBJ_ACCESS_TXPDOMAP Bit 2 if set to 1 Object is a config object OD2_OBJ_ACCESS_CONFIG Bit 3 if set to 1 Object has subobjects OD2_OBJ_ACCESS_INDEXED Bit 4 if set to 1 Object is a backup object OD2_OBJ_ACCESS_BACKUP bObjectCode UINT8 Object code 7 Object is a simple variable OD2_OBJCODE_VAR 8 Object is an array OD2_OBJCODE_ARRAY 9 Object is a record OD2_OBJCODE_RECORD usDatatype UINT16 0x000 0xFFF Data type ID For available data type IDs see Table 23 and Table 24 Table 209 EPLCN_PCK_OD_CREATE_OBJECT_REQ Create Object Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference 231 297 EPLCN_PCK_OD_CREATE typedef struct OBJECT_CNF_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_OD_CREATE_OBJECT_CNF_T Packet Description structure EPLCN_PCK_OD_CREATE_OBJECT_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT3
156. ation via PDO and embedded container SDO by UDP IP TRUE Support for SDO communication via UDP IP frames FALSE No support for SDO communication via UDP IP frames TRUE isochronous access via PReq allowed FALSE Exclusively asynchronous transport supported Table 130 Byte 0 of Object 0x1F82 NMT_FeatureFlags_U32 SDO by ASnd TRUE Support for SDO communication via EPL ASnd frames FALSE No support for SDO communication via EPL ASnd frames Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 136 297 Byte 1 of Object 0x1F82 NMT_FeatureFlags_U32 pene seinen Routing Type 2 Support TRUE Support for Routing Type 2 functions ee nce contenu O Routing Type 1 Support TRUE Support for Routing Type 1 functions FALSE No support for Routing Type 1 functions Not used for CN Not used this feature flag only affects Managing Nodes NodelD setup by SW TRUE Support for NodelD setup configurable by software FALSE No support for NodelD setup configurable by software Multiplexed Access TRUE Support for multiplexed isochronous access FALSE No support for multiplexed isochronous access Configuration Manager TRUE Support for Configuration manager functions FALSE No support for Configuration manager functions Table 131 Byte 1 of Object 0x1F82 NMT_FeatureFlags_U32 Bytes 2 and 3 are reserved Ethernet POWERLINK Controlled Node
157. ative Counter for SoC jitter events Data type UNSIGNED32 Entry Category Optional Access Read write PDO mapping No Value 0 2 1 Default value 0 Table 119 Object Ox1COE DLL_CNSoCjJitter_REC Cumulative Counter ThresholdCnt_U32 The threshold counter variable ThresholdCnt_U32 should be incremented by 8 counts each time a SoC jitter event occurs and decremented by 1 at each cycle without occurrence of such an event This value might be used as a measure for the network quality Sub Index 2 Name ThresholdCnt_U32 Description Threshold counter for SoC jitter events Data type UNSIGNED32 Entry Category Optional Access Read only PDO mapping No Value 0 2 1 Default value 0 Table 120 Object Ox1COE DLL_CNSoCuJitter_REC ThresholdCnt_U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 129 297 Threshold_U32 This item represents the threshold value When the threshold is reached a specific action might be executed and the SoC Jitter recognition counter should be reset to 0 according to the Ethernet Powerlink specification Setting the value to 0 disables the entire threshold counting mechanism for this kind of event Sub Index 3 Name Threshold_U32 Description Threshold for SoC jitter events Data type UNSIGNED32 Entry Category Optional Access Read write PDO ma
158. b Index 0 contains the largest supported sub Index Sub Index 1 accesses all parameters that can be stored on the device as a whole Sub Index 2 accesses only the communication related parameters Index values 1000h 1FFFh manufacturer specific communication parameters Sub Index 3 accesses only the application related parameters Index values 6000h 9FFFh are reserved for manufacturer specific application parameters Sub Indices 4 127 are reserved for manufacturer specific parameters Index 0x1010 Name NMT_StoreParam_REC Description Store parameters Object code RECORD Data type UNSIGNED32 Category Optional Table 36 NMT_StoreParam_REC NumberOfEntries This implementation dependent sub index contains the number of entries of the NMT_StoreParam_REC object Sub Index 0 Name NumberOfEntries Description Largest subindex supported Entry Category Mandatory Access Constant PDO mapping No Value 1 127 There is no default value Table 37 Store parameters Largest subindex supported Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview AllParam_U32 82 297 This sub index relates to information relevant to all parameters that can be stored on the device Sub Index 0 Name AllParam_U32 Description Save all parameters Entry Category
159. ber of entries Access Read only PDO mapping No Value Range 3 Default value 3 Table 108 Object 0x1COC DLL_CNLossSoA_REC NumberOfEntries Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview CumulativeCnt_U32 122 297 The cumulative counter should be incremented by 1 each time a loss of SoA event occurs Its value is the sum of all monitored loss of SoA events that were detected by the Ethernet POWERLINK Controlled Node Sub Index 1 Name CumulativeCnt_U32 Description Cumulative counter for loss of SoA events Data type UNSIGNED32 Entry Category Optional Access Read write PDO mapping No Value 0 2 1 Default value 0 Table 109 Object Ox1COC DLL_CNLossSoA_REC Cumulative Counter ThresholdCnt_U32 The threshold counter variable ThresholdCnt_U32 should be incremented by 8 counts each time a loss of SoA event occurs and decremented by 1 at each cycle without occurrence of such an event This value might be used as a measure for the network quality Sub Index 2 Name ThresholdCnt_U32 Description Threshold counter for loss of SoC events Data type UNSIGNED32 Entry Category Optional Access Read only PDO mapping No Value 0 2 1 Default value 0 Table 110 Object Ox1COC DLL_CNLossSoA_REC ThresholdCnt_U32 Ethernet POWERLINK Contro
160. ble SoC Jitter Threshold Bit 3 of the threshold disable flags controls whether the SoC Jitter error detection is to be disabled 0 Do not set SoC Jitter error threshold to 0 1 Set SoC Jitter error threshold to 0 Default Set SoC Jitter error threshold to 0 Disable Collision Threshold Bit 4 of the threshold disable flags controls whether the collision detection error threshold is to be disabled 0 Do not set collision error threshold to 0 1 Set collision error threshold to 0 Default Do not set collision error threshold to 0 Disable CRC Error Bit 5 of the threshold disable flags controls whether the CRC Default Do not set Threshold error threshold is to be disabled CRC error threshold 0 Do not set CRC error threshold to 0 pe 1 Set CRC error threshold to 0 Loss SoC specifies the Loss SoC Threshold 0 2 1 Threshold If the threshold is enabled by Disable Loss SoC Threshold 0 A value of 0 indicates to use the last known value or if this Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Getting started Configuration 45 297 does not exist the internal default value of 15 A value different from 0 indicates to use the specified value for the threshold Loss PReq Threshold specifies the Loss PReq Threshold If the threshold is enabled by Disable Loss PReq Threshold
161. cally filled up with current data again These data can be assigned to sub objects of objects stored in the Ethernet Powerlink object dictionary i e addressing by index and subindex is applied The process of assignment of cyclic data from the PDO to various objects within the object dictionary is denominated as PDO mapping In order to practically define a PDO mapping within the object dictionary you need to know two objects namely The PDO Communication Parameter Object The PDO Mapping Object Such objects are defined separately for receive and transmit PDO s see below Note You can assign 240 receive PDOs RxPDO to an Ethernet POWERLINK Controlled Node but only one transmit PDO TxPDO 5 2 7 1 Receive PDO Communication Parameters This parameter can be used to provide the communication parameters for the PDOs that can be received by the device This includes A fixed and unique assignment between a specific node of the network identified by its node ID to a specific PDO channel The mapping version to apply can be specified here see below Up to 256 mappings can be made using the 256 objects offered by the index range 0x1400 to 0x14FF Nevertheless a lower number of objects than 256 is also permitted Note It is recommended to implement the objects contiguously beginning at the with the index object 0x1400 Otherwise there will be one or more gaps Only as many entries are applicable as corresponds to the value
162. cccccesscceeseneeeeeseeeeeceeeeseneeeeessaeeesssneeeeseneeees 136 Ethernet POWERLINK Controlled Node DOC0711 04API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Appendix 294 297 Table 132 Object Ox1F83 NMT_EPLVersion_U8 cccccccesssceeeeesneeeeseneeeeecneeeeseaeeesecaeeeesenaeeesssueeeesseaeeeseneeees 137 Table 133 Object Ox1F8C NMT_CurrNMTState_U8 cccccecccccceesseeceeseeeeeeceneeeeseneeeeseneeeeseaeeseeseaeeesseneeesenseess 138 Table 134 Object Ox1F98 NMT_CycleTiming_REC ccceeeeeeeeeeeneeeeeeeeeeeeeeeeeeeeeeeaeeeeeeseaeeseaeeseaeeseaeeseaeeeeeee 139 Table 135 Object 0x1F98 NMT_CycleTiming_REC NumberOfEntries eecceeeceseeeeeeeeeeeeeteeeeeeeseeeenatens 139 Table 136 Object 0x1F98 NMT_CycleTiming_REC IsochrTxMaxPayload_U16 eceeceeeeeeseeeeeetreeeneeenetens 140 Table 137 Object 0x1F98 NMT_CycleTiming_REC IsochrRxMaxPayload_U16
163. ccording to the Ethernet Powerlink specification Setting the value to 0 disables the entire threshold counting mechanism for this kind of event Sub Index 3 Name Threshold_U32 Description Threshold for loss of SoC events Data type UNSIGNED32 Entry Category Mandatory Access Read write PDO mapping No Value 0 2 1 Default value 15 Table 106 Object 0x1COB DLL_CNLossSoC_REC Threshold U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 5 2 10 3 Object 0x1COC DLL_CNLossSoA_REC 121 297 As the Ethernet Powerlink firmware described in this document provides error recognition for loss of SoA events on the network this object can be used for monitoring such events detected by the Ethernet POWERLINK Controlled Node The object provides the following items a cumulative counter Sub index 1 a threshold counter data object Sub index 2 its threshold data object Sub index 3 Index 0x1C0C Name DLL_CNLossSoA_REC Description Loss of SoA event counter and threshold object of Ethernet Powerlink Data Link Layer Object code RECORD Data type DLL_ErrorCntRec_TYPE Category Conditional Table 107 Object Ox1COC DLL_CNLossSoA_REC NumberOfEntries This item contains the number of entries of the object Sub Index 0 Name NumberOfEntries Description Num
164. ce S a r l 69500 Bron Phone 33 0 4 72 37 98 40 E Mail info hilscher fr Support Phone 33 0 4 72 37 98 40 E Mail fr support hilscher com India Hilscher India Pvt Ltd New Delhi 110 065 Phone 91 11 26915430 E Mail info hilscher in Italy Hilscher Italia S r l 20090 Vimodrone Ml Phone 39 02 25007068 E Mail info hilscher it Support Phone 39 02 25007068 E Mail it support hilscher com Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public 297 297 Japan Hilscher Japan KK Tokyo 160 0022 Phone 81 0 3 5362 0521 E Mail info hilscher jp Support Phone 81 0 3 5362 0521 E Mail jp support hilscher com Korea Hilscher Korea Inc Seongnam Gyeonggi 463 400 Phone 82 0 31 789 3715 E Mail info hilscher kr Switzerland Hilscher Swiss GmbH 4500 Solothurn Phone 41 0 32 623 6633 E Mail info hilscher ch Support Phone 49 0 6190 9907 99 E Mail ch support hilscher com USA Hilscher North America Inc Lisle IL 60532 Phone 1 630 505 5301 E Mail info hilscher us Support Phone 1 630 505 5301 E Mail us support hilscher com Hilscher 2006 2013
165. cher 2006 2013 The Application Interface 227 297 6 1 30 EPLCN PCK WRITE STATIC BIT FIELD REQ CNF Write a Bit in the Static Bit Field This packet writes a bit into the static error bit field of the StatusResponse frame Packet Structure Reference typede struct EPLCN_PCK_WRITE_STATIC_BIT_FIELD_REQ_DATA_Ttag TLR_UINT8 bBitNumber TLR_BOOLEANS8 f BitValue jy TIP ILIC ING JCI _ VIRMIC IIE SANIPIE C JB IC IE _ JEP IEG RUE OED AMAN typedef struct EPLCN_PCK_WRITE_STATIC_BIT_FIELD_REQ_ Ttag TLR_PACKET_HEADER_T tHead IP LCN PCIe ARIE SIVA IC SVE IEP ILD IROL BVA IU ie iDyeneiel EPLCN_PCK_WRITE_STATIC_BIT_FIELD_REQ T Packet Description structure EPLCN_PCK_WRITE_STATIC_BIT FIELD _REQ T Type Request Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 2 Packet Data Length in bytes ulld UINT32 0
166. cket Description 198 297 structure EPLCN_PCK_STATE_CHG TO STOPPED_IND_T Type Indication Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 8 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1312 EPLCN_PCK_STATE_CHG_TO_STOPPED_IND Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData Structure EPLCN_PCK_STATE_IND_DATA_T usErrorProfile UINT16 Valid profile EPL Error Profile namber Only indicated if fErrorLedIson was changed to TRUE from last known Error Led state usErrorCode UINT16 Valid error code Profile specific error code Only indicated if 2rrorLedIsOn was changed to TRUE from last known Error Led state fErrorLedlsOn BOOL32 0 1 State of Error Led TRUE On FALSE Off Table 185 EPLC
167. cket inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1328 EPLCN_PCK_GO_TO_NOT_ACTIVE_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch Table 173 EPLCN_PCK_GO_TO_NOT_ACTIVE_REQ Go To NMT State Not Active Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference 181 297 EPLCN_PCK_GO_TO_NOT_ACTIVI typedef struct HH CNF_Ttag TLR_PACKET_HE EPLCN_PCK_GO ADER_T tHead TO_NOT_ACTIVE_CNF_T Packet Description structure EPLCN_PCK_GO_TO_NOT_ACTIVE_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet insi
168. cription ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 2 7 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x130F EPLCN_PCK_STATE_CHG_TO_READY_TO_OPERATE_ RES Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 182 EPLCN_PCK_STATE_CHG TO_READY_TO_OPERATE_RES NMT Stat changed to ReadyToOperate Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 194 297 6 1 18 EPLCN PCK STATE CHG TO OPERATIONAL IND RES NMT State changed to Operational This packet indicates a change of the NMT state to Operational See section 5 1 State Machine for more information about NMT states Packet Structure Reference typedef struct EPLCN_PCK_STATE_IND_DATA_Ttag TERS UTNE 6 usErrorProfile TLR_UINT16 usErrorCode TLR_BOOLEAN32 fErrorLedIsOn BPLON PCR STATE IND DATA T typedef str
169. ct code classification of type see explanation below The name of the object The data type of the object The attributes of the object The information whether the object is mandatory or optional Index The index is used for addressing and referencing purposes It contains the position of the entry within the object dictionary Complex objects may also be addressed by index and sub index but the sub index is not relevant here as it is not stored in the object dictionary Object Code The following object codes providing different classes of objects may be defined within the object dictionary Object Code Object Name 0002 DOMAIN 0005 DEFTYPE 0006 DEFSTRUCT 0007 VAR 0008 ARRAY 0009 RECORD Table 22 Definition of Objects A domain can be seen as a large amount of data regardless of it structure for instance a piece of executable code DEFTYPE contains the definition of a simple data type such as Boolean unsigned16 or float DEFSTRUCT contains the type definition of a structured data object i e it is composed of parts such as for instance a record VAR contains a value of a simple data type ARRAY contains a multiple data field of values of the same type RECORD contains a multiple data field of values of different types Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 66 297 Name The name compo
170. ctHwVers_VS Object code VAR Data type VISIBLE_STRING Category Optional Access Constant value PDO mapping No Value Hardware version of the device specified as a non zero terminated string Table 34 Manufacturer Hardware Version NMT_ManufactHwVers_VS 5 2 6 7 Manufacturer Software Version NMT_ManufactSwVers_VS This object contains the software version number which has been assigned to the device by the Hilscher as its manufacturer Remark The sub element version with attribute versionType set to FW of element Deviceldentity within the device description file must be equal to NUT_ManufactSwVers_VS Index 0x100A Name NMT_ManufactSwVers_ VS Object code VAR Data type VISIBLE_STRING Category Optional Access Constant value PDO mapping No Value Software version of the device specified as a non zero terminated string Table 35 Manufacturer Software Version NMT_ManufactSwVers_VS Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 81 297 5 2 6 8 Store Parameters NMT_StoreParam_REC According to the Ethernet Powerlink and the CANopen standard storing parameters in non volatile memory can be accomplished by using this object Information about the current saving capabilities can be read out There are several parameter groups which need to be distinguished Su
171. d Unexpected End of PDO If a too short PDO is received the PDO should just be ignored This event will be logged Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 101 297 5 2 8 Acyclic Data Communication SDO Acyclic data communication denominates the transfer of data between participants of the network which is not regularly or periodically repeated but typically happening only once Contrary to the situation of cyclic communication this kind of communication usually deals with not extremely time critical data or even data of low priority Such communication is needed for purposes like commands which are to be executed only once configuration diagnosis or handling of emergency or error situations Within Ethernet Powerlink acyclic data communication is done by Service Data Objects SDOs These provide for instance the technical basis to all packets dealing with object creation and maintenance such as the ones described in section 5 2 5 Accessing the Object Dictionary by Packets of this document SDO communication is based on the client server model There are two layers to be distinguished when discussing SDOs The SDO Command Layer The SDO Sequence Layer The SDO Command Layer defines commands for accessing parameters of objects contained in the object dictionary It provides two different kinds of data transfer namely Segmented tra
172. d Bit 1 of ulThresholdDisableFlags LossSoA Threshold Bit 2 of ulThresholdDisableFlags SoCuJitter Threshold Bit 3 of ulThresholdDisableFlags Collision Threshold Bit 4 of ulThresholdDisableFlags CrcError Threshold Bit 5 of ulThresholdDisableFlags For each of these parameters the consequence specified in the following table will happen depending on the value and the contents of the associated Set to zero bit Set to zero bit Value Consequence 0 0 Threshold remains unchanged 0 Value Threshold is set to value 1 Does not matter Threshold is set 0 The default value for LossSoC Threshold can be calculated according to the following formula Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface LossSoC 1000 CycleLength LossOfFrame Tolerance LossSoC is activated per default The parameters LossPReq Threshold LossSoA Threshold SoCuJitter Threshold Collision Threshold CrcError Threshold are deactivated per default Packet Structure Reference typedef struc tt EP RCNSDPMaSE iC ONE EEC eRE OSD ATA it ag TLR_UINT32 ulSystemFlags TLR_UINT32 ulWatchdogTime TLR_UINT32 ulVendorlId TLR_UINT32 ulProductCode TLR_UINT32 ulRevisionNumber TLR_UINT32 ulSerialNumber TLR_UINT32 ulStackConfi
173. de the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 2 7 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1329 EPLCN_PCK_GO_TO_NOT_ACTIVE_CNF Command ulExt UINT32 O Extension reserved ulRout UINT32 x Routing information do not change Table 174 EPLCN_PCK_GO_TO_NOT_ACTIVE_CNF Go To NMT State Not Active Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 182 297 6 1 14 EPLCN PCK STATE CHG REQ TO NOT ACTIVE _IND RES NMT State changed to NotActive This packet indicates a change of the NMT state to NotActive See section 5 1 State Machine for more information about NMT states Packet Structure Reference typedef struct EPLCN_PCK_STATE_IND_DATA_Ttag TERS UTNE 6 usErrorProfile TLR_UINT16 usErrorCode TLR_BOOLEAN32 fErrorLedIsOn BPLON PCR STATE IND DATA T typedef struct EPLCN_PCK_STATE_CHG_REQ_TO_NOT_ACTIVE_IND_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_STATE_IND_DATA_T tData EPLCN_PCK_STATE_CHG REQ TO _NOT_ACTIVE_IND_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Pac
174. def struct 187 297 THEMLICIN IPCC IS EAN IE Ciel NO IRIE OPERATIONAL_1_RES_Ttag TLR_PACKET_HE AD ER _T tHead EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_1 RES _ T Packet Description structure EPLCN_PCK_STATE_CHG TO _PRE_ OPERATIONAL _1 RES T Type Response Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x130B EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_1_ RES Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 178 EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_1_RES NMT State changed to Pre Operational 1 Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 188 297
175. def struct CNE TLR_PACKET_HEADER_T tHead EPLCN_PCK_RESET_NODE_CNF_T Packet Description 209 297 HEX structure EPLCN_PCK_RESET_NODE_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 2 7 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1361 EPLCN_PCK_RESET_NODE_CNF Command ulExt UINT32 O Extension reserved ulRout UINT32 x Routing information do not change Table 194 EPLCN_PCK_RESET_NODE_CNF Reset Node Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 210 297 6 1 24 EPLCN PCK ENTER ERROR CONDITION_REQ CNF Enter Error Condition This packet requests the NMT state machine to enter the error condition handling This means that the state machine will e
176. dentifier specifying the origin of the packet inside the Source Process ulLen UINT32 3 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x13A8 EPLCN_PCK_OD_UNDEFINED_READ_PREPARE_IND Command ulExt UINT32 0 Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_OD_UNDEFINED_READ_PREPARE_IND_DATA_T usIndex UINT16 0x1000 0xFFF Index of the object F bSubldx UINT8 0 0xFF Subindex of the object Table 235 EPLCN_PCK_OD_UNDEFINED_READ_PREPARE_IND Data Type Information Indication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 262 297 Packet Structure Reference typedef struct EPLCN_PCK_OD_UNDEFINED_READ_PREPARE_RES_DATA Ttag TLR_UINT16 usDataType TLR_UINT16 usFieldLength EPLCN_PCK_OD_UNDEFINED_READ_PREPARE_RES_DATA_T typedef struct EPLCN_PCK_OD_UNDEFINED_READ_PREPARE_RES_Ttag TLR_PACKET_HEFADER_T tHead EPLCN_PCK_OD_UNDEFINED_READ_PREPARE_RES_DATA_T t
177. e EPLCN_PCK_OD_SUBOBJECT_MODE_STORAGE 0 The subobject is created inside the object Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 233 297 dictionary EPLCN_PCK_OD_SUBOBJECT_MODE BLOCK 1 The subobject will reference into the DPM block on a Controlled Node DPM firmware Otherwise the request will be declined _IN_DPM_ usIndex UINT16 0x1000 0xFFF F Object index bSubldx UINT8 0 0xFF Object subindex usDirection UINT16 0 2 Direction of subobject data EPLCN_PCK_OD_SUBOBJECT_DIREC T_DEF 0 direction not defined ION_NO EPLC PUT 1 Data from Managing Node to Controlled Node _PCK_OD_SUBOBJECT_DIRECTION_IN EPLC TPUT 2 Data from Controlled Node to Managing Node _PCK_OD_SUBOBJECT_DIREC ION_OU usSubObjAccess UINT16 0 0xFF Sub object access rights Bit 0 1 if readable in Pre Operational 1 Bit 1 1 if readable in Pre Operational 2 Bit 2 1 if readable in ReadyToOperate Bit 3 1 if readable in Operational Bit 4 1 if readable in Stopped Bit 5 1 if readable in BasicEthernet Bit 6 1 if readable in NotActive Bit 7 1 if readable in Global States NMT_GS_ Bit 8 1 if writable in Pre Operational 1 Bit 9 1 if writable in
178. e 0 2 4 Default value 15 Table 101 Object Ox1COA DLL_CNCollision_REC Threshold_U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 5 2 10 2 Object 0x1COB DLL_CNLossSoC_REC 118 297 As the Ethernet Powerlink firmware described in this document provides error recognition for loss of SoC events on the network this object can be used for monitoring such events detected by the Ethernet POWERLINK Controlled Node The object provides the following items a cumulative counter Sub index 1 a threshold counter data object Sub index 2 its threshold data object Sub index 3 Index 0x1C0B Name DLL_ CNLossSoC_REC Description Loss of SoC event counter and threshold object of Ethernet Powerlink Data Link Layer Object code RECORD Data type DLL_ErrorCntRec_TYPE Category Mandatory Table 102 Object 0x1COB DLL_CNLossSoC_REC NumberOfEntries This item contains the number of entries of the object Sub Index 0 Name NumberOfEntries Description Number of entries Access Read only PDO mapping No Value Range 3 Default value 3 Table 103 Object 0x1COB DLL_CNLossSoC_REC NumberOfEntries Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 119 297 CumulativeCnt_U32 T
179. e 10 1 9 4 0 a AEE EE TETEE E E A E EE 11 2 F nd mentalS sisii ai anea aaa sce te Semen eed a aaa E ee aae aana Ta aaa eaae aaa anaa ana aaa aiaeei 12 2 1 General Access Mechanisms on netX Systems ccccceeeeeeeenee cece ee eae eeeeeeeseeeetaeeeeeeseeeee 12 2 2 Accessing the Protocol Stack by Programming the AP Task s Queue 13 2 2 1 Getting the Receiver Task Handle of the Process Queue c ceeeceeeteeeeeeeteneeeeneeteteeeeeettaeeeeaeerias 13 2 2 2 Meaning of Source and Destination related Parameters ecceseee eee tee tees tees tee eee eee eeetees 13 2 3 Accessing the Protocol Stack via the Dual Port Memory Interface ccecceeeetesteeeeereees 14 2 3 1 Gommunication via MailbOx S e eek atisdeensseteeesipion eerie nigns gawd eee esi aes 14 2 3 2 Using Source and Destination Variables Correctly ccceeecceeeeeeeeeeeeneeeeeeeeeneeeeeeeseeeseaeeteeeseaneteas 15 2 3 3 Obtaining useful Information about the Communication Channel ccccsccceeseeeeeessteeeesseees 18 2 4 Client Server MEGNANIS Msecccceseesec caves dudes cen lecee cits 8 cneancideadl cede dande cadateiectd datas ddduilescecvcueed dade deees 20 2 4 1 Application as Glenties ied il ceeded a datas engi e e erai aie 20 2 4 2 Application as LEMET cete de aden eats pened ina bla does eerste deeb inet 21 3 Dual Port Memory orrasan anaa niin neie ARE seca nnee sees nneeseenueeseeeeneeseseseneeseeeseeeseeeeeseeeenes 22 3 1 Cyc
180. e Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 12 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1330 EPLCN_PCK_SEND_EMERGENCY_REQ Command ulExt UINT32 0 Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_SEND_EMERGENCY_REQ_DATA_T usErrorCode UINT16 See Table 96 Profile Error Code on page 114 bErrorRegister UINT8 See Table 29 Error Register Value on page 77 abManufSpecific UINT8 5 Manufacturer specific data fEnterErrorCondit BOOL32 0 1 specifies whether the NMT State machine has to enter ion Error condition TRUE Enter error condition FALSE Do not enter error condition This error condition can be cleared by the Managing Node Table 197 EPLCN_PCK_SEND_EMERGENCY_REQ Send CANopen style Emergency Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 214 297 The Application Interface Packet Structure Reference typedef struct TLR_PACKET_HEADER_T tHead EPLCN_PCK_SEND_EMERGENCY_CNF_T EPLCN_PCK_SEND_EMERGENCY_CNF_Ttag
181. e Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1346 EPLCN_PCK_WRITE_ERROR_ENTRY_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_WRITE_ERROR_ENTRY_REQ_DATA_T usEntryType UINT16 See Table 89 Error Entry Type Entry Type usErrorCode UINT16 See Table 90 Error Code Table 95 aulAddInformatio UINT32 Area for additional Error specific information n 2 fEnterErrorCondit BOOL32 0 1 specifies whether the NMT State machine has to enter ion Error condition TRUE Enter error condition FALSE Do not enter error condition This error condition can be cleared by the Managing Node Table 199 EPLCN_PCK_WRITE_ERROR_ENTRY_REQ Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Write Error Entry Request Released Public Hilscher 2006 2013 217 297 The Application Interface Packet Structure Reference EPLCN_PCK_WRITE ERROR typedef struct ENTRY_CNF_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_WRITE_ERROR_ENTRY_CNF_T Packet Description structure EPLCN_PCK_WRITE_ERROR_ENTRY_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destina
182. e Reference typedef struct TLR_PACKET_HEADER_T tHead EPLCN_PCK_RESET_NODE_REQ_ T Packet Description structure EPLCN_PCK_RESET_NODE_REQ T EPLCN_PCK_RESET_NODE_REQ_Ttag Type Request Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1360 EPLCN_PCK_RESET_NODE_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch Table 193 EPLCN_PCK_RESET_NODE_REQ Reset Node Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference EPLCN_PCK_RESET_NODE type
183. e aim to support and lead you during the integration process of the given stack into your own Application Stack development is based on Hilscher s Task Layer Reference Programming Model This model defines the general template used to create a task including a combination of appropriate functions belonging to the same type of protocol layer Furthermore it defines of how different tasks have to communicate with each other in order to exchange data between each communication layer This Reference Model is used by all programmers at Hilscher and shall be used by the developer when writing an application task on top of the stack Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Introduction 1 2 List of Revisions 6 297 Rev Date Name Revisions 1 2007 11 09 RG SB Created 2 2008 03 04 RG Added overview section Changes in sect 4 2 Review of technical data section Firmware stack version 0 96 14 3 2008 05 30 RG ET HH_ Added 3 warmstart parameters Firmware stack version 2 0 3 Reference to netX Dual Port Memory Interface Manual Revision 5 Chapter Configuration Parameters restructured 4 2008 06 27 RG SB Additional explanations 5 2008 12 08 RG Firmware stack version V2 1 2 Reference to netX Dual Port Memory Interface Manual Revision 7 Warmstart gt Set Configuration Registration unregistratio
184. e length of the header Sub Index 3 Name ContainerLen_U8 Description Container Length Data type UNSIGNED8 Entry Category Mandatory Access Read Write PDO mapping No Value 0 255 Default value none Table 84 SDO SDO_ClientContainerParam_XXh_REQ ContainerLen_U8 HistorySize_U8 This item represents the size of the server response history Sub Index 4 Name HistorySize_U8 Description History Size Data type UNSIGNED8 Entry Category Mandatory Access Read Write PDO mapping No Value 0 63 Default value none Table 85 SDO SDO_ ClientContainerParam _XXh_REQ HistorySize_U8 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 107 297 5 2 8 3 SDO Sequence Layer Timeout This item represents the SDO timeout value specified in units of milliseconds This value is used to determine a broken SDO connection Index 0x1300 Name SDO_SequLayerTimeout_U32 Description SDO timeout Data type UNSIGNED32 Entry Category Mandatory Access Read Write valid on reset PDO mapping No Value 0 2 7 4 Default value 30000 Table 86 SDO SDO_ ClientContainerParam _XXh_REQ SDO_SequLayerTimeout_U32 5 2 9 Error Signaling 5 2 9 1 The Status Response Mechanism The status response mechanism is used by the Managing Node for supervising the stat
185. e precisely 1 Optional Current 2 Optional Voltage 3 Optional Temperature 4 Optional Communication error such as error state overrun etc 5 Optional A device profile specific error has occurred 6 Optional Unused always 0 7 Optional Manufacturer specific bit Table 28 Meaning of Bits within Error Register Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 77 297 Overview 5 2 6 3 Pre defined Error Field ERR_History_ADOM This object contains an error history listing the errors that have been signaled by the Emergency Object The following rules apply here The entry at sub index 0 contains the number of entries of the error history i e the number of errors that are stored in the array starting at sub index 1 Note Deleting the error history can simply be accomplished by writing the value 0 to sub index 0 Writing another value than O there is prohibited This would cause an abort message with CANopen error code 0x06090030 Writing a 0 to sub index 0 deletes the entire error history i e it empties the entire array Values higher than 0 are not allowed to write The type of the error numbers is UNSTGNED32 They are composed of a 16 bit error code within the lower 2 bytes LSB and a 16 bit additional manufacturer specific error information field within the upper 2 bytes MSB If this object is supported there mu
186. e special channel identifier 0x00000020 Channel Token The Channel Token is valid for any mailbox That way the application uses the same identifier for all packets without actually knowing which mailbox or communication channel is applied The packet stays local The system mailbox is a little bit different because it is used to communicate to the netX operating system rcx The rcX has its own range of valid commands codes and differs from a communication channel Unless there is a reply packet the netX operating system returns it to the same mailbox the request packet went through Consequently the host application has to return its reply packet to the mailbox the request was received from 2 3 2 2 How to use ulSrc and ulSrcId Generally a netX protocol stack can be addressed through its communication channel mailbox The example below shows how a host application addresses a protocol stack running in the context of a netX chip The application is identified by a number 444 in this example The application consists of three processes identified by the numbers 11 22 and 33 These processes communicate through the channel mailbox with the AP task of the protocol stack Have a look at the following figure Application 444 Process 22 Process 33 m on n o Q o o Channel Mainbox netX Protocol stack AP Task 1 Figure 3 Using ulSrc and ulSrcId Ethernet POWERLINK Controlled Node
187. ead EPLCN PCR OD READ OBJECT CNF DATA _T tbata EPLCN_PCK_OD_READ_ OBJECT_CNF_T Packet Description structure EPLCN_PCK_OD_READ_OBJECT_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 n Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x13B3 EPLCN_PCK_OD_READ_OBJECT_CNF Command ulExt UINT32 O Extension reserved ulRout UINT32 x Routing information do not change tData Structure EPLCN_PCK_OD_READ_OBJECT_CNF_DATA_T abData UINT8 n Data read from object Table 222 EPLCN_PCK_OD_READ_OBJECT_CNF Read Object Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 246 297 6 1 38 EPLCN_PCK_OD_NOTIFY_REGISTER_REQ CNF Register for Notification of Reading Writing
188. eaeeteas 94 Table 63 Receive PDO Mapping PDO_RxMappParam_XXh_AU64 cccccceeeseeceeeeeeeeeeeeeeeesneeeesseeeesenseeeeess 95 Table 64 Receive PDO Mapping Number of mapped Objects in the PDO cecceeeseeseeeeeeeeeseeeeeneeteneeeeneetas 95 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Appendi Table 65 Table 66 Table 67 Table 68 Table 69 Table 70 Table 71 Table 72 Table 73 Table 74 Table 75 Table 76 Table 77 Table 78 Table 79 Table 80 Table 81 Table 82 Table 83 Table 84 Table 85 Table 86 Table 87 Table 88 Table 89 Table 90 Table 91 Table 92 Table 93 Table 94 Table 95 Table 96 Table 97 Table 98 Table 99 Table 100 Table 101 Table 102 Table 103 Table 104 Table 105 Table 106 Table 107 Table 108 Table 109 Table 110 Table 111 Table 112 Table 113 Table 114 Table 115 Table 116 Table 117 Table 118 Table 119 Table 120 Table 121 Table 122 Table 123 Table 124 Table 125 Table 126 Table 127 Table 128 Table 129 Table 130 Table 131 x 293 297 Receive PDO Mapping Object Mapping eecceescceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeseeeeaeeseaeeeeeeseiteseaeeseaees 96 Receive PDO Mapping Object Mapping Interpretation of Values cceeeesseeeeeeeeeeseneeeeeeneeeeeeaes 96 Transmit PDO Communication Parameter PDO_TxCommP
189. ecification EPSG 2004 DS 1 0 0 Table 3 References Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Introduction 10 297 1 9 Legal Notes 1 9 1 Copyright 2006 2013 Hilscher Gesellschaft f r Systemautomation mbH All rights reserved The images photographs and texts in the accompanying material user manual accompanying texts documentation etc are protected by German and international copyright law as well as international trade and protection provisions You are not authorized to duplicate these in whole or in part using technical or mechanical methods printing photocopying or other methods to manipulate or transfer using electronic systems without prior written consent You are not permitted to make changes to copyright notices markings trademarks or ownership declarations The included diagrams do not take the patent situation into account The company names and product descriptions included in this document may be trademarks or brands of the respective owners and may be trademarked or patented Any form of further use requires the explicit consent of the respective rights owner 1 9 2 Important Notes The user manual accompanying texts and the documentation were created for the use of the products by qualified experts however errors cannot be ruled out For this reason no guarantee can be made and neither juristic responsibility for
190. ecifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 297 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x13B1 EPLCN_PCK_OD_WRITE_OBJECT_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 220 EPLCN_PCK_OD_WRITE_OBJECT_CNF Write Object Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 244 297 6 1 37 EPLCN_PCK_OD_READ OBJECT_REQ CNF Read Object This packet reads data from an object of the object dictionary Packet Structure Reference typedef struct EPLCN_PCK_OD_READ_OBJECT_REOQ_ DATA _Ttag TLR_UINT16 usIndex TLE UINTS bSubldx EPLCN_PCK_OD_READ_OBJECT_REQ DATA_T typedef struct EPLCN_PCK_OD_READ_OBJECT_REQ_Ttag TLR_PACKET_HEADER_T tHead HEC NEE CKO D MRE AD ma S OP lasik Ome As Awerliete citer EPLCN_PCK_OD_READ_ OBJECT_REQ T Packet Description structure EPLCN_PCK_OD_READ_OBJECT_REQ T Type Request Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UI
191. econds 0 10000000 Note This value must be smaller than the cycle time 1microsecond 1 second 100 10000000 PReq Mapping Mapping version of the PReq to be expected on receive 0 255 version Default 0 PRes Mapping Mapping version of the PRes frame to be sent 0 255 version Default 0 Number of Status Number of status entries to be kept in the status response 0 32 eniies Default 0 E R PReq Bus Synchronous error threshold 0 2 1 H PRes Bus Synchronous error threshold 0 274 eee Sync Flag error threshold 0 2 o Table 17 Meaning and allowed Values for Warmstart Parameters Note If gt MSK_EPLCN_DPM_WARMSTART_STACK_CFG_CONFIGURI E_BUS_SYNCHRONOUS_MODE is set the last three warmstart parameters are evaluated and need to be supplied otherwise they are ignored and need not to be specified i e the old warmstart packet format is expected Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Getting started Configuration 47 297 4 2 1 Timing of PRes Data Exchange The flag MSK_EPLCN_DPM_SET_CONFIG_STACK_CFG_USE_PREQ_RX_FOR PRES _DATA_EXCHANGE decides whether the PRes Data Exchange occurs at SoC Receive flag is not set or at PReq Receive flag is set The diagrams illustrate the difference between these two alternatives Bus Cycle Start Bus Cycle Start PRes D
192. eeeeeeeeeesseeeeeeeseeeeeeesaeeneaeenaas 77 Table 30 ERR_History ADOM NumberOfEntries ccccccscccesenceeeceeeeeeecsaeeeeseaeeeeeeeeeeeceaeeeesseeessseeessnseeeeeas 77 Table 31 ERR_History ADOM Standard error field cccccscceceesceceeeeeeeeeceaeeeeeeaeeeeceeeeeeseaeeeeesneeeesseeeessneeeeees 78 Table 32 Communication Cycle Period NMT_Cycle_Le n_U32 ccccccecceceeeeneeeeeeneeeeseneeeeeenaeeeeecaeeeeeseeeeeeesneeees 79 Table 33 Manufacturer Device Name NMT_ManufactDevName_VS ccccccceeesseeeeeeeeeeeeneeeeeseaeeeseseeeesenaeeeess 79 Table 34 Manufacturer Hardware Version NMT_ManufactHwVers_VS cccsseeceeeeseeeeeeneeeeeesaeeeeeseeeessneeeeess 80 Table 35 Manufacturer Software Version NMT_ManufactSwVers_VS ccccssseceeeeeeeeeeeneeeeeesaeeeseseeeesenseeeees 80 Table362 NMil StoreParam R O a chest scniatedahideaccessaccususdsesaadaui a arar a a Seade ia tde lentes ese 81 Table 37 Store parameters Largest subindex supported 20 2 eeeeeeeeeeeteeeeeeeeeeeeeeeeeteaeeseaeeseaeeeeaeeseaeeesaeeseaeeseaeersas 81 Table 38 Store parameters AllParaM _U32 ccccccecsccceecneeeeseneeeeeeneeececaeeeeseaeeeeeseaeeesenaeeeessueeeeseaaeeeseneeeeseeeeeees 82 Table 39 Store parameters Save communication parameters cccceeeeeceeeeeeeeeteneeeeeeeeeeeeeeeeseeeeeeeeesneeeeneessas 82 Table 40 Store parameters Save application parameters cccccccccceeseeceesneeeeesee
193. eeeeeeeeeseeeeeeeetees 242 6 1 37 EPLCN_PCK_OD_READ_OBJECT_REQ CNF Read ODJ Ct ceeceeeceseseeeeeeeteneeteeeteeeeereteas 244 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Table of Contents 4 297 6 1 38 EPLCN_PCK_OD_NOTIFY_REGISTER_REQ CNF Register for Notification of Reading Writing Of ai ODiSCt A E E connects satatecvedeustdotnan dessa sd dessiacesansa taaeenaacessbereetcasuses eeeas 246 6 1 39 EPLCN_PCK_OD_NOTIFY_UNREGISTER_REQ CNF Unregister from Notification of Object alerto JANAH IRE ANAE Nise EE E ae a EA AT A ROI E E AA A ray CARRE Anes Soc He ANAND es et ce 248 6 1 40 EPLCN_PCK_OD_NOTIFY_READ_IND RES Notification when Object is read e 250 6 1 41 EPLCN_PCK_OD_NOTIFY_WRITE_IND RES Notification when Object is written 253 6 1 42 EPLCN_PCK_OD_UNDEFINED_NOTIFY_REGISTER_REQ CNF Register for Notification of Wndetined ED ole e ies scesicccesi cetsecediansaiecestecacdheds att T E E E speeds tasatensees 256 6 1 43 EPLCN_PCK_OD_UNDEFINED_NOTIFY_UNREGISTER_REQ CNF Unregister for Notification of Undefined OD C S E r a a ds Sein E a aaa a dined eed NH Seeded pated E
194. eeeseceeeeeeeeeeeeseaeeeseseeeeseneeeeees 83 Table 41 Store parameters Save manufacturer defined parameters cceccceeeeeeeeeeeeeeeteneeeeeeteeeesaeeseneeesaeeeaes 83 Table 42 gt NMT RestoreDefParam REG cisco ic ieceehs ceca he a Ar a tic ce E E A aaar eaa aap reae aaia e aa 84 Table 43 NMT_RestoreDefParam_REC NumberOfEntries ccccccccccccessssnseeeeeececesessaeeeeeeeessesssaeeeeeeseeseeees 84 Table 44 NMT_RestoreDefParam_REC AllParam U82 ccccccccccccessecececeeeesssseeeeeeececsessaseeeeeescsesssaeeeeeeeeessaaees 85 Table 45 NMT_RestoreDefParam_REC CommunicationParam _U82 ccccccccccccceessssceeeeeeeessssseeeeeeeessesaeees 85 Table 46 NMT_RestoreDefParam_REC ApplicationParam _U32 eceecceeecceeeneeeeeeeeeeeeseaeeeeeeeteaeeseeeessaeeeeneene 86 Table 47 NMT_RestoreDefParam_REC Save manufacturer defined parameters ccccceeseseeeesteeeeeeteeeees 86 Table 48 Coding of Consumer Heartbeat Time ccccccccceesesceeeeseeeeeeeeceeeeceaeeeeseaeeceeeeeeeessaeeeessaeeeseneesesseeeeeees 87 Table 49 Consumer Heartbeat Time NMT_Consumer Heartbeat Time_AU32 cccccesesceceeeeneeeeeseeeeeseteeeeess 87 Table 50 Consumer Heartbeat Time Number of entries ccccscccecceseeeeeenceeeeseneeeseeaeeeeeeneeeeeseaeeesesneeessineeeeees 88 Table 51 Constimer Heartbeat TMe crisissen i E e E aE a eE Ee EE ETENE aar En 88 Table 52 Consumer Heartbeat Time optional addit
195. ees 15 Table 7 Example for correct Use of Source and Destination related parameters ccccecceeeeeeeeteeeeeeeteneeeeneetens 17 Pable8aInput Data Mage e Seas cscel be aea deecbbacejeesbaacceteactigecditangseschsnsasdeveas aa E a Aa EEEE ie 23 Table 9 Output Data IMa gS cnini inch all eee dee innate dln ees esae dalinvhbaieslaiesioeas 23 Table 10 General Structure of Packets for non cyclic Data Exchange c ccccessceeeeeeeeereteteeeeeeeteeeeseeseneeeeaeeeaas 25 Table Tie Channel Mailboxes a l ef etee deeds ei aaa ee E a a Re r e ar ea E Suis Maier EE 29 Table 12 Common Status Structure Definition ccccccccscccesesneceeseeeeeeeeeeeeeecaceeeeseaeeeeseneeeeceaeeeessneeesenseeesssneeeeess 31 Table 13 Communication State of Change cecescceeseeesseeceseeeeeeeeeeeeesaeeeseeeesaeeeaeeseaaeseaeesesaeseaeeseaaeseaeesaeeesaeesaas 32 Table 14 Meaning of Communication Change of State Flags cecceesceeseeeeeseeeeeeteneeeeaeeseeeseaeeeseeeseeeesneeenneeseas 33 Table 15 Communication Control BIOCK ccccccccecsesceceseeeeeeeenaeeeceeneeeeceaeeeesccaeeesseaeecesceaeeeescneeeesaeeessesseeseseeeeeees 40 Table 16 Overview about Essential Functionality Cyclic and acyclic Data Transfer and Alarm Handling 41 Table 17 Meaning and allowed Values for Warmstart Parametels ccccccceeeceeeeeeeeeeeneeeeeeeeseseteeeeeeeeteeenneees 46 Fable 182 Input and Output Data a eaea e a Ee Aaa a a E a re a aa aaa
196. egram in bytes which the Controlled Node expects Sub Index 4 Name PRegActPayloadLimit_U16 Description Size of data area for data within PReq telegram Data type UNSIGNED16 Entry Category Mandatory Access Read write PDO mapping No Value 36 IsochrRxMaxPayload_U16 Default value 36 Table 139 Object 0x1F98 NMT_CycleTiming_REC PRegActPayloadLimit_U16 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview PResActPayloadLimit_U16 142 297 This item represents the size of the data area for data in the PRes telegram in bytes which the Controlled Node transmits Sub Index 5 Name PResActPayloadLimit_U16 Description Size of data area for data within PRes telegram Data type UNSIGNED16 Entry Category Mandatory Access Read write PDO mapping No Value 36 IsochrTxMaxPayload_U16 Default value 36 Table 140 Object 0x1F98 NMT_CycleTiming_REC PResActPayloadLimit_U16 ASndMaxLatency_U32 This item represents the maximum allowed response time of the Ethernet POWERLINK Controlled Node to SoA telegrams specified in units of nanoseconds This value is set up by the firmware Sub Index 6 Name ASndMaxLatency_U32 Description Maximum allowed response time to SoA telegram Data type UNSIGNED32 Entry Category Mandatory Access Const P
197. er specifying the origin of the packet inside the Source Process ulLen UINT32 7 Packet Data Length in bytes ulld UINT32 0 2 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x138A EPLCN_PCK_OD_NOTIFY_READ_IND Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_OD_NOTIFY_READ_IND_DATA_T usObjlndex UINT16 0x1000 0xFFF Index of the object F bSubldx UINT8 0 0xFF Subindex of the object ulExpectedDataSi UINT32 Data size which is expected to be placed into the ze response Table 227 EPLCN_PCK_OD_NOTIFY_READ_IND Object Read Indication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 252 297 Packet Structure Reference typedef struct EPLCN_PCK_OD_NOTIFY_READ_RES_DATA_Ttag TLR_UINT16 usObjIndex TRB INS ApS las data follows here EPLCN_PCK_OD_NOTIFY_READ_RES_DATA_T typedef struct EPLCN_PCK_OD_NOTIFY_READ_RES_Ttag TLR_PACKET_HEADER_T tHead Ime CIN JEXCIS OND _IN OVIE IRI _IRVEVAND IRUS S IDA JIE te JD yshietei EPLCN_PCK_OD_NOTIFY_READ_ RES_T Packet Description structure EPL
198. erally Indices are ordered in ranges of functionality effective within the same area see below The sub index however determines which detailed part of an array record or structure will be active i e which function will be performed 5 2 3 General Structure of the Object Dictionary The object dictionary is structured in separate areas Each area has its own range of permitted index values and its special purpose as defined in the table below Index Range Area Name Purpose 0x0000 OxOFFF Data Type Area Definition and description of data types 0x1000 Ox1FFF Communication Profile Area Definition of generally applicable variables communication objects for all devices as defined by CANopen standard DS 301 0x2000 Ox5FFF Manufacturer specific Area Definition of manufacturer specific variables 0x6000 Ox9FFF Profile Area Definition of variables related to a specific profile OxA000 OxFFFF Reserved Area This area is reserved for future use Table 21 General Structure of Object Dictionary Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 65 297 5 2 4 Definition of Objects The object dictionary contains descriptions of objects Each entry of the object dictionary represents the description of one object It contains the following object related information The index of the object The obje
199. erectasede cy hese crereetieea Weentstans dies x cSeapltaauitvea cvaveateSiiads ante seks yee ied deere R T alee 201 Table 188 EPLCN_PCK_STATE_CHG_TO_BASIC_ETHERNET_RES NMT State changed to BasicEthernet Response onare ie ee eee e A E sapere teas vn vue cenad a N 202 Table 189 EPLCN_PCK_STATE_ENABLE_RDY_TO_OPERATE_IND NMT command EnableRdyToOperate received Indication PEAS sa ie Nit beg A Sars tas foe aves gades ten meters es Ubace eae States tet tt 204 Table 190 EPLCN_PCK_STATE_ENABLE_RDY_TO_OPERATE_RES NMT command EnableRdyToOperate received RESPONSE se ia e hens Soe ede clinch ea dans ov eden a aa a e Pe jotcy Aaaa Hinde pbs evbecoeed itda 205 Table 191 EPLCN_PCK_GO_TO_READY_TO_OPERATE_REQ Go To NMT State ReadyToOperate Request 206 Table 192 EPLCN_PCK_GO_TO_READY_TO_OPERATE_CNF Go To NMT State ReadyToOperate Confirmation aia dea ta sub EA E N ask dt cde eset cent Sobeict a Te rah esaeas tue eluate ated ta dates beset coe andi tee 207 Table 193 EPLCN_PCK_RESE ODE_REO Reset Node Request csececeesseceeeseneeeteseeereneeeeseneeeestneeners 208 Table 194 EPLCN_PCK_RESE ODE_CNF Reset Node Confirmation ccecccceceeeeceeeeeeeeneeeeneeeeneeeenaeeeeeees 209 Table 195 EPLCN_PCK_ENTER_ERROR_CONDITION_REQ Enter Error Condition Request cecseeeeee 210 Table 196 EPLCN_PCK_ENTER_ERROR_CONDITION_CNF Enter Error Condition Confirmation 00 211 Table 197 EPLCN_PCK_SEND_EMER
200. erform SDO communication via mailboxes i e acyclic communication such as service requests The object dictionary is used to store relevant operation parameters The AP task represents the interface between the Ethernet POWERLINK Controlled Node protocol stack and the dual port memory It is responsible for Control of LEDs Diagnosis Packet routing Update of the IO data Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 53 297 5 Overview 5 1 State Machine The integrated state machine of the Ethernet POWERLINK Controlled Node located at the application layer of the OSI ISO reference model can be in one of the following states NMT_GS_INITIALISING NMT_GS_RESET_APPLICATION NMT_GS_RESET_COMMUNICATION NMT_GS_RESET_CONFIGURATION NMT_CS_NOT_ACTIVE NMT_CS_PRE_OPERATIONAL_1 NMT_CS_PRE_OPERATIONAL_2 NMT_CS_READY_TO_OPERATE NMT_CS_OPERATIONAL NMT_CS_STOPPED NMT_CS_BASIC_ETHERNET The first four of these states govern the initialization process of the Ethernet Powerlink Controlled node while the others are relevant when the device is able to communicate so we separate between initialization phase and communication phase The transitions between these states are displayed in the state transition diagrams below Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Ove
201. es 115 6 The Application Interface ccsecccseeeeseesseeeeseeeeeeeeescaeseseeeenseeeseaeseseeeeaseeeeeeeeesnaeseaseeeeeseeeeaeess 147 6 1 The EPECNPCK Task Keerai ainda A er A R A bate wen deen ANAA 148 6 1 1 EPLCN_PCK_SET_IO_SIZES_REQ CNF Set I O Sizes innne rrirnet iriiria ioiii eiiie 151 6 1 2 EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTRIES_REQ CNF Configure Number of Status Entries ccceeee RENES EE EAE E E E e E A A E A E 153 6 1 3 EPLCN_PCK_REGISTER_REQ CNF Registration at NMT State Indication Notification Table 155 6 1 4 EPLCN_PCK_UNREGISTER_REQ CNF Unregistration at NMT State Indication Notification Table 157 6 1 5 EPLCN_PCK_STATE_CHG_REQ_TO_INITIALISING_IND RES NMT State Changed To InitialiSiNg eee E E E bates E E E E cea laavadl omntha E E sects deena 159 6 1 6 EPLCN_PCK_GO_TO_RESET_APPLICATION_REQ CNF Go to NMT State ResetApplication 162 6 1 7 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_APPLICATION_IND RES NMT State changed to ResetApplication eee Bis E E E E E AE E E E E at 164 6 1 8 EPLCN_PCK_GO_TO_RESET_COMMUNICATION_REQ CNF Go to NMT State ResetCommunication er e a aaia E Ee EE EE EEEE cess E E E E EER a eE EEEE ipri 167 6 1 9 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_COMMUNICATION_IND RES NMT State changed To ResetCommunication ssi seins a aaa a e RAL ad ee nk Silene e a eee eit 169 6 1 10 EPLCN_PCK_GO_TO_RESET_CONFIGURATION_REQ CNF Go to NMT State ResetConfiguration
202. es the number of status entries in the StatusResponse frame Writing a status entry is possible using packet EPLCN_PCK_WRITE_STATUS_ENTRY_REQ CNF Write Status Entry See section 6 1 28 for more information Packet Structure Reference typedef struct EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTRIES_REQ_DATA_Ttag TLR_UINT8 bNumberOfStatusEntries EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTRIES_REQ DATA T typedef struct EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTRIES_REQ_ Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_CONF IGURE_NUMBER_OF_STATUS_ENTRIES_REQ_DATA_T tData EPLCN_PCK_ CONF IGURE_NUMBER_OF_STATUS_ENTRIES_ REQ T Packet Description structure EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTRIES_REQ T Type Request Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ul
203. escription structure EPLCN_PCK_GO_TO_RESET_APPLICATION_REQ T Type Request Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 2 7 4 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1322 EPLCN_PCK_GO_TO_RESET_APPLICATION_REOQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch Table 159 EPLCN_PCK_GO_TO_RESET_APPLICATION_REQ Go To NMT State ResetApplication Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Interface 163 297 The Application Packet Structure Reference typedef struct TLR_PACKET_HE ADER_T tHead EPLCN_PCK_GO TO_RESET_APPLICATION_CNF
204. esetConfiguration Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 180 297 6 1 13 EPLCN_PCK GO TO NOT ACTIVE _REQ CNF Go to NMT State NotActive This packet requests the NMT state machine to enter NotActive state If the AP task receives EPLCN_PCK_STATE_CHG_REQ_TO_RESET_CONFIGURATION_IND it may have to respond with an EPLCN_PCK_GO_TO_NOT_ACTIVE_REQ request Only one AP task is allowed to answer this indication with such a request On DPM firmwares the AP task contained within the firmware will respond to this indication that way Packet Structure Reference typedef struct EPLCN_PCK_GO_TO_NOT_ACTIVE_REQ Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_GO_TO_NOT_ACTIVE_REQ T Packet Description structure EPLCN_PCK_GO_TO_NOT_ACTIVE_REQ T Type Request Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the pa
205. ess fWriteNotify 1 supervision of write access 2 Ifa collision occurs the collision counter is updated This happens by a write access This access will cause the notification The task will then receive an EPLCN_PCK_OD_NOTIFY_WRITE_IND indication packet signaling the collision counter has been changed Example 4 Notification on Write Access on an undefined Object If you want to get an indication packet when a write attempt to an undefined object occurs you can proceed as follows 1 Send an EPLCN_PCK_OD_UNDEFINED_NOTIFY_REGISTER_REQ packet without any parameter values to EPLCN_PCK task 2 Ifa write attempt to an undefined object occurs the notification will be performed The task will then receive an EPLCN_PCK_OD_UNDEF INED_WRITE_DATA_IND indication packet signaling a write access or an EPLCN_PCK_OD_UNDEFINED_READ_DATA_IND indication packet signaling a read access Onto an undefined object Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 5 2 6 Object Dictionary Entries Basic Functionality 72 297 According to the Ethernet Powerlink and CANopen standards the Communication Profile Area located at the index range from 0x1000 to Ox1FFFh contains the communication specific parameters for the entire network These entries are common for all devices The area f
206. est see section 6 1 8 of this document NMT_GS_RESET_CONFIGURATION Bit mask 0111 1001 When the Ethernet Powerlink Controlled Node has reached this state the active device configuration is generated based on the configuration parameter set stored within the object dictionary After that the device should finish the initialization phase by entering the communication phase and proceed to the state NMT_CS_NOT_ACTIVE autonomously If an NMTResetConfiguration command is received from any of the states of the communication phase the device change to the NMT_GS_RESET_ CONFIGURATION state When the EPL CN firmware gets into this state an EPLCN_PCK_STATE_CHG_REQ_TO_RESET_CONFIGURATION_IND RES NMT State changed to ResetConfiguration indication will be issued see section 6 1 12 of this document You can force the node to change to the NMT_GS_RESET_CONFIGURATION state by a EPLCN_PCK_GO_TO_RESET_CONFIGURATION_REQ CNF Go to NMT State ResetConfiguration request see section 6 1 10 of this document NMT_CS_NOT_ACTIVE Bit mask 0001 1100 This is the state which is reached after initialization has finished successfully and the Ethernet Powerlink Controlled Node is able to communicate It is used in order to determined the current state of the network by watching and evaluating the data traffic on the network The device may receive NMTReset commands such as o NMTResetNode o NMTResetCommunication o or NMTRes
207. et Default value NMTInvalidService Table 146 Object Ox1F9E NMT_ResetCmd_U8 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 147 297 6 The Application Interface This chapter defines the application interface of the Ethernet POWERLINK Controlled Node stack The application itself has to be developed as a task according to the Hilscher s Task Layer Reference Model The application task is named AP Task in the following sections and chapters The AP Task s process queue shall keep track of its incoming packets It provides the communication channel for the underlying Ethernet POWERLINK Controlled Node Stack Once the Ethernet POWERLINK Controlled Node stack communication is established events received by the stack are mapped to packets that are sent to the AP Task s process queue Every packet has to be evaluated in the AP Task s context and corresponding actions be executed Additionally Initiator Services that are to be requested by the application are sent via predefined queue macros to the underlying Ethernet POWERLINK Controlled Node stack queues via packets as well The following chapters describe the packets that may be received or sent by the AP Task Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Inte
208. et EPLCN_DPM_CHANGE_MAP_VERS_REQ Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 274 297 bPResMappingV UINT8 0 255 PRes Mapping Version ee Can be reconfigured with packet EPLCN_DPM_CHANGE_MAP_VERS_REQ bNumberOfStatu UINT8 0 32 Number of status entries in the StatusResponse Seles Can be reconfigured with packet EPLCN_PCK_CONFIGURE_NUMBER_OF_STATUS_ENTR IES_REQ ulPRegErrorThre UINT32 0 2 1 PReq Bus Synchronous error threshold shold ulPResErrorThre UINT32 0 2 1 PRes Bus Synchronous error threshold shold ulSyncFlagErrorT UINT32 0 2 1 Sync Flag error threshold hreshold ulDeviceType UINT32 0 2 7 1 Device Type since firmware version 2 1 38 0 This field defines the device type holding the profile of the device the stack will return when requested for an IdentResponse or object 0x1000 is read out Table 245 EPLCN_DPM_WARMSTART_REQO Warmstart Request The system flags define MSK_ If MSK_EPLCN_DPM_WARMSTART_APP_CONTROLL EPLCN_DPM_WARMSTART_APP_CONTROLL ED 0x0001 ED is set the firmware will wait until the application has set the Bus On Off bit in the handshake cell Otherwise the firmware will automatically be able to g
209. et ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 7 Packet Data Length in bytes ulld UINT32 0 2 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0Ox13AA EPLCN_PCK_OD_UNDEFINED_READ_DATA_IND Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_OD_UNDEFINED_READ_DATA_IND_DATA_T usIndex UINT16 0x1000 0xFFF Index of the object F bSubldx UINT8 0 0xFF Sub index of the object ulExpectedDataSi UINT32 Expected Data size to be placed in the response Table 237 EPLCN_PCK_OD_UNDEFINED_READ_DATA_IND Undefined Object Read Indication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference 265 297 EFINED_READ_DATA_RES_DATA_Ttag FINED_READ_DATA_MAX_BUFFE ER_SIZE Ttag tHead typedef struct EPLCN_PCK_OD_UND TLR_UINT8 abData EPLCN_PCK_OD_UNDE EPLCN_PCK_OD_UNDEFINED_READ_DATA_RES_DATA_T typedef struct EPLCN_PCK_OD_UNDEFINED_READ_DATA_CNE TLR_PACKET _HEADER_T EPLCN_PCK_OD_UNDEFINED_READ
210. et is not used if accessing the firmware via the DPM Use the registering functionality described in the netX Dual Port Memory Manual instead RCX_REGISTER_APP_REQ command code 0x2F 10 Packet Structure Reference typedef struct TLR_PACKET_HEADER_T tHead EPLCN_PCK_REGISTER_REQ T Packet Description EPLCN_PCK_REGISTER_REQ_Ttag structure EPLCN_PCK_REGISTER_REQ T Type Request Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 2 7 4 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1340 EPLCN_PCK_REGISTER_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch Table 153 EPLCN_PCK_REGISTER_REO Register Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revis
211. etConfiguration and react to them accordingly by falling back to the states o NMT_GS_RESET_APPLICATION o NMT_GS_RESET_COMMUNICATION o NMT_GS_RESET_CONFIGURATION while being in the NMT_CS_NOT_ACTIVE state The Ethernet Powerlink Controlled Node does not send any Ethernet frames autonomously as long as it stays in NMT_CS_NOT_ACTIVE state unless it has been authorized explicitly by the Ethernet Powerlink Managing Node to behave in such a manner Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 58 297 This state will not last permanently It will be left at last at expiration of the timeout period Which state transition will be performed depends on the following rule When the Ethernet POWERLINK Controlled Node is in NUT_CS_ NOT_ACTIVE state it waits for SoC and SoA frames on the network The state transition will lead to one of the following states o NMT_CS _PRE_OPERATIONAL_1 state on successful reception of either an SoC or SoA frame o NMT_CS_BASIC_ETHERNET state on occurrence of a timeout When the EPL CN firmware gets into this state an EPLCN_PCK_STATE_CHG_REQ_TO_NOT_ACTIVE_IND RES NMT State changed to NotActive indication will be issued see section 6 1 14 of this document You can force the node to change to the NMT_GS_ RESET _CONFIGURATION state by a EPLCN_PCK_GO_TO_NOT_ACTIVE_REQ CNF Go to NMT State NotActive re
212. etConfiguration with Change of Node Id This packet requests the NMT state machine to enter ResetConfiguration state In addition to the EPLCN_PCK_GO_TO_RESET_CONFIGURATION_REQ it will also change the EPL Node id If the AP task receives EPLCN_PCK_STATE_CHG_REQ_TO_RESET_COMMUNICATION_IND it may have to respond with an EPLCN_PCK_GO_TO_RESET_CONFIGURATION_CHG_NODE_ID_REQ request Note Only one AP task is allowed to answer this indication with such a request On DPM firmwares the AP task contained within the firmware will respond to this indication that way Packet Structure Reference typedef struct EPLCN_PCK_GO_TO_RESET_CONFIGURATION_CHG_NODE_ID_REQ_DATA_Ttag TLR_UINT8 bNodelId EPLCN_PCK_GO_TO_RESET_ CONFIGURATION _CHG_NODE_ID_REQ DATA _T typedef struct EPLCN_PCK_GO_TO_RESET_CONFIGURATION_CHG_NODE_ID_REQ Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_GO_TO_RESET_CONF IGURATION_CHG_NODE_ID_REQ_DATA_T tData EPLCN_PCK_GO_TO RESET _CONFIGURATION_CHG NODE _ID_ REQ T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 175 297 structure EPLCN_P
213. evice type of the preceding device Index 0x1000 Name NMT_DeviceType_U32 Object code VAR Data type UNSIGNED32 Category Mandatory Access Read only PDO mapping No Value Bit 0 15 contain the used device profile or the value 0x0000 if no standardized device is used Bit 16 31 Area for additional information There is no default value Table 26 Device Type NMT_DeviceType_U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 5 2 6 2 Error Register ERR_ErrorRegister_U8 76 297 This object contains information about the error register for the device This register is used for storing internal error information Each device must have this entry as it is also part of the emergency object Index 0x1001 Name ERR_ErrorRegister_U8 Object code VAR Data type UNSIGNED8 Category Mandatory Access Read only PDO mapping Optional Value Bit mask for further explanation see table below There is no default value Table 27 Error Register ERR_ErrorRegister_U8 According to the Ethernet Powerlink specification and the CANopen standard DS301 the bit mask can be interpreted in this way The single bits of the error register have the following meaning No of bit Category Meaning 0 Mandatory Generic error cannot be specified mor
214. evision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 99 297 5 2 7 4 Transmit PDO Mapping To accomplish access by name _XXh should be replaced by a name index The name index must be set to _00h if the object with index 0x1A00 is to be accessed As there is only one transmit PDO channel available for the Ethernet POWERLINK Controlled Node there is no need for further address although the range up to 0x1AFF is reserved For the transmit PDO channel there is the possibility to define up to 254 objects which will transmit data If you intend to change the PDO mapping parameter first set the number of entries sub object to 0 in order to deactivate the object before starting to reconfigure it Then setting the number of entries sub object to a non zero value enables the changes to be effective Index 0x1A00 Name PDO_TxMappParam_00h_AU64 Description Transmit PDO mapping Object code ARRAY Data type UNSIGNED64 Category Conditional Table 71 Transmit PDO Mapping NumberOfEntries Sub Index 0 Name NumberOfEntries Description Number of mapped objects Data type UNSIGNED8 Entry Category Mandatory Access Read only PDO mapping No Value 0 1 254 Default value 0 Table 36 Transmit PDO Mapping NumberOfEntries Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006
215. explicitly by the Ethernet Powerlink Managing Node to behave in such a manner Such an explicite authorization is done by an SoA Asynclnvite command on the network as described in the Ethernet Powerlink specification Without the reception of an SoA Asynclinvite command from the networlk no transmission of Ethernet frames at all will happen while being in this state On reception of an NMTEnableReadyToOperate signals the state will change to NMT_CS_READY_TO_OPERATE The NMTEnableReadyToOperate signal can be induced by sending the packet EPLCN_ PCK_STATE_ENABLE_RDY_TO_OPERATE_IND For more information see section 6 1 21 of this document The following reactions to error situations might possibly occur while being in the NMT_CS_PRE_OPERATIONAL 2 state o Falling back to state NUT_CS_PRE_OPERATIONAL_1 due to some error condition such as the errors listed in section 4 7 2 table 27 CN Error Handling of the EPL specification o Falling back to state NUT_CS_STOPPED after reception of a StopNode event an NMTStopNode command on the network o Falling back to state NUT_GS_INITIALISING due to a global reset or after reception of an NMTBootNode command on the network o Falling back to state NUT_GS_RESET_APPLICATION after reception of an NMTResetNode command on the network o Falling back to state NUT_GS_ RESET COMMUNICATION due to either the occurrence of an internal communication error or the reception of a NMTResetCommunication signal E
216. f the Ethernet Powerlink object dictionary so Table 29 Pre defined error field gt ERR_History_ADOM also applies for the format of this error register See section 5 2 6 2 Error Register ERR_ErrorRegister_U8 for more information A 5 byte field which might contain manufacturer specific data The following packet places an entry into the emergency queue EP LCN_PCK_SEND_EMERGENCY_REQ CNF Send Emergency You must supply the following parameters to it Error code to be used in emergency object Error register to be used in emergency object Manufacturer specific data field to be used in emergency object The information whether error condition state should be entered or not See the preceding section for more information on error condition state This is a Boolean value If an emergency object is created its data are stored also in the object dictionary s object 0x1003 ERR_History_ADOM simultaneously For more information refer to the CANopen specification DS 301 published by the organization CAN in Automation CiA section 9 2 5 and to the Ethernet Powerlink specification section 6 5 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 115 297 5 2 10 Other Ethernet Powerlink specific Objects in the Object Dictionary 5 2 10 1 Object 0x1C0A DLL_CNCollision_REC As the Ethernet Powerlink firmware described in
217. f this block depends on the size and location of the preceding blocks typedef struct NETX_EXTENDED_STATUS_BLOCK_Ttag UINT8 abExtendedStatus 432 NETX_EXTENDED_STATUS_BLOCK_T The extended status block contains valuable configuration diagnostic and error related information such as The node ID Internal and external state information Location and error code of the last occurred error Counters for specific categories of errors Counters for change of state Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 37 297 For the Ethernet POWERLINK Controlled Node protocol implementation the extended status area is structured as follows typedef struct EPLCN_DPM_EXTENDED_STATUS_DATA_Ttag TLR UINTS bNodeld TERA UNNES bNmtStatus TLR_UINT16 usNmtErrorProfile TLR_UINT16 uSNmtEh error TLR_STR abNmtStatusAsciil 7 PERSUNI bInternalState TIGR SHIR abNmtErrAscii 8 WIS SSMIEIRY abErriInfoAscii 4 TLR_UINT32 ulValidDpmInputExchangesToPResOnSoC TLROUINT 32 ulBlockedDpmInputExchangesToPResOnSoC TERSUTNEOZ ulValidDpmOutputExchangesOnPReqReceive TIGR UII SZ ulBlockedDpmOut putExchangesOnPReqReceive Wid UNS 2 ulDpmInputExchangesToPResOnInputCallback TLR_UINT32 ulDpmOutputExchangesFromPReqOnOutp
218. flag is always set to 0 if even if valid process data are available Contrary to the states discussed above the length of the PRes frame always corresponds to the configured value Transmitted data should fulfill the PDO requirements The following reactions to error situations might possibly occur while being in the NMT_CS_READY_TO_OPERATE state o Falling back to state NUT_CS_PRE_OPERATIONAL_1 due to some error condition such as the errors listed in section 4 7 2 table 27 CN Error Handling of the EPL specification o Falling back to state NUT_CS_STOPPED after reception of a StopNode event an NMTStopNode command on the network o Falling back to state NUT_GS_INITIALISING due to a global reset or after reception of an NMTBootNode command on the network o Falling back to state NUT_GS_RESET_APPLICATION after reception of an NMTResetNode command on the network o Falling back to state NUT_GS_RESET_COMMUNICATION due to either the occurrence of an internal communication error or the reception of a NMTResetCommunication signal o Falling back to state NUT_GS_RESET_CONFIGURATION after reception of an NMTResetConfiguration command on the network If a start node event occurs the state will change from this state to the state NMT_CS_ OPERATIONAL Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 61 297 When the EPL CN firmware gets
219. formation about NMT states Packet Structure Reference typedef struct EPLCN_PCK_STATE_IND_DATA_Ttag TERS UTNE 6 usErrorProfile TLR_UINT16 usErrorCode TLR_BOOLEAN32 fErrorLedIsOn BPLON PCR STATE IND DATA T typedef struct EPLCN_PCK_STATE_CHG_TO_READY_TO_OPERATE_IND_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_STATE_IND_DATA_T tData EPLCN_PCK_STATE_CHG TO READY TO OPERATE _IND_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 192 297 structure EPLCN_PCK_STATE_CHG TO READY TO OPERATE_IND_T Type Indication Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 8 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the P
220. gurationFlags TLR_UINT32 ulThresholdDisableFlags TLR_UINT32 ulThresholdLossSoC TLR_UINT32 ulThresholdLossPReq TLR_UINT32 ulThresholdLossSoA TLR_UINT32 ulThresholdSoCJitter TLR_UINT32 ulThresholdCollision TLR UINTS2 ulThresholdcrerrror TLR_UINT32 ulCycleLength TLR_UINT32 ulSoCJitterRange TLR_UINT16 usProcessDataOutputSize TLR_UINT16 usProcessDataInputSize TLR_UINT8 abNodeName 32 TLR_UINT32 ulGatewayAddress TLR_UINT8 bNodelId TLR_UINT8 bSoCTriggerConfig TLR_UINT32 ulSoCTriggerDelay TLR_UINT32 ulSoCTriggerLength TLR_UINT8 bPReqMappingVersion TLR_UINT8 bPResMappingVersion TLR_UINT8 bNumberOfStatusEntries TLR_UINT32 ulPReqErrorThreshold TLR_UINT32 ulPResErrorThreshold TLR_UINT32 ulSyncFlagkrrorThreshold TLR_UINT32 ulDeviceType value for obj 1000 holding the profile EPLCN_DPM_SET_CONFIGURATION_REQ_DATA_T typedef struc t EPLCN_DPM_SET_CONFIG_REQ_ Ttag TLR_PACKET_ EPLCN_DPM_S HEADER _ T tHead ETACONETGIREOTDATAANMN Ae Dene ys U n EPLCN_DE JHE COMPRINE JRO Ip i typedef EPLCN DPM_SE T_CONFIG_REQ_T EPLCN_DPM_SET_CONFIGURATION_REQ T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public 277 297 of a device Hilscher 2006 2013 The Application Interface Packet Description 278 297 structure EPL
221. he EPL CN firmware gets into this state an EPLCN_PCK_STATE_CHG_TO_BASIC_ETHERNET_IND RES NMT State changed to BasicEthernet indication will be issued see section 6 1 20 of this document For more information about the states of the application layer of the Ethernet POWERLINK Controlled Node see the Ethernet Powerlink specification especially section 7 1 4 1 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 64 297 5 2 Object Dictionary 5 2 1 Definition of the Object Dictionary The object dictionary is a special area for the storage of parameters application data and the mapping information between process data and application data PDO mapping The object dictionary functionality is similar to the one defined in the CANopen standard in order to use CANopen based device and application profiles in Ethernet POWERLINK Controlled Node Access to the object dictionary is possible via Service Data Objects SDO which provide a mailbox based access functionality All CANopen related data objects are contained in the object dictionary and can be accessed in a standardized manner You can view the object dictionary as a container for device parameter data structures 5 2 2 Indexing Concept Indexing is generally done via two values namely the index and the sub index The index governs which function will be performed gen
222. he cumulative counter should be incremented by 1 each time a loss of SoC event occurs Its value is the sum all of all monitored loss of SoC events that were detected by the Ethernet POWERLINK Controlled Node Sub Index 1 Name CumulativeCnt_U32 Description Cumulative counter for loss of SoC events Data type UNSIGNED32 Entry Category Mandatory Access Read write PDO mapping No Value 0 2 1 Default value 0 Table 104 Object 0x1COB DLL_CNLossSoC_REC Cumulative Counter ThresholdCnt_U32 The threshold counter variable ThresholdCnt_U32 should be incremented by 8 counts each time a loss of SoC event occurs and decremented by 1 at each cycle without occurrence of such an event This value might be used as a measure for the network quality Sub Index 2 Name ThresholdCnt_U32 Description Threshold counter for loss of SoC events Data type UNSIGNED32 Entry Category Mandatory Access Read only PDO mapping No Value 0 2 1 Default value 0 Table 105 Object 0x1COB DLL_CNLossSoC_REC ThresholdCnt_U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 120 297 Threshold_U32 This item represents the threshold value of the counter for loss of SoC events When the threshold is reached a specific action might be executed and the loss of SoC event counter should be reset to 0 a
223. he value shall be equal to the device description entry D_NMT_RevisionNo_U32 This value has to be equal to the entry D_NMT_RevisionNo_U32 of the device description file The two most significant bytes contain the major revision number The two least significant bytes contain the minor revision number Sub Index 3 Name RevisionNo_U32 Description Revision number Entry Category Optional Access Constant PDO mapping No Value 0 2 1 UNSIGNED32 There is no default value Table 57 Identity Object RevisionNo_U32 SerialNo_U32 This sub index contains the serial number of the device assigned by manufacturer Sub Index 4 Name SerialNo_U32 Description Serial number Entry Category Optional Access Constant PDO mapping No Value 0 23 1 UNSIGNED32 There is no default value Table 58 Identity Object SerialNo_U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 92 297 5 2 7 Cyclic DataCommunication PDO Cyclic communication is done by PDOs Process Data Objects within all CANopen based systems such as Ethernet Powerlink These PDOs are used to transfer time critical process data in real time PDO data are exchanged exclusively the cyclic time slot of the Ethernet Powerlink data transmission cycle A PDO defines a storage area for data which is cycli
224. her the reset has been caused by a signal received on the bus or by reception of the packet EPLCN_PCK_RESET_NODE_REQ CNF Reset EPL Node see section 6 1 23 of this document During the time the EPL CN is in this state basic node initialization routines are performed internally After having completed these routines the state NUT_GS_RESET_APPLICATION will be reached autonomously i e without waiting on any external event in this context When the EPL CN firmware gets into this state a EPLCN_PCK_REGISTER_REQ CNF Registration at NMT State Indication Notification Table indication will be issued see section 6 1 3 of this document NMT_GS_RESET_APPLICATION Bit mask 0010 1001 When the Ethernet Powerlink Controlled Node has reached this state the parameters of the manufacturer specific profile area and of the standardized device profile area are set to their PowerOn values After that the device should proceed to the state NMT_GS_RESET_COMMUNICATION autonomously If an NMTResetNode command is received this happens for instance after a EPLCN_PCK_RESET_NODE_REQ CNF Reset EPL Node command has been issued from any of the states of the communication phase the device change to the NMT_GS_RESET_APPLICATION state When the EPL CN firmware gets into this state an EPLCN_PCK_STATE_CHG_REQ_TO_RESET_APPLICATION_IND RES NMT State changed to ResetApplication indication will
225. hernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Delete Data Type Request Hilscher 2006 2013 The Application Interface 241 297 Packet Structure Reference typedef struct EPLCN_PCK_OD_DELE i E_ DATATYPE _CNF_Ttag TLR_PACKET_HE ADER_T tHead EPLCN_PCK_OD DELETE_DATATYPE_CNF_T Packet Description structure EPLCN_PCK_OD_DELETE_DATATYPE_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 2 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1393 EPLCN_PCK_OD_DELETE_DATATYPE_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 218 EPLCN_PCK_OD_DELETE_DATATYPE_CNF Delete Data Type Confirmation Ethernet POWERLINK Controlled Node DOC071104A
226. ic Hilscher 2006 2013 The Application Interface 177 297 6 1 12 EPLCN_PCK_STATE CHG REQ TO _RESET_CONFIGURATION_IND RES NMT State changed to ResetConfiguration This packet indicates a change of the NMT state to ResetConfiguration See section 5 1 State Machine for more information about NMT states If no other AP task is processing this request the AP task has to send a EPLCN_PCK_GO_TO_NOT_ACTIVE_REQ request Only one AP task is allowed to answer this indication with such a request On DPM firmwares the AP task contained within the firmware will respond to this indication that way Packet Structure Reference typedef struct EPLCN_PCK_STATE_IND_DATA_Ttag TLR_UINT16 usErrorProfile TLR_UINT16 usErrorCode TLR_BOOLEAN32 fErrorLedIsOn EPLCN_PCK_STATE_IND_DATA_T typedef struct EPLCN_PCK_STATE_CHG_REQ TO_RESET_CONFIGURATION_IND_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_STATE_IND_DATA_T tData EPLCN_PCK_STATE_CHG REQ TO_RESET_CONFIGURATION_IND_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 178 297 structure EPLCN_PCK_STATE_CHG REQ TO RESET _CONFIGURATION_IND_T Type Indication
227. ifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 8 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1302 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_APPLICAT ION_IND Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData Structure EPLCN_PCK_STATE_IND_DATA_T usErrorProfile UINT16 Valid profile EPL Error Profile number Only indicated if fErrorLedlsOn was changed to TRUE from last known Error Led state usErrorCode UINT16 Valid error code Profile specific error code Only indicated if fErrorLedlsOn was changed to TRUE from last known Error Led state fErrorLedlsOn BOOL32 0 1 State of Error Led TRUE On FALSE Off Table 161 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_APPLICATION_IND NMT State Changed to ResetApplication indication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 166 297 The Application Interface Packet Structure Reference typedef struct EPRENSE Chas LAE CHER REOMTONRES HD SAPP
228. ination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 297 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x13AD EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_RES Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 240 EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_ Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public RES Undefined Object Write Response Hilscher 2006 2013 The Application Interface 269 297 6 2 The EPLCN_DPM Task The EPLCN_DPM Task coordinates within the Ethernet POWERLINK Controlled Node stack DPM specific functions It is responsible for all application interactions and represents the counterpart of the AP Task within the existing Ethernet Powerlink Controlled Node stack implementation To get the handle of the process queue of the EPLCN_DPM Task the Macro TLR_QUE_IDENTIFY has to be used in conjunction with the following ASCIl queue name ASCII Queue name Description QUE_EPLCN_DPM Name of the EPLCN_DPM Task process queue Tab
229. ination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 8 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1314 EPLCN_PCK_STATE_CHG_TO_BASIC_ETHERNET _REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData Structure EPLCN_PCK_STATE_IND_DATA_T usErrorProfile UINT16 Valid profile EPL Error Profile number Pan a Only indicated if fErrorLedIson was changed to TRUE from last known Error Led state usErrorCode UINT16 Valid error code Profile specific error code Only indicated if fErrorLedIson was changed to TRUE from last known Error Led state fErrorLedlsOn BOOL32 0 1 State of Error Led TRUE On FALSE Off Table 187 EPLCN_PCK_STATE_CHG_TO_BASIC_ETHERNET_IND NMT State changed to BasicEthernet Indication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference typedef struct EERENSE Chas Ein CHG ROE A Sue 202 297 ETHE R
230. information do not change Table 246 EPLCN_DPM_WARMSTART_CNF Packet 1 Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 276 297 6 2 2 EPLCN_DPM_SET_CONFIGURATION_REQ CNF Configure Controlled Node This packet configures the Ethernet POWERLINK Controlled Node The following applies Configuration parameters will be stored internally In case of any error no data will be stored at all A channel init is required to activate the parameterized data This packet does not perform any registration at the stack automatically Registering must be performed with a separate packet such as the registration packet described in the netX Dual Port Memory Manual RCX_R This request will be denied if the configuration lock flag is set EGISTER_APP_REQ code 0x2F10 for more information on this topic see section Common Status The 6 related threshold parameters LossSoC Threshold LossPReq Threshold LossSoA Threshold SoCuJitter Threshold Collision Threshold CrcError Threshold have a common logic which can be described as follows To each of these parameters there is an associated Set to zero bit Parameter Associated Set to zero bit LossSoC Threshold Bit 0 of ulThresholdDisableFlags LossPReq Threshol
231. ion 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference 156 297 typedef struct TLR_UINT32 hEplCniInterface EPLCN_PCK_REGISTER_CNF_DATA_T typedef struct TLR_PACKET_HEADER_T tHead EPRENSE Che RECT STRRECNE DATASET EDAT EPLCN_PCK_REGISTER_CNF_T EPLCN_PCK_REGISTER_CNF_DATA_Ttag EPLCN_PCK_REGISTER_CNF_Ttag Packet Description structure EPLCN_PCK_REGISTER_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 4 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1341 EPLCN_PCK_REGISTER_CNF Command ulExt UINT32 O Extension reserved ulRout UINT32 x Routing information do not change tData Structure EPLCN_PCK_REGISTER_CNF_DATA_T hEp Cninterface UINT32 Handle to EplCn HAL only u
232. ion 12 English 2013 10 Released Public Hilscher 2006 2013 Status Error Codes Overview 287 297 Hexadecimal Definition Value Description 0xC016000F TLR_E_ EPL_SDO_DATA_TYPE_DOES_ NOT_MATCH_LEN_OF_SRV_PARAM TOO_HIGH Data type does not match Length of service parameter is too high 0xC0160010 TLR_E_EPL_SDO_DATA_TYPE_DOES_ NOT _MATCH_LEN_OF_SRV_PARAM TOO_LOW Data type does not match Length of service parameter is too low 0xC0160011 TLR_E_EPL_SDO_SUBINDEX_DOES_NOT_EXIST Subindex does not exist 0xC0160012 TLR_E_ EPL_SDO_VALUE_RANGE_OF_PARAMETER_EXCEEDED Value Range of parameter exceeded 0xC0160013 TLR_E_ EPL_SDO_VALUE_OF_PARAMETER_WRITTEN_TOO_HIGH Value of parameter written too high 0xC0160014 TLR_E_EPL_SDO_VALUE_OF_PARAMETER_WRITTEN_TOO_LOW Value of parameter written too low 0xC0160015 TLR_E_EPL_SDO_MAXIMUM_VALUE_IS_LESS_ THAN_MINIMUM_VALUE Maximum value is less than minimum value 0xC0160016 TLR_E_EPL_SDO_GENERAL_ERROR General error 0xC0160017 TLR_E_EPL_SDO_DATA_CANNOT_BE_TRANSFERRED_OR_STORED_TO_THE_APP Data cannot be transferred or stored to the application 0xC0160018 TLR_E_EPL_SDO_DATA_NO_TRANSFER_DUE_TO_LOCAL_CONTROL Data cannot be transferred due to local control 0xC0160019 TLR_E_EPL_SDO_DATA_NO_TRANSFER_DUE_TO_PRESENT_DEVICE_STATE Data cannot be transferred due to present device state 0xC016001
233. ional entry ccccceeeeeeeseeeeeeeteneeeeeeseeeeeaeeteeeseaeeteeeseeeesaas 88 Table 535ldentity ObjeCt iicsti nease ai ea enera ie aeee iaeaea taa eaei aoa a apaa dh Gece ed aada ies taaa N aia a SaR Ena a ai 89 Table 54 Identity Object NUmberOfEntries eccecceeccseceesenceeeeeeneeeeeeaeeeeseaeeeeesneeesesaeeesseneeeeeseneeseseseeeeseeeeeees 89 Table 55 Identity Object Vendorld U32 ccccccceesceceeeeceeeeeeneeeeeseaeeeeceaeeeeecaaeeeeceneeesecaeeeseecaeeessneeeesseseeeseneeeetes 90 Table 56 Identity Object ProductCode U2 ceeccccccesseceeeeneeeeeseneeeseeeeeeeseeeeeeseneeesseeeeeeseaeeesesaeesennseeeeseeeeeees 90 Table 57 Identity Object REVISIONNO U32 ececccecessececeneeeeeeeaeeeeeeneeeeceeeeesecaeeeeesaeeceseeeeeeceaeeeeesereeseneeeesseeeenss 91 Table 58 Identity Object SerialINO_U32 ceccccecessseceeenceeeeeneeeeeseneeesecaeeeeecaaeeeeseneeesecaeeeesseeeeseneeeeseneeeesieeeeess 91 Table 59 Receive PDO Communication Parameter c cccccceccceeeeseeceseneeeeeesaeeeeseeeeecceeeseccaeeessceeeeseneessseeeeees 93 Table 60 Receive PDO Communication Parameter NumberOfEntries c ceecceeeceeeeeeeeeeeeeeeeteeeeeeeseneeeeeeteas 93 Table 61 Receive PDO Communication Parameter NodelD_UB8 ccccccceeeeneeeeeeneeeeeeneeeeeseaeeesenneeeeessteeees 93 Table 62 Receive PDO Communication Parameter MappingVersion_UB8 c ccseeeeeeeeeeeeeeeeeeneeeeeeeeeeeee
234. is parameter ulThresholdSoCui UINT32 Default value for SoCJitter Threshold 0x1COE 3 tter F 0 means ignore this parameter ulThresholdCollisi UINT32 Default value for Collision Threshold 0x1C0A 3 si 0 means ignore this parameter ulThresholdCrcEr UINT32 Default value for CrcError Threshold 0x1COF 3 ror F 0 means ignore this parameter ulCycleLength UINT32 0 2 7 1 Default value for cycle length 0x1006 in us ulSoCuitterRange UINT32 0 2 1 Default value for SoC Jitter Range 0x1C13 usProcessDataO UINT16 0 1490 Process Data Output Size Master to Slave utputSize usProcessDataln UINT16 0 1490 Process Data Input Size Slave to Master putSize abNodeName UINT8 3 DNS node name 2 ulGatewayAddres UINT32 192 168 100 1 IP Gateway address 192 168 100 254 bNodeld UINT8 1 239 EPL Node ID bSoCTriggerConf UINT8 0 3 SoC Trigger configuration ig Bit 0 1 SoC Trigger output is enabled Bit 1 1 SoC Trigger output is high active otherwise the output is low active ulSoCTriggerDela UINT32 0 10000000 SoC Trigger Delay in multiples of 10 ns y 0 disables SoC Trigger generation Note This value must be smaller than ulCycleLength ulSoCTriggerLen UINT32 100 10000000 SoC Trigger Length in multiples of 10 ns gth Note This value must be smaller than ulCycleLength bPReqMappingV UINT8 0 255 Expected PReq Mapping Version ersion Can be reconfigured with pack
235. its firmware Every time the status changes the netX protocol stack toggles the netX Change of State Command flag in the netX communication flags register see section 3 2 2 1 of the netX DPM Interface Manual The application then has to toggle the netX Change of State Acknowledge flag back acknowledging the new state see section 3 2 2 2 of the netX DPM Interface Manual ulCommunicationCos netX writes Host reads jea__ shorname _ _IName Table 13 Communication State of Change lbs Configuration Locked RCX COMM COS CONFIG LOCKED Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 33 297 Communication Change of State Flags netX System gt Application Bit Definition Description 0 Ready RCX_COMM_COS_ READY 0O 1 The Ready flag is set as soon as the protocol stack is started properly Then the protocol stack is awaiting a configuration As soon as the protocol stack is configured properly the Running flag is set too Running RCX_COMM_COS_RUN O 1 The Running flag is set when the protocol stack has been configured properly Then the protocol stack is awaiting a network connection Now both the Ready flag and the Running flag are set Bus On RCX_COMM_COS_BUS_ON O 1 The Bus On flag is set to indicate to the host system whether or not the protocol stack has the permission to
236. ization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 8 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x130C EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_2_ IND Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData Structure EPLCN_PCK_STATE_IND_DATA_T usErrorProfile UINT16 Valid profile EPL Error Profile number Pan a Only indicated if fErrorLedIson was changed to TRUE from last known Error Led state usErrorCode UINT16 Valid error code Profile specific error code Only indicated if fErrorLedIson was changed to TRUE from last known Error Led state fErrorLedlsOn BOOL32 0 1 State of Error Led TRUE On FALSE Off Table 179 EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_2_IND NMT State changed to Pre Operational 2 Indication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference typedef struct 190 297 THEMLICIN IPCC ASEAN IE Ciel NO eRe OPERATIONAL _2_RES_Ttag TLR_PACKET_HEAD ER _T tHead EPLCN_PCK_STATE_CHG_TO_PRE
237. ket Description 183 297 structure EPLCN_PCK_STATE_CHG REQ TO NOT _ACTIVE_IND_T Type Indication Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 8 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1308 XXX_OBJECT_PACKET1_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData Structure EPLCN_PCK_STATE_IND_DATA_T usErrorProfile UINT16 Valid profile EPL Error Profile nner Only indicated if fErrorLedlsOn was changed to TRUE from last known Error Led state usErrorCode UINT16_ Valid error code Profile specific error code Only indicated if fErrorLedlsOn was changed to TRUE from last known Error Led state fErrorLedlsOn BOOL32 0 1 State of Error Led TRUE On FALSE Off Table 175 EPLCN_PCK_STATE_CH
238. l Overview The sections below display for the single items of the Communication Profile the following information Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Index Name Object code Data type Category Mandatory optional or conditional Access Read only or Read Write PDO mapping Yes No Allowed values Hilscher 2006 2013 Overview 75 297 5 2 6 1 Device Type NMT_DeviceType_U32 This object contains information about the device type The object at index 1000h describes of which type the device is and which functionality it offers It is composed of two 16 bit fields one describing the used device profile and a second 16 bit field providing additional information about the available optional functionality of the device The Additional Information parameter is specific to the device profile and defined there The value 0x0 indicates a device that for which no standard device profile is applicable or relevant For multiple device modules the Additional Information parameter contains the value OxFFFF and the device profile number referenced by object 1000h represents the device profile of the first device stored in the Object Dictionary The identification of the profiles of all other devices of a multiple device module is done at objects Ox67FF x 0x0800 where x is equal to the internal number of the device ranging from 0 to 7 These entries describe the d
239. lDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 297 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1383 EPLCN_PCK_OD_CREATE_SUBOBJECT_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 212 EPLCN_PCK_OD_CREATE SUBOBJECT_CNF Create Subobject Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 235 297 6 1 33 EPLCN_PCK_OD_DELETE_OBJECT_REQ CNF Delete an Object This packet deletes an object from the object dictionary Packet Structure Reference typedef struct TLR_BOOLEAN32 fDeleteWholeObject HIE NLICIN CK O1D _ IDV LETE_OBJECT_R EQ DATA_Ttag TLR_UINT32 usIndex HERSEN bSubIdx EPLCN PCK OD DELETE OBJECT REO DATA Ts typedef struct EPLCN_PCK_OD_DELETE_OBJECT_REQ_Ttag TLR_PACKET_HEADER_T tHead BPLUN PCR ODUDEDETE OBJECT REG DATA T E
240. laced by a name index The name index must be set to _00h if the object with index 0x1600 is to be accessed It is then incremented up to the value _FFh corresponding to the object with index 0x16FF For every PDO channel there is the possibility to define up to 254 objects which will receive data If you intend to change the PDO mapping parameter first set the number of entries sub object to 0 in order to deactivate the object before starting to reconfigure it Then setting the number of entries sub object to a non zero value enables the changes to be effective Index 0x1600 0x17FF Name PDO_RxMappParam_XXh_AU64 Description Receive PDO mapping Object code ARRAY Data type UNSIGNED64 Category Conditional Mandatory for each supported RxPDO Table 63 Receive PDO Mapping PDO_RxMappParam_XXh_AU64 NumberOfEntries Sub Index 0 Name NumberOfEntries Description Number of mapped objects Data type UNSIGNED8 Access Read only PDO mapping No Value 0 1 254 Default value 0 Table 64 Receive PDO Mapping Number of mapped Objects in the PDO Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 96 297 ObjectMapping Sub Index 1 254 OxFE Name Object Mapping Description PDO mapping for the n the application object to be mapped Data type
241. ld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x138D EPLCN_PCK_OD_NOTIFY_WRITE_RES Command ulExt UINT32 O Extension reserved ulRout UINT32 x Routing information do not change Table 230 EPLCN_PCK_OD_NOTIFY_WRITE_RES Object Write Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 256 297 6 1 42 EPLCN_PCK_OD_UNDEFINED_NOTIFY_REGISTER_REQ CNF Register for Notification of Undefined Objects This packet registers the AP task for indications of read and write attempts to non existing objects in the object dictionary Packet Structure Reference typedef struct EPLCN_PCK_OD_UNDEFINED_NOTIFY_REGISTER_REQ Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_OD_UNDEFINED_NOTIFY_REGISTER_REQ_ T Packet Description structure EPLCN_PCK_OD_UNDEFINED_NOTIFY_REGISTER_REQ T Type Request Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier s
242. le 241 EPLCN_DPM Task Process Queue The returned handle has to be used as value ulDest in all initiator packets the AP Task intends to send to the EPLCN_DPM Task This handle is the same handle that has to be used in conjunction with the macros TLR_QUE_SENDPACKET_FIFO LIFO for sending a packet to the EPLCN_DPM Task In detail the following functionality is provided by the EPLCN_DPM Task Overview over Packets of the EPLCN_PCK Task No of Packet Command Page section code REQ CNF or IND RES 6 2 1 EPLCN_DPM_WARMSTART_REQ CNF Configure Controlled Node 0x13C0 270 0x13C1 6 2 2 EPLCN_DPM_SET_CONFIGURATION_REQ CNF Configure Controlled 0x13C2 276 Node 0x13C3 6 2 3 EPLCN_DPM_CHANGE_MAPPING_VERS_REQ CNF Change Mapping 0x13E0 283 Versions 0x13E1 Table 242 Overview over the Packets of the EPLCN_DPM Task of the Powerlink Slave Protocol Stack Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 270 297 6 2 1 EPLCN_DPM_WARMSTART_REQ CNF Configure Controlled Node This packet configures the Ethernet POWERLINK Controlled Node Note This packet is obsolete and will not longer supported after September 1 2009 It is only present for backward compatibility purposes It is replaced by packet EPLCN_DPM_SET_CONFIGURATION_RE
243. lic Data Inp t Output Data si aiiai tech tevesuaze ey asiaa ennaa aa eaaa se A aa aTa aana 22 3 1 1 Input Process Data s irge a e ics oe ded Wee o ene 23 31 2 Output Process Data 2 cicetes desks eet ease castesectecvateeteieaad Natt KER iae TA ER Si Te te yas Gaeta eee 23 3 2 Acyclic Data Mailboxes annn a a a a a Aa aaa ea Ea 24 3 2 1 General Structure of Messages or Packets for Non Cyclic Data Exchange ccessceeeeeetee 25 3 2 2 Status amp Error COde S ie i i oe eiee ten tsdcaned sebovees ienletvsasiadeeesdll aseidisddecl evecbess 28 3 2 3 Differences between System and Channel Mailboxes ecceeeeeeeeeeeeeneeeeeeeeeeeseaeeseeeeseaeeseaeeneas 28 324 v eA Ma DO a a crate Gesec eda etke r A a Re cere a eee 28 3 2 5 Receive Mailhok r rea haea arant aeaa telat ea ee diate Ea ae Da Ea etna edi en eae 28 3 2 6 Channel Mailboxes Details of Send and Receive Mailboxes eccceeeceeeeeeeeeeeteneeeeeeeteneeeeneteas 29 Bide E E I L E E Cady S E A O O E S E IE ET S 30 3 3 1 Common Stat S ta e a Ee e aae eA a Ea airat aE a a tE A a ee eaire ernai 30 3 3 2 Extended StatuSs fice A EAE E E A E E A E E A 36 E a yiia BlOCK PEATE A AEA AE AA A AE EAA TEA 40 4 Getting started Configuration sss ssssseunsennneunneunrnunnnnunnunnnunnnuunnnnnnnunnnunnnunnnnnnnnnnnnnnennnnn nnmnnn nann 41 4 1 Overview about Essential Functionality ccccccccsscceccssseeeeceeseeeeseaeeesseaeeesscaeeseseneeeeeeeaaes 41 4 2 War
244. lization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1343 EPLCN_PCK_UNREGISTER_CNF Command ulExt UINT32 O Extension reserved ulRout UINT32 x Routing information do not change Table 156 EPLCN_PCK_UNREGISTER_CNF Unregister Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 159 297 6 1 5 EPLCN PCK STATE CHG REQ TO INITIALISING IND RES NMT State Changed To Initialising This packet indicates a change of the NMT state to Initialising See section 5 1 State Machine for more information about NMT states If no other AP task is processing this request the AP task has to send a EPLCN_PCK_GO_TO_RESET_APPLICATION_REQ request Only one AP task is allowed to answer this indication with such a request On DPM firmwares the AP task contained within the firmware will respond to this indication that way Packet Structure Reference typedef struct EPLCN_PCK_STATE_IND_DATA_Ttag TLR_UINT16 usErrorProfile TLR_UINT16 usErrorCode TLR_BOOLEAN32 fErrorLedIsOn EPLCN_PCK_STATE_IND_DATA_T
245. lize itself with the parameters having been sent to it Get the Status of the Firmware Again check whether any errors occurred according to the status code ulSta delivered with the ECAT_DPM_WARMSTART_CNF packet see section EPLCN_DPM_WARMSTART_REQ CNF Configure Controlled Node on page 270 of this document If this error occurs correct the warmstart parameters especially the length values of the process data In this case at least one of the specified values exceeds the allowed limits for its range The following error situations are possible in this situation e Attempt to configure with invalid packet length TLR_E_INVALID_PACKET_LEN 0xC00000007 e The SoC Trigger Delay is larger or equal to the chosen cycle time A value smaller than the cycle time must be chosen e The SoC Trigger Length is larger or equal to the chosen cycle time A value smaller than the cycle time must be chosen Correct these accordingly to the cause Also see the related manual to DPM if you use the DPM interface Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Getting started Configuration 51 297 4 4 Process Data Input and Output The input and output data area is divided into the following sections Input and Output Data for Ethernet POWERLINK Controlled Node 1 0 Offset Area Length Byte Type 0x1000 Output block 1490 Read Wri
246. lled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 123 297 Threshold_U32 This item represents the threshold value of the counter for loss of SoA events When the threshold is reached a specific action might be executed and the variable should be reset to 0 according to the Ethernet Powerlink specification Setting the value to 0 disables the entire threshold counting mechanism for this kind of event Sub Index 3 Name Threshold_U32 Description Threshold counter for loss of SoA events Data type UNSIGNED32 Entry Category Optional Access Read write PDO mapping No Value 0 2 1 Default value 15 Table 111 Object Ox1COC DLL_CNLossSoA_REC Threshold U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 124 297 5 2 10 4 Object 0x1COD DLL_CNLossPReq_REC As the Ethernet Powerlink firmware described in this document provides error recognition for loss of PReq events on the network this object can be used for monitoring such events detected by the Ethernet POWERLINK Controlled Node The object provides the following items a cumulative counter Sub index 1 a threshold counter data object Sub index 2 its threshold data object Sub index 3 Index 0x1COD Name DLL_CNLossPReq_REC Description Loss of PRe
247. ls whether the Node ID is handled by the application MSK_EPLCN_DPM_WARMSTART_STACK_CFG_APP_WILL _USE_NODEID_BY_SW 0 Node ID is not handled by the application 1 Node ID is handled by the application In this case the application has to implement subindex 3 of object 0x1F93 Dynamic PDO Mapping Bit 9 of the stack configuration flags controls whether the bit 6 within the feature flags object Ox1F82 see Table 130 on page 135 is set or not set MSK_EPLCN_DPM_SET_CONFIG_STACK_CFG_APP_WILL _USE_DYNAMIC_PDO_MAPPING 0 Bit 6 in feature flags is not set 1 Bit 6 in feature flags is set Disable Loss SoC Threshold Disable Loss PReq Threshold Bit 0 of the threshold disable flags controls whether the Loss SoC error detection is to be disabled 0 Do not set Loss SoC error threshold to 0 1 Set Loss SoC error threshold to 0 Bit 1 of the threshold disable flags controls whether the Loss SoC error detection is to be disabled 0 Do not set Loss PReg error threshold to 0 1 Set Loss PReq error threshold to 0 Default Do not set Loss SoC error threshold to 0 Default Do not set Loss PReq error threshold to 0 Disable Loss SoA Threshold Bit 2 of the threshold disable flags controls whether the Loss SOA error detection is to be disabled 0 Do not set Loss SoA error threshold to 0 1 Set Loss SoA error threshold to 0 Default Do not set Loss SoA error threshold to 0 Disa
248. ly recommended to empty the mailbox frequently even if packets are not expected by the host application Unexpected command packets should be returned to the sender with an Unknown Command in the status field unexpected reply messages can be discarded Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 25 297 3 2 1 General Structure of Messages or Packets for Non Cyclic Data Exchange The non cyclic packets through the netX mailbox have the following structure Structure Information Area Variable Type Value Range Description Head Structure Information ulDest UINT32 Destination Queue Handle ulSre UINT32 Source Queue Handle ulDestId UINT32 Destination Queue Reference ulSrcId UINT32 Source Queue Reference ulLen UINT32 Packet Data Length In Bytes ulld UINT32 Packet Identification As Unique Number ulSta UINT32 Status Error Code ulCmd UINT32 Command Response ulExt UINT32 Reserved ulRout UINT32 Routing Information Data Structure Information User Data Specific To The Command Table 10 General Structure of Packets for non cyclic Data Exchange Some of the fields are mandatory some are conditional others are optional However the size of a packet is always at least 10 double words or 40 bytes Depending on the command a packet may or may not have a dat
249. mand in the netX firmware for details on the Enable mechanism see section 2 3 2 of the netX DPM Interface Manual are 31 Reserved set to 0 Table 14 Meaning of Communication Change of State Flags Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory Communication State All Implementations 34 297 The communication state field contains information regarding the current network status of the communication channel Depending on the implementation all or a subset of the definitions below is supported UNKNOWN NOT_CONFIGURED STOP IDLE OPERATE define defi defi define define RCX COMM STATE RCX COMM STATE UNKNOWN NOT_CONF IGURED RCX COMM STATE RCX COMM STATE STOP IDLE RCX COMM_S TATE OPERATE Communication Channel Error All Implementations 0x00000000 0x00000001 0x00000002 0x00000003 0x00000004 This field holds the current error code of the communication channel If the cause of error is resolved the communication error field is set to zero RCX_SYS_SUCCI ESS again Not all of the error codes are supported in every implementation Protocol stacks may use a subset of the error codes below SUCCESS Runtime Failures WATCHDOG TIMEOUT Initialization Failures
250. me VINT32 0 20 65535 DPM Watchdog time in ms ulVendorld UINT32 Vendor Id ulProductCode UINT32 Product Code ulRevisionNumbe UINT32 Revision Number r ulSerialNumber UINT32 Serial Number 0 means to use the serial number from Security EEPROM if available ulStackConfigurat UINT32 Stack configuration flags ionFlags Bit 0 1 Host Triggered Input Exchange disabled Bit 1 1 Host Triggered Output Exchange disabled Bit 2 1 Configure default objects removes all application objects Bit 3 1 Delete all application objects Bit 4 1 PReq PDO Mapping version check disabled ulThresholdDisab UINT32 Threshold Disable Flags leFlags These bits allow disabling thresholds Bit 0 1 Set LossSoC Threshold to 0 Bit 1 1 Set LossPReq Threshold to 0 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 273 297 Bit 2 1 Set LossSOA Threshold to 0 Bit 3 1 Set SoCJitter Threshold to 0 Bit 4 1 Set Collision Threshold to 0 Bit 5 1 Set CrcError Threshold to 0 ulThresholdLoss UINT32 Default value for LossSoC Threshold 0x1C0B 3 SoC F 0 means ignore this parameter ulThresholdLoss_ UINT32 Default value for LossPReq Threshold 0x1C0D 3 PReq y 0 means ignore this parameter ulThresholdLoss UINT32 Default value for LossSoA Threshold 0x1C0C 3 SoA 0 means ignore th
251. mmstar FParamelerS meds kerker netere E EERE AEAEE OUREA E a ERa ae AEREA SEER ekea 42 4 2 1 Timing of PRes Data Exchange isin artien praa e ataa a aiaia aCA 47 4 2 2 Behavior when receiving a Set Configuration Warmstart COMMANG cceeeceeeeeeteeeeteeteeetees 48 4 3 Configuration of an Ethernet Powerlink Controlled Node ccccccceeeeeeseeteeeeeeeeeeteneeteeeeees 49 4 3 1 Steps and Hints to configuring with Warmstart Packet cecceseseseeeseeeeeeneeteeeeseaeeeeeeeeeaeeteaeene 49 4 4 Process Data Input and Output 0 cece eceeceeeeeeeneeeeeeee cae eeeaaeeeeeeeseaeeesaaeeeeaaeseeeeeesaeeeeaeeeenees 51 4 5 Task Structure of the Ethernet POWERLINK Controlled Node Stack ccceeeeeeeeeeereees 51 5 QVETVIOW aniisi iane suede evened ces ENAERE NANARAO dy deuce EREA EA 53 Bill State MACMING e ar aeee REE cele hues She lactate E cebu EEA EE da dunlaa dusledilvettae dade datyed ddetle 53 5 2 Object DICHA Nosi aiii all va area el waved a Ween ave nes An Adie ee 64 5 2 1 Definition of the Object Dictionary eceesceceseeeeseeteneeeeeeeteseeeeaeeeesaeeesaeessaeeeaeessaeeseeeetiaeeesaeeeaees 64 5 2 2 Indexing Concepts cnc cee deve tiene nee anny eee dian E anne ae 64 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Table of Contents 3 297
252. mmunication This packet requests the NMT state machine to enter ResetApplication state If the AP task receives EPLCN_PCK_STATE_CHG_REQ_TO_RESET_APPLICATION_IND it may have to respond with an EPLCN_PCK_GO_TO_RESET_COMMUNICATION_REQ request Note Only one AP task is allowed to answer this indication with such a request On DPM firmwares the AP task contained within the firmware will respond to this indication that way Packet Structure Reference typedef struct EPLCN_PCK_GO_TO_RESET_COMMUNICATION_REQ_ Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_GO_TO_RESET_COMMUNICATION_REQ T Packet Description structure EPLCN_PCK_GO_TO_RESET_COMMUNICATION_REQ T Type Request Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 2 7 4 Packet Identification as unique number generated by the S
253. n packet marked as obsolete Changed some error numbers to global error numbers Added section on task structure 6 2009 04 16 RG SB Firmware stack version V2 1 9 Table 212 changed Description of EPLCN_PCK_REGISTER_REQ changed 7 2010 07 02 RG Firmware stack version V2 1 18 Reference to netX Dual Port Memory Interface Manual Revision 9 Some small corrections and additions 8 2010 12 15 RG Firmware stack version V2 1 23 Reference to netX Dual Port Memory Interface Manual Revision 9 Small error corrections 9 2012 02 14 RG Firmware stack version V2 1 31 Reference to netX Dual Port Memory Interface Manual Revision 9 Renamed host ready bit to bus on off bit Added new section 4 2 1 Timing of PRes Data Exchange 10 2012 07 31 RG Firmware stack version V2 1 33 Reference to netX Dual Port Memory Interface Manual Revision 12 Names of stack configuration flags now mentioned in description for easy finding Added description of 3 stack configuration flags 11 2013 05 28 RG Firmware stack version V2 1 40 Reference to netX Dual Port Memory Interface Manual Revision 12 Added description of two new stack configuration flags Added description of new configuration parameter ulDeviceType 12 2013 09 23 RG SB Firmware stack version V2 1 41 Reference to netX Dual Port Memory Interface Manual Revision 12 Unit of ulCycleLength changed to us Table 1 List of Revisions Ethernet POWERLINK Controlled Node DOC071104API12EN Revision
254. nation End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 2 7 4 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 0 See chapter Status Error Codes Overview ulCmd UINT32 0x1342 EPLCN_PCK_UNREGISTER_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch Table 155 EPLCN_PCK_UNREGISTER_REQ Unregister Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 158 297 Packet Structure Reference typedef struct EPLCN_PCK_UNREGISTER_CNF_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_UNREGISTER_CNF_T Packet Description structure EPLCN_PCK_UNREGISTER_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initia
255. ndatory for SYNC producers Access Read Write PDO mapping No Value 0 2 1 UNSIGNED32 Default value 0 Table 32 Communication Cycle Period NMT_Cycle_Len_U32 5 2 6 5 Manufacturer Device Name NMT_ManufactDevName_VS This optional object contains the device name which has been assigned to the device by the manufacturer It is setup by the firmware during system initialization Remark The sub element ProductName of element Deviceldentity must be equal to NMT_ManufactDevName_VS within the device description file Index 0x1008 Name NMT_ManufactDevName_VS Object code VAR Data type VISIBLE_STRING Category Optional Access Constant value PDO mapping No Value Name of the device specified as a non zero terminated string Table 33 Manufacturer Device Name NMT_ManufactDevName_VS Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 80 297 5 2 6 6 Manufacturer Hardware Version NMT_ManufactHwVers_VS This optional object contains the hardware version number which has been assigned to the device by Hilscher as its manufacturer Remark The sub element version with attribute versionType set to HW of element Deviceldentity within the device description file must be equal to NUT_ManufactHwVers_VS Index 0x1009 Name NMT_Manufa
256. ndicates that a request has been made by the Managing Node to enter ReadyToOperate state If no other AP task is processing this request the AP task has to send a EPLCN_PCK_GO_TO_READY_TO_OPERATE_REQ request Only one AP task is allowed to answer this indication with such a request On DPM firmwares the AP task contained within the firmware will respond to this indication that way if the BusOn CommunicationCOS is set Packet Structure Reference typedef struct EPLCN_PCK_STATE_ENABLE_RDY_TO_OPERATE_IND_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK STATE ENABLE RDY TO OPERATE IND_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 204 297 structure EPLCN_PCK_STATE_ENABLE_RDY_TO_OPERATE_IND_T Type Indication Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Sou
257. ndication This packet indicates a write attempt to an object not defined within the stack s object dictionary Note The response has to be sent back in order to complete the write access If it is not returned in time the entire request will be aborted Packet Structure Reference typedef struct EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_IND_DATA_Ttag TLR_UINT16 usIndex TLE_UINTS bSubids actual data follows here EPLCN POK OD UNDEFINED WRITE DATA IND DATA T typedef struct EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_IND_Ttag TLR_PACKET_HEADER_T tecc EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_IND_DATA_T tData EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_IND_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 267 297 Packet Description structure EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_IND_T Type Indication Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet
258. ndition FALSE Do not enter error condition This error condition can be cleared by the Managing Node Table 203 EPLCN_PCK_WRITE_STATUS_ENTRY_REQ Write Status Entry Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference 223 297 typedef struct EPLCN_PCK_WRITE_STATUS_ENTRY_CNF_Ttag i TLR_PACKET_HEADER_T tHead EPLCN_PCK_WRITE_STATUS_ENTRY_CNF_T Packet Description structure EPLCN_PCK_WRITE_STATUS_ENTRY_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 2 7 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x134D EPLCN_PCK_WRITE_STATUS_ENTRY_CNF Command ulExt UINT32 O Extension reserved ulRout UINT32 x Routing information do not change
259. nent of the entry should give a clear and short textual description of the purpose or function of the object Access rights The attribute indicates access rights such as read or write access is allowed or prohibited A large amount of different data types are provided by the CANopen standard which is used here by Ethernet Powerlink These are listed in the table below Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 67 297 Data Types The following data types are available for being defined in the data type area of the object dictionary using object DEFTYPE as follows Data Type Index hex Name 0001 BOOLEAN 0002 INTEGER8 0003 INTEGER16 0004 INTEGER32 0005 UNSIGNED8 0006 UNSIGNED16 0007 UNSIGNED32 0008 REAL32 0009 VISIBLE_STRING 000A OCTET_STRING 000B UNICODE_STRING 000C TIME_OF_DAY 000D TIME_DIFFERENCE 000E Reserved 0000F DOMAIN 0010 INTEGER24 0011 REAL64 0012 INTEGER40 0013 INTEGER48 0014 INTEGER56 0015 INTEGER64 0016 UNSIGNED24 0017 Reserved 0018 UNSIGNED40 0019 UNSIGNED48 001A UNSIGNED56 001B UNSIGNED64 001C 001F Reserved for future use Table 23 Available Data Type Definitions Part 1 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 200
260. nsfer Expedited transfer The SDO Sequence Layer provides the following functionality It controls the correct sorting of the segments and building of the data stream when segmented transfer takes place It supervises the timeout of the connection According to the time slice mechanism defined in the Ethernet Powerlink standard there are two phases defined namely The isochronous phase mainly for the transfer of time critical data cyclic communication The asynchronous phase mainly for transfer of acyclic data However acyclic communication can in general be performed in both phases There are three technically different mechanisms available one for the isochronous phase and two for the asynchronous phase of the Ethernet Powerlink cycle These are SDO via UDP IP in the asynchronous phase SDO via the Ethernet Powerlink ASnd mechanism in the asynchronous phase SDO embedded in PDO in the isochronous phase For detailed information concerning frames connections and possible error situations refer to the Ethernet Powerlink specification section 6 3 There are 3 objects dealing with SDO packets available within the object dictionary SDO Server Container Parameter for configuring a server container SDO Client Container Parameter for configuring a client container SDO Sequence Layer Timeout for configuring the timeout value As each connection has one client and one server communicating with each other client and server containers sho
261. nter the NMT state Pre Operational 1 and light up the Error Led indicator Packet Structure Reference EPLCN_PCK_ENTER typedef struct TLR_PACKET_HEADER_T tHead EPLCN_PCK_ENTER_ERROR_CONDITION_REQ T Packet Description ERROR_CONDITION_REQ_ Ttag structure EPLCN_PCK_ENTER_ERROR_CONDITION_REQ T Type Request Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1344 EPLCN_PCK_ENTER_ERROR_CONDITION_REQ Command ulExt UINT32 0 Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch Table 195 EPLCN_PCK_ENTER_ERROR_CONDITION_REQ Enter Error Condition Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English
262. number of entries in the object Sub Index 0 Name NumberOfEntries Description Number of entries Entry Category Mandatory Access Read only PDO mapping No Value Range 5 Default value 5 Table 81 SDO SDO_ClientContainerParam_XXh_REQ NumberOfEntries Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview ClientNodelD_U8 This item represents the Ethernet Powerlink Node ID of SDO client 105 297 Sub Index 1 Name ClientNodelD_U8 Description ClientNode ID Data type UNSIGNED8 Entry Category Mandatory Access Read write PDO mapping No Value 0 255 Default value none Table 82 SDO SDO_ClientContainerParam_XXh_REQ ClientNodelD_U8 ServerNodelD_U8 This item represents the Ethernet Powerlink Node ID of SDO server Sub Index 2 Name ServerNodelD_U8 Description ServerNode ID Data type UNSIGNED8 Entry Category Mandatory Access Read Write PDO mapping No Value 0 255 Default value none Table 83 SDO SDO_ClientContainerParam_XXh_REQ ServerNodelD_U8 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 106 297 ContainerLen_U8 This item represents the maximum data length of the container for the SDO server in bytes including th
263. o into Operational state If MSK_ last three warmstart parameters are evaluated and and need not to be specified i e the old warmstart Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 EPLCN_DPM_WARMSTART_STACK_CFG_CONF IGUR E_BUS_SYNCHRONOUS_MODE is set the need to be supplied otherwise they are ignored packet format is expected Released Public Hilscher 2006 2013 275 297 The Application Interface Packet Structure Reference typedef struct TLR_PACKET_HEADER_T tHead EPLCN_DPM_WARMSTART_CNF_T EPLCN_DPM_WARMSTART_CNF_Ttag Packet Description structure EPLCN_DPM_WARMSTART_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 297 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x13C1 EPLCN_DPM_WARMSTART_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing
264. ode DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface LossSoC is activated per default The parameters LossPReq Threshold LossSoA Threshold SoCuitter Threshold Collision Threshold CrcError Threshold are deactivated per default Packet Structure Reference typedef struct EPLCN_DPM_WARMSTART_R EQ DATA _Ttag TLR_UINT32 ulSystemFlags TLR_UINT32 ulWatchdogTime TLR_UINT32 ulVendorId TLR_UINT32 ulProductCode TLR_UINT32 ulRevisionNumber TLR_UINT32 ulSerialNumber TLR_UINT32 ulStackConfigurationFlags TLR_UINT32 ulThresholdDisableFlags TLR_UINT32 ulThresholdLossSoC TLR_UINT32 ulThresholdLossPReq TLR_UINT32 ulThresholdLossSoA TLR_UINT32 ulThresholdSoCJitter TLR_UINT32 ulThresholdCollision TLR_UINT32 ulThresholdCrcError TLR_UINT32 ulCyclelLength TLR_UINT32 ulSoCJitterRange TLR_UINT16 usProcessDataOutputSize TLR_UINT16 usProcessDataInputSize TLR_UINT8 abNodeName 32 TLR_UINT32 ulGatewayAddress TLR_UINT8 bNodelId TLR_UINT8 bSoCTriggerConfig TLR_UINT32 ulSoCTriggerDelay TLR_UINT32 ulSoCTriggerLength TLR_UINT8 bPReqMappingVersion TLR_UINT8 bPResMappingVersion TLR_UINT8 bNumberOfStatusEntries TLR_UINT32 ulPReqErrorThreshold TLR_UINT32 ulPResErrorThreshold TLR_UINT32 ulSyncFlagErrorThreshold TLR_UINT32 ulDeviceType EPLCN_DPM_WARMSTART_REQ DATA T
265. odes to be used in error entries within status response frames sorted depending on the error category Category Hardware errors 0x816n Name Value E DLL_BAD_PHYS_ MODE 0x8161 E DLL_COLLISION 0x8162 E DLL_COLLISION_TH 0x8163 E DLL_CRC_TH 0x8164 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 111 297 E DLL_LOSS OF_LINK 0x8165 E_DLL_MAC_BUFFER 0x8166 Table 90 Error Entries within Status Response Frames Hardware Errors Category Protocol errors 0x82nn Name Value E DLL_ADDRESS_ CONFLICT 0x8201 E DLL MULTIPLE MN 0x8202 Table 91 Error Entries within Status Response Frames Protocol Errors Category Frame size errors 0x821n Name Value E PDO_SHORT_RX 0x8210 E PDO_MAP_VERS 0x8211 E NMT_ASND_MTU_DIF 0x8212 E NMT_ASND_MTU_LIM 0x8213 E NMT_ASND_TX_LIM 0x8214 Table 92 Error Entries within Status Response Frames Frame Size Errors Category Timing errors 0x823n Name Value E NMT_CYCLE_LEN 0x8231 E DLL_CYCLE_EXCEED 0x8232 E DLL_CYCLE_EXCEED_TH 0x8233 E_ NMT_IDLE_LIM 0x8234 E DLL JITTER_TH 0x8235 E DLL_LATE_PRES_TH 0x8236 E NMT_PREQ_CN 0x8237 E NMT_PREQ_LIM 0x8238 E NMT_PRES_CN 0x8239 E NMT_PRES_RX_LIM 0x823A E NMT_PRES_TX_LIM 0x823B Table 93
266. of an Object This packet registers an AP task for receiving indications any time when a read and or write access to a particular object occurs Packet Structure Reference typedef struct EPLCN_PCK_OD_NOTIFY_REGISTER_REQ_DATA_Ttag TLR_UINT16 usIndex TLR_BOOLEAN32 fReadNotify TLR_BOOLEAN32 fWriteNotify EPLCN_PCK_OD_NOTIFY_REGISTER_REQ DATA _T typedef struct EPLCN_PCK_OD_NOTIFY_REGISTER_REQ Ttag TLR_PACKET_HEADER_T tHead ie ICIN _ PCIe _ O D _ INCOME IRIE LSU IRIEO IDA TN ie Daa EPLCN_PCK_OD_NOTIFY_REGISTER_REQ T Packet Description structure EPLCN_PCK_OD_NOTIFY_REGISTER_REQ T Type Request Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSre UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 10 Packet Data Length in bytes ulld UINT32 0 2 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ul
267. on Objects Bit 3 of the stack configuration flags controls whether all application objects are deleted during initialization of the object dictionary MSK_EPLCN_DPM_SET_CONFIG_STACK_CFG_DELETE_ APPLICATION OBJECTS 0 Do not delete application objects 1 Delete application specific objects Default Delete application specific objects Disable PDO Mapping Version Check Bit 4 of the stack configuration flags controls whether the mapping version field in the PReq will be checked MSK_EPLCN_DPM_SET_CONFIG_STACK_CFG_DISABLE_ PDO_MAP_VERS_CHECK 0 Check PReq PDO mapping version 1 Do not check PReg PDO mapping version Default Do not check PReq PDO mapping version Use Application_Ready for present RD flag Bit 5 of the stack configuration flags MSK_EPLCN_DPM_SET_CONFIG_STACK_CFG_USE_APP READY_FOR_PRES_RD_FLAG Configure bus synchronous mode Bit 6 of the stack configuration flags MSK_EPLCN_DPM_SET_CONFIG_STACK_CFG_CONFIGU RE_BUS SYNCHRONOUS MODE Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Getting started Configuration 44 297 Use PReq_RX for present data exchange Bit 7 of the stack configuration flags MSK_EPLCN_DPM_SET_CONFIG_STACK_CFG_USE_PRE Q_RX_FOR_PRES_DATA_EXCHANGE Node ID Handling Bit 8 of the stack configuration flags contro
268. on Interface 212 297 6 1 25 EPLCN_PCK_SEND_EMERGENCY_REQ CNF Send Emergency This packet creates an emergency object and places it into the emergency queue For more information see section 5 2 9 8 Emergency Queue of this document Packet Structure Reference typedef struct EPLCN_PCK_SEND_EMERGENCY_REQ_DATA_Ttag TLR_UINT16 usErrorCode TLR_UINT8 bErrorRegister TLR_UINTS8 abManufSpecific 5 TLR_BOOLEAN32 fEnterErrorCondition EPLCN_PCK_SEND_EMERGENCY_REQ DATA _T typedef struct EPLCN_PCK_SEND_EMERGENCY_REQ_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_SEND_EMERGENCY_REQ_DATA_T tData EPLCN_PCK_SEND_EMERGENCY_REQ_ T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 213 297 structure EPLCN_PCK_SEND_EMERGENCY_REQ T Type Request Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for th
269. onfirmation aa e ea gis a ee le 257 Table 233 EPLCN_PCK_OD_UNDEFINED_NOTIFY_UNREGISTER_REQ Undefined Object Notification Unregister Request EET r E E A A E repeats 258 Table 234 EPLCN_PCK_OD_UNDEFINED_NOTIFY_UNREGISTER_CNF Undefined Object Notification Unregister Confirmation gg Sevan es Heo tec eee a cused neta Ne avindeSeeals states on voltae E EA 259 Table 235 EPLCN_PCK_OD_UNDEFINED_READ_PREPARE_IND Data Type Information Indication 261 Table 236 EPLCN_PCK_OD_UNDEFINED_READ_PREPARE_RES Data Type Information Response 262 Table 237 EPLCN_PCK_OD_UNDEFINED_READ_DATA_IND Undefined Object Read Indication 264 Table 238 EPLCN_PCK_OD_UNDEFINED_READ_DATA_RES Undefined Object Read Response 265 Table 239 EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_IND Undefined Object Write Indication 267 Table 240 EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_RES Undefined Object Write Response 268 Table 241 EPLCN_DPM Task Process QU UC c ceeeeceeeeeeeeceeeeeeeeseeeeaeeeeaeeeeaaeeeaceseaaeseaeesesaeeeaeeeseaeeeatessaeeeaees 269 Table 242 Overview over the Packets of the EPLCN_DPM Task of the Powerlink Slave Protocol Stack 269 able 2434 Setto Zero bitcnic5 ai Se tet Ne et E A ican abide Sl ee REL ad 270 Table 244 Usage of Sette Zero Ditteri nre ae ged e a a a Ghtsaes ces r ieee eee 270 Table 245 EPLCN_
270. ontrolled Node itself 1 254 ID the node from which the PDO is to be received Default value 0 Table 61 Receive PDO Communication Parameter NodelD_U8 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 94 297 Note In this context the NodelD applies to the node transmitting the corresponding response frame PRes MappingVersion_U8 This item provides a version number that is used to check whether transmitting node and receiving node use compatible versions The mapping version is a byte where Bits 4 7 contain the main version number Bits 0 3 contain the sub version number The Hilscher firmware only supports static version mapping For more information about the PDO mapping version refer to section 6 4 2 PDO Mapping Version of the Ethernet Powerlink specification Of the Sub Index 2 Name MappingVersion_U8 Description Mapping version Data type UNSIGNED8 Entry Category Mandatory Access Read only PDO mapping No Value 0 255 Default value 0 Table 62 Receive PDO Communication Parameter Mapping Version _U8 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 95 297 Overview 5 2 7 2 Receive PDO Mapping PDO_RxMappParam_XXh_AU64 To accomplish access by name _xXXh should be rep
271. or running the Ethernet POWERLINK Controlled Node protocol stack Otherwise this port is designed for another communication protocol In most cases xC Port 2 will be used for field bus systems while xC Port 0 and xC Port 1 are normally used for Ethernet communication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Fundamentals 19 297 3 You can find information about the corresponding communication channel 0 3 under the following addresses 0x0050 Communication Channel 0 0x0060 Communication Channel 1 0x0070 Communication Channel 2 0x0080 Communication Channel 3 In devices which support only one communication system which is usually the case either a single field bus system or a single standard for Industrial Ethernet communication always communication channel 0 will be used In devices supporting more than one communication system you should also check the other communication channels 4 There you can find such information as the ID containing channel number and port number of the communication channel the size and the location of the handshake cells the overall number of blocks within the communication channel and the size of the channel in bytes Evaluate this information precisely in order to access the communication channel correctly The information is delivered as follows Size of Channel in Bytes Addre
272. or the definition of communication profile in the object dictionary is structured according to the following table Area for 5 2 4 Object Dictionary Entries for Communication Profile Data Type Object Name Type M O C Index 1000 VAR Device type UNSIGNED32 M 1001 Error register UNSIGNED8 M 1002 Manufacturer status register O 1003 Pre defined error field O 1004 Reserved O 1005 Reserved O 1006 Communication cycle period O 1007 Synchronous window length O 1008 VAR Manufacturer Device Name String O 1009 VAR Manufacturer Hardware Version String O 100A VAR Manufacturer Software Version String O 100B Reserved 100C VAR Reserved 100D VAR Reserved 100E Reserved 100F Reserved 1010 ARRAY Store parameters UNSIGNED32 O 1011 ARRAY Restore default parameters UNSIGNED32 O 1012 VAR Reserved 1013 VAR High resolution time stamp UNSIGNED32 O 1014 VAR Reserved 1015 VAR Inhibit Time EMCY UNSIGNED16 O 1016 ARRAY Consumer heartbeat time UNSIGNED32 O 1017 VAR Reserved 1018 RECORD Identity Object Identity 23h M 101A Reserved 11FF Reserved PDO Mapping Parameter Receive Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 73 297 Server SDO Parameter 1200 RECORD 1st Server SDO
273. ote Use this packet to create an SDO object in order to establish acyclic communication 6 1 32 EPLCN_PCK_OD_CREATE_SUBOBJECT_REQ CNF Create a Subobject 6 1 33 EPLCN_PCK_OD_DELETE_OBJECT_REQ CNF Delete an Object Emergency 6 1 25 EPLCN_PCK_SEND_EMERGENCY_REQ CNF Table 16 Overview about Essential Functionality Cyclic and acyclic Data Transfer and Alarm Handling Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Getting started Configuration 4 2 Warmstart Parameters 42 297 The following table contains relevant information about the warmstart parameters for the Ethernet POWERLINK Controlled Node firmware such as an explanation of the meaning of the parameter and ranges of allowed values Parameter Meaning Range of Value Value Bus Startup This parameter is represented by bit 0 of the system flags The start of the device can be performed either application controlled or automatically Automatic 0 Network connections are opened automatically without taking care of the state of the host application Communication with a controller after a device start is allowed without BUS_ON flag but the communication will be interrupted if the BUS_ON flag changes state to 0 Application controlled 1 The channel firmware is forced to wait for the host application to wait for the Bus On flag in the
274. ouch tData Structure EPLCN_PCK_STATE_IND_DATA_T usErrorProfile UINT16 Valid profile EPL Error Profile number Only indicated if fErrorLedlsOn was changed to TRUE from last known Error Led state usErrorCode UINT16 Valid error code Profile specific error code Only indicated if fErrorLedlsOn was changed to TRUE from last known Error Led state fErrorLedlsOn BOOL32 0 1 State of Error Led TRUE On FALSE Off Table 157 EPLCN_PCK_STATE_CHG_REQ_TO_INITIALISING_IND NMT State Changed to NMT State Initialising Indication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 161 297 The Application Interface Packet Structure Reference typedef struct HE ENE Chars PAviiin Gas E Omi Omi Te lseAi SiN Garni om Ea TLR_PACKET_HEAD ER_T tHead EPLCN_PCK_STATE_CHG_REQ TO _INITIALISING_RES_T Packet Description structure EPLCN_PCK_STATE_CHG REQ TO INITIALISING_RES T Type Response Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulS
275. ource Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1324 EPLCN_PCK_GO_TO_RESET_COMMUNICATION_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch Table 163 EPLCN_PCK_GO_TO_RESET_COMMUNICATION_REQ Go To NMT State Reset Communication Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference typedef struct TLR_PACKET_HE ADER_T tHead EPLCN_PCK_GO 168 297 EPLCN_PCK_GO_TO_RESET_COMMUNICATION_CNF_Ttag TO_RESET_COMMUNICATION_CNEF_T Packet Description structure EPLCN_PCK_GO_TO_RESET_COMMUNICATION_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification
276. owerlink specification Setting the value to 0 disables the entire threshold counting mechanism for this kind of event Sub Index 3 Name Threshold_U32 Description Threshold for CRC error events Data type UNSIGNED32 Entry Category Optional Access Read write PDO mapping No Value 0 2 1 Default value 15 Table 126 Object 0x1 COF DLL_CNCRCError_REC Threshold_U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 133 297 Overview 5 2 10 7 Object 0x1C13 DLL_CNSoCuJitterRange_U32 Index 0x1C13 Name DLL_CNSoCuitterRange_U32 Description SoC jitter range violation counter and threshold object of Ethernet Powerlink Data Link Layer Object code VAR Data type UNSIGNED32 Category Conditional Access Read Write PDO mapping No Value Range 0 2 1 Default value 2000 Table 127 Object 0x1C13 DLL_CNSoCJitterRange_U32 5 2 10 8 Object 0x1C14 DLL_LossOfFrameTolerance_U32 This item provides a tolerance interval in nanoseconds for the Loss of SoC error recognition mechanism of the Ethernet POWERLINK Controlled Node described in section 5 2 10 2 of this document Index 0x1C14 Name DLL_LossOfFrameTolerance_U32 Description Tolerance interval for Loss of SoC error recognition Object code VAR Data type UNSIGNED32 Category Conditional Access Read Write PDO
277. pecifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 Ox13A0 EPLCN_PCK_OD_UNDEFINED_NOTIFY_REGISTER_RE Q Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch Table 231 EPLCN_PCK_OD_UNDEFINED_NOTIFY_REGISTER_REQ Undefined Object Notification Register Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 257 297 The Application Interface Packet Structure Reference typedef struct EPLCN_PCK_OD_UNDE TLR_PACKET_HE AD ER_T tHead FINED_NOTIFY_REGISTER_CNF_Ttag EPLCN_PCK_OD_UNDEFINED_NOTIFY_REGISTER_CNF_T Packet Description structure EPLCN_PCK_OD_UNDEFINED_NOTIFY_REGISTER_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32
278. ple the name index is _04h if the sub index is 04h The name index may be incremented up to _7Fh according to sub index value Sub Index 4 0x7F Name ManufacturerParam_XXh_U32 Description Restore manufacturer defined parameters Entry Category Optional Access Read write PDO mapping No Value 0 2 1 UNSIGNED32 There is no default value Table 47 NMT_RestoreDefParam_REC Save manufacturer defined parameters Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 87 297 5 2 6 10 Consumer Heartbeat Time The consumer heartbeat time contains an expected value for the cycle time of the heartbeat signal Therefore this value has to be larger than the corresponding producer heartbeat time This time is configured on the device which produces this heartbeat signal Monitoring will start after the first heartbeat signal has been received If the consumer heartbeat time is equal to 0 the corresponding entry will not be effective The value for the consumer heartbeat time is specified in multiples of 1 millisecond Note Attempts to define multiple heartbeat times with non zero values for the same Node ID will cause an abort of the SDO operation in order to avoid conflicts An 8 bit value for the Node ID and a 16 bit value for the heartbeat time value are coded together as follows Coding of MSB LS
279. plication which passes a packet from an external process to an internal netX task The u Srcid field holds the handle of the external process When netX operating system returns the packet the application can identify the packet and returns it to the originating process The receiving task on the netX does not evaluate this field and passes it back unchanged For inter task communication this field is not used Length of Data Field The ulLen field holds the size of the data field in bytes It defines the total size of the packet s payload that follows the packet s header The size of the header is not included in u Len So the total size of a packet is the size from ulLen plus the size of packet s header Depending on the command a data field may or may not be present in a packet If no data field is included the length field is set to zero Identifier The ulld field is used to identify a specific packet among others of the same kind That way the application or driver can match a specific reply or confirmation packet to a previous request packet The receiving task does not change this field and passes it back to the originator of the packet Its use is optional in most of the cases But it is mandatory for sequenced packets Example Downloading big amounts of data that does not fit into a single packet For a sequence of packets the identifier field is incremented by one for every new packet Ethernet POWERLINK Controlled Node
280. pping No Value 0 2 1 Default value 15 Table 121 Object Ox1COE DLL_CNSoCJitter_REC Threshold _U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 5 2 10 6 Object 0x1COF DLL_CNCRCError_REC 130 297 As the Ethernet Powerlink firmware described in this document provides error recognition for CRC error events on the network this object can be used for monitoring such events detected by the Ethernet POWERLINK Controlled Node The object provides the following items a cumulative counter Sub index 1 a threshold counter data object Sub index 2 its threshold data object Sub index 3 Index 0x1COF Name DLL_CNCRCError_REC Description CRC error recognition counter and threshold object of Ethernet Powerlink Data Link Layer Object code RECORD Data type DLL_ErrorCntRec_TYPE Category Mandatory Table 122 Object 0x1COF DLL_CNCRCError_REC NumberOfEntries This item contains the number of entries of the object Sub Index 0 Name NumberOfEntries Description Number of entries Access Read only PDO mapping No Value Range 3 Default value 3 Table 123 Object Ox1COF DLL_CNCRCError_REC NumberOfEntries Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 131 297 C
281. precise descriptions of all these data types can be found in the EPL specification section 6 1 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 69 297 5 2 5 Accessing the Object Dictionary by Packets The following services are provided by the EPLCN_PCk Task for maintaining the object dictionary 5 2 5 1 Read and Write Access to Objects For accessing objects within the object dictionary read and write functionality is available by the following packets EPLCN_PCK_OD_READ_OBJECT_REQ CNF Read Object see section 6 1 37 EPLCN_PCK_OD_WRITE_OBJECT_REQ CNF Write an Object see section 6 1 36 These packets work on the predefined objects described subsequently within this document and on self defined objects see just below 5 2 5 2 Object Maintenance Creating and Deleting Objects and Subobjects Defining and additional objects can be done by the packet EPLCN_PCK_OD_CREATE_OBJECT_REQ CNF Create Object see section 6 1 31 An object definition you made using this packets can afterwards be erased by using the packet EPLCN_PCK_OD_DELETE_OBJECT_REQ CNF Delete an Object see section 6 1 33 If a subobject is to be defined for an already existing object this can be accomplished with the following packet EPLCN_PCK_OD_CREATE_SUBOBJECT_REQ CNF Crea
282. pter 7 Queue Packets 2 Section 10 1 9 Queuing Mechanism Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Fundamentals 14 297 2 3 Accessing the Protocol Stack via the Dual Port Memory Interface This chapter defines the application interface of the Ethernet Powerlink Controlled Node Stack 2 3 1 Communication via Mailboxes The mailbox of each communication channel has two areas that are used for non cyclic message transfer to and from the netX Send Mailbox Packet transfer from host system to netX firmware Receive Mailbox Packet transfer from netX firmware to host system For more details about acyclic data transfer via mailboxes see section 3 2 Acyclic Data Mailboxes in this context is described in detail in section 3 2 1 General Structure of Messages or Packets for Non Cyclic Data Exchange while the possible codes that may appear are listed in section 3 2 2 Status amp Error Codes However this section concentrates on correct addressing the mailboxes Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Fundamentals 15 297 2 3 2 Using Source and Destination Variables correctly 2 3 2 1 How to use ulDest for Addressing rcX and the netX Protocol Stack by the System and Channel Mailbox The preferred way to address the netX operating
283. ptional additional entry Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 89 297 5 2 6 11 Identity Object NMT_IdentityObject_REC This object contains general information about the device The vendor ID located at sub index 1 identifies the manufacturer by a unique value The manufacturer specific product code Sub index 2 identifies a specific version of the device The manufacturer specific revision number Sub index 3 contains the major revision number and the minor revision number of the device The manufacturer specific serial number Sub index 4 uniquely identifies a specific device Note The values are set up by the firmware during system initialization Index 0x1018 Name NMT_lIdentityObject_REC Object code RECORD Data type Identity Category Mandatory Table 53 Identity Object NumberOfEntries This sub index contains the number of entries actually used depending on the presence or absence of optional sub indices of the identity object Sub Index 0 Name NumberOfEntries Description Number of entries Entry Category Mandatory Access Constant PDO mapping No Value 1 4 Default Value 4 Table 54 Identity Object NumberOfEntries Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilsche
284. q event counter and threshold object of Ethernet Powerlink Data Link Layer Object code RECORD Data type DLL_ErrorCntRec_TYPE Category Conditional Table 112 Object 0x1COD DLL_CNLossPReq_REC NumberOfEntries This item contains the number of entries of the object Sub Index 0 Name NumberOfEntries Description Number of entries Access Read only PDO mapping No Value Range 3 Default value 3 Table 113 Object 0x1COD DLL_CNLossPReq_REC NumberOfEntries Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 125 297 Overview CumulativeCnt_U32 The cumulative counter should be incremented by 1 each time a loss of PReq event occurs Its value is the sum of all monitored loss of PReq events that were detected by the Ethernet POWERLINK Controlled Node If the multiple cycle assign option is used then only each n th event is counted otherwise each event Sub Index 1 Name CumulativeCnt_U32 Description Cumulative Counter for loss of PReq events Data type UNSIGNED32 Entry Category Optional Access Read write PDO mapping No Value 0 2 1 Default value 0 Table 114 Object 0x1COD DLL_CNLossPReq_REC Cumulative Counter ThresholdCnt_U32 The threshold counter variable ThresholdCnt_U32 should be incremented by 8 counts each time a loss of PReq event occurs and dec
285. quest see section 6 1 13 of this document NMT_CS_PRE_OPERATIONAL_1 Bit mask 0001 1101 The Ethernet Powerlink Controlled Node does not send any Ethernet frames autonomously as long as it stays in NMT_CS_PRE_OPERATIONAL_1 state unless it has been authorized explicitly by the Ethernet Powerlink Managing Node to behave in such a manner Such an explicite authorization is done by an SoA Asynclnvite command on the network as described in the Ethernet Powerlink specification The communication should be robust against disturbances caused by the occurrence of collisions due to the resolution of collisions performed by the CSMA CD mechanism of the Ethernet hardware At this state no PDO communication is possible The identification of the Ethernet Powerlink Controlled Node by the Managing Node happens at this state On reception of an SoC frame this state will be left and will change to the state NMT_CS_PRE_OPERATIONAL_2 Download of configuration data from a configuration server for instance an Ethernet Powerlink Managing Node can be performed both in this state and also in the state NMT_CS_PRE_OPERATIONAL_2 but no other state Note If the download is started while being in this state and a state change to NMT_CS_PRE_OPERATIONAL_2 occurs the download will not be interrupted Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 5
286. r 2006 2013 Overview Vendorld_U32 90 297 This sub index contains the manufacturer specific value of the Vendor ID Sub Index 1 Name Vendorld_U32 Description Vendor ID Entry Category Mandatory Access Constant PDO mapping No Value 0 2 1 UNSIGNED32 There is no default value Table 55 Identity Object Vendorld_U32 ProductCode_U32 This sub index contains the manufacturer specific product code identifying a specific version of the Ethernet Powerlink device This value has to be equal to the entry D_NMT_ProductCode_U32 of the device description file Sub Index 2 Name ProductCode_U32 Description Product code Entry Category Optional Access Constant PDO mapping No Value 0 23 1 UNSIGNED32 There is no default value Table 56 Identity Object ProductCode_U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview RevisionNo_U32 91 297 This sub index contains the manufacturer specific revision number consisting of a major and a minor revision number The major revision number is associated with a specific behaviour of a device If the device functionality is changed significantly it is necessary to increment the major revision The minor revision number is associated with different versions showing up the same device behaviour T
287. r Entries within Status Response Frames Frame Errors ccescceesceeeeeeeeneeeeeeeseneeeeeeeeeeeeaeereas 112 Error Entries within Status Response Frames Boot Up Errors cscceesceeeeeeeeeeeeeeeeseneeeeeeseeeeeaeeteas 112 Error Codes to be used with Emergency Objects ecceeseeeeeeeeeeeeeeeeeeeneeeeaeeeeaeeesaeeseaeeeseeeesieeeneeeeaes 114 Object 0x1COA DLL_CNCollision REC cccceccccccssecsseeecseeesseeesseeeseeecseeesseesesaessseeesaeesseesenseseeessaees 115 Object 0x1COA DLL_CNCollision REC NumberOfEntries cccccescceesseceeeeeeeeeesneeeeesseeesseneees 115 Object 0x1COA DLL_CNCollision REC Cumulative Counter cccccccceceseceeeeeeeeeeeeneeeessneeeessnaees 116 Object 0x1COA DLL_CNCollision REC ThresholdCnt_U32 cccccecccscceeeeneeeeeeeeeeeeeeeeeesesneeeeseaes 116 Object 0x1COA DLL_CNCollision REC Threshold _U32 ccccccseceeeeneeeeeseeeeseeeeeseneeeessneeeesenes 117 Object 0x1COB DLL_CNLOSSSOC_REC eccecscccesecesseesseeceseecsseeesseessseessseessseeesaeesseessseessteeesseessas 118 Object 0x1COB DLL_CNLossSoC_REC NumberOfEntrieS cccccccceeseneeeeeneeeeeeneeeeesseeeessaes 118 Object 0x1COB DLL_CNLossSoC_REC Cumulative Counter ccccccceseseceeeeneeeeeeseeeeesseeeeseaes 119 Object 0x1COB DLL_CNLossSoC_REC ThresholdCnt_U82 0 0 cccccccceessneeeeseeeeeeeseeeeessneeeeeeaes 119 Object 0x1COB DLL_CNLossSoC_REC Th
288. rce Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1316 EPLCN_PCK_STATE_ENABLE_RDY_TO_OPERATE_IND Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch Table 189 EPLCN_PCK_STATE_ENABLE_RDY_TO_OPERATE_IND NMT command EnableRdyToOperate received Indication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference typedef struct 205 297 EPC NRE CK SAE ENABLE IRIDN6_ INO AONE RATE_RES_Ttag TLR_PACKET_HE ADER_T tHead EPLCN_PCK_STATE_ENABLE_RDY_TO OPERATE_RES_T Packet Description structure EPLCN_PCK_STATE_ENABLE_RDY_TO_ OPERATE _RES T Type Response Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packe
289. rcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1387 EPLCN_PCK_OD_NOTIFY_REGISTER_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 224 EPLCN_PCK_OD_NOTIFY_REGISTER_CNF Object Notify Register Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 248 297 6 1 39 EPLCN_PCK_OD_NOTIFY_UNREGISTER_REQ CNF Unregister from Notification of Object Read Writes This packet unregisters an AP task from receiving indications any time when a read and or write access to a particular object occurs Packet Structure Reference typedef struct EPLCN_PCK_OD_NOTIFY_UNREGISTER_DATA_Ttag TLR_UINT16 usIndex TLR_BOOLEAN32 fReadNotify TLR_BOOLEAN32 fWriteNotify EPLCN_PCK_OD_NOTIFY_UNREGISTER_DATA_T typedef struct EPLCN_PCK_OD_NOTIFY_UNREGISTER_Ttag TLR_PACKET_HEADER_T tHead iE MLICIN _ IPC IsC_ OND _ INCOME IIE Ye _ IGNITE ILS WIR IDVENINAN AEE EPLCN_PCK_OD_NOTIFY_UNREGISTER_T Packet Description structu
290. rcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1301 EPLCN_PCK_STATE_CHG_REQ_TO_INITIALISING_C NF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 158 EPLCN_PCK_CHG_REQ_TO_INITIALISING_RES NMT State Changed to NMT State Initialising Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 162 297 6 1 6 EPLCN PCK GO TO RESET APPLICATION REQ CNF Go to NMT State ResetApplication This packet requests the NMT state machine to enter ResetApplication state If the AP task receives EPLCN_PCK_STATE_CHG_REQ_TO_INITIALISING_IND it may have to respond with an EPLCN_PCK_GO_TO_RESET_APPLICATION_REQ request Note Only one AP task is allowed to answer this indication with such a request On DPM firmwares the AP task contained within the firmware will respond to this indication that way Packet Structure Reference typedef struct EPLCN_PCK_GO_TO_RESET_APPLICATION_REQ_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_GO_TO_RESET_APPLICATION_REQ T Packet D
291. re see below Contrary to the situation of the receive PDOs only one transmission mapping can be made on one object Although the index range 0x1800 to 0x18FF is reserved for this purpose you should use the object with the index 0x1800 in order to define the communication parameters of the transmit PDO channel of the Ethernet POWERLINK Controlled Node Note In this sense a channel can be considered to be configured if its NumberOfEntries_U8 entry value of the corresponding PDO_TxMappParam_XXh_AU64 object is different from 0 If you intend to change the transmit PDO communication parameter first set the number of entries sub object to 0 in order to deactivate the object before starting to reconfigure it Then setting the number of entries sub object to a non zero value enables the changes to be effective Verify that the overall length of all mapped data does not exceed the length of the PDO data area Index 0x1800 0x18FF only use 0x1800 Name PDO_TxCommParam_XXh_REC Object code RECORD Data type PDO_CommParamRecord_TYPE Category Conditional Table 67 Transmit PDO Communication Parameter PDO_TxCommParam_XXh_REC NumberOfEntries Sub Index 0 Name NumberOfEntries Description Number of entries largest sub index supported Entry Category Mandatory Access Read only PDO mapping No Value range 2 Default value 2 Table 68 Transmit PDO Communication Parameter
292. re EPLCN_PCK_OD_NOTIFY_UNREGISTER_REQ T Type Request Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSre UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 10 Packet Data Length in bytes ulld UINT32 0 2 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1388 EPLCN_PCK_OD_NOTIFY_UNREGISTER_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_OD_NOTIFY_UNREGISTER_REQ DATA _T usIndex UINT16 0x1000 0xFFF Index of the object F fReadNotify BOOL32 0 not used fWriteNotify BOOL32 0 not used Table 225 EPLCN_PCK_OD_NOTIFY_UNREGISTER_REQ Object Notify Unregister Request Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packe
293. re of Entries Generally an entry in the status response frame is structured as described in the following table Byte No Field Type 0 1 Entry Type UNSIGNED16 2 3 Error Code UNSIGNED16 4 11 Time stamp UNSIGNED64 12 19 Additional information UNSIGNED64 Table 88 Structure of an Entry in the Status Response Frame Entry Number This is a number uniquely identifying the entry within the error history At status entries you can specify the number at error entries it is generated automatically Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 110 297 Entry Type Entry Type Determines the destination of the entry Entry for ERR_History_ADOM Entry not applicable here Entry for Status Entry in StatusResponse frame set D14 to 0 in this case Entry exclusively for ERR_History_ADOM Entry An error occurred and is still active Such as the detection of a short circuit of an input or output for example 0x000 Reserved do not use oxor a Error Code indicates a vendor specific code Joxoo2 ss s sidY Error Code indicates a communication profile specific error 0x003 OxFFF Error Code indicates a device profile specific error Value depends from device profile Table 89 Entry Type Error Code According to the Ethernet Powerlink specification the following tables contain the available error c
294. re this parameter ulThresholdCrcEr UINT32 Default value for CrcError Threshold 0x1COF 3 ror 0 means ignore this parameter ulCycleLength UINT32 0 2 1 Default value for cycle length 0x1006 in ms ulSoCuitterRange UINT32 0 2 1 Default value for SoC Jitter Range 0x1C13 usProcessDataO UINT16 0 1490 Process Data Output Size Master to Slave utputSize usProcessDataln UINT16 0 1490 Process Data Input Size Slave to Master putSize abNodeName UINT8 3 DNS node name 2 ulGatewayAddres UINT32 192 168 100 1 IP Gateway address 192 168 100 254 bNodeld UINT8 1 239 EPL Node ID bSoCTriggerConf UINT8 0 3 SoC Trigger configuration 9 Bit 0 1 SoC Trigger output is enabled Bit 1 1 SoC Trigger output is high active otherwise the output is low active ulSoCTriggerDela UINT32 0 10000000 SoC Trigger Delay in multiples of 10 ns y 0 disables SoC Trigger generation Note This value must be smaller than ulCycleLength ulSoCTriggerLen UINT32 100 10000000 SoC Trigger Length in multiples of 10 ns gth Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 280 297 Note This value must be smaller than ulCycleLength bPReqMappingV UINT8 0 255 Expected PReq Mapping Version on Can be reconfigured with packet EPLCN_DPM_CHANGE_MAP_VERS_REQ bPResMappingV UINT8
295. relevant to communication related parameters Index ranging from 1000h to 1FFFh manufacturer specific communication parameters Sub Index 2 Name CommunicationParam_U32 Description Restore communication parameters Entry Category Optional Access Read write PDO mapping No Value 0 2 1 UNSIGNED32 There is no default value Table 45 NMT_RestoreDefParam_REC CommunicationParam_U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 86 297 ApplicationParam_U32 This sub index relates to only information specifically relevant to application related parameters Index ranging from 6000h to 9FFFh manufacturer specific application parameters Sub Index 3 Name ApplicationParam_U32 Description Restore application parameters Entry Category Optional Access Read write PDO mapping No Value 0 2 1 UNSIGNED32 There is no default value Table 46 NMT_RestoreDefParam_REC ApplicationParam_U32 ManufacturerParam_XXh_U32 This sub index relates only to information specifically relevant to manufacturer defined parameters Index ranging from 2000h to 5FFFh manufacturer specific application parameters The sub index is designed in order to store manufacturer specific lists of data In practice to allow access by name _XXh is replaced with a name index For exam
296. remented by 1 at each cycle without occurrence of such an event This value might be used as a measure for the network quality Sub Index 2 Name ThresholdCnt_U32 Description Threshold counter for loss of PReq events Data type UNSIGNED32 Entry Category Optional Access Read only PDO mapping No Value 0 2 7 4 Default value 0 Table 115 Object 0x1COD DLL_CNLossPReq_REC ThresholdCnt_U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 126 297 Threshold_U32 This item represents the threshold value of the counter for loss of PReq events When the threshold is reached a specific action might be executed and the loss of PReg event counter should be reset to 0 according to the Ethernet Powerlink specification Setting the value to 0 disables the entire threshold counting mechanism for this kind of event Sub Index 3 Name Threshold_U32 Description Threshold for loss of PReq events Data type UNSIGNED32 Entry Category Optional Access Read write PDO mapping No Value 0 2 1 Default value 15 Table 116 Object Ox1COD DLL_CNLossPReq_REC Threshold_U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 5 2 10 5 Object 0x1COE DLL_CNSoCuJitter_REC 127 297 As the
297. reshold _U32 ccccscccceeseeeeeseneeeeeseeeeeeeneeeeseneeeesaes 120 Object 0x1COC DLL _CNLOSSSOA_REC ccccccssccssscesseeceneeesseecsseeecseecsaeessaeeseseeesseesseeesaeessneeeseeesegs 121 Object 0x1COC DLL_CNLossSoA_REC NumberOfEntrieS cccccccceeeeeeeeeeeeeeeeeseeeessneeeeseees 121 Object 0x1COC DLL_CNLossSoA_REC Cumulative Counter cccccccesesseeeseeeeeeeeneeeeeeseeeesenes 122 Object 0x1COC DLL_CNLossSoA_REC ThresholdCnt_U82 0 ccccccseeeesseeceeeseeeeeseseeeeessneeeeeeees 122 Object 0x1COC DLL_CNLossSoA_REC Threshold _U32 ccccsccceceeeeeeeseneeeeseneeeseeneeeessneeeessaes 123 Object 0x1COD DLL_CNLossPRegq_REC cccscccsssccsseeceseecsseesceeesseeseseessseessseeesseessaeesseeesseeeseessgs 124 Object 0x1COD DLL_CNLossPReg_REC NumberOfEntries ccccccecssseeeeeeeeeeeeeneeeeesseeeeseees 124 Object 0x1COD DLL_CNLossPReg_REC Cumulative Counter cc ccccsssccceeeeeeeeeesteeeessneeeeenees 125 Object 0x1COD DLL_CNLossPReg_REC ThresholdCnt_U32 ccccccceessececeeseeeeeseseeeessneeeeesees 125 Object 0x1COD DLL_CNLossPReg_REC Threshold _U32 cccccccesseeeeeeneeeessneeeeeeneeeeesneeeesenes 126 Object 0x1COE DLL_CNSoCuitter REC cccccccsccsseecsseesseeecseeecseeecseeseseescseesseeesteessseeesseessseeseas 127 Object 0x1COE DLL_CNSoCuJitter REC NumberOfEntries ccccccscceeseneeeeeneeeeeseeeeessneeeesaes 12
298. rface 148 297 6 1 The EPLCN_PCK Task The EPLCN_PCK Task coordinates within the Ethernet POWERLINK Controlled Node stack all packet based functions It is responsible for all application interactions and represents the counterpart of the AP Task within the existing Ethernet Powerlink Controlled Node stack implementation To get the handle of the process queue of the EPLCN_PCK Task the Macro TLR_QUE_IDENTIFY has to be used in conjunction with the following ASCll queue name ASCII Queue name Description QUE_EPLCN_PCK Name of the EPLCN_PCK Task process queue Table 147 EPLCN_PCK Task Process Queue The returned handle has to be used as value ulDest in all initiator packets the AP Task intends to send to the EPLCN_PCk Task This handle is the same handle that has to be used in conjunction with the macros TLR_QUE_SENDPACKET_FIFO LIFO for sending a packet to the EPLCN_PCK Task In detail the following functionality is provided by the EPLCN_PCK Task Overview over Packets of the EPLCN_PCK Task No of Packet Command Page section code REQ CNF or IND RES 6 1 1 EPLC
299. rial Ethernet protocols that utilize a cyclic data exchange mechanism The input data image is used to receive cyclic data from the network The default size of the input data image is 5760 byte However not all available space is actually used by the protocol stack Depending on the specific protocol the area actually available for user data might be much smaller than 5760 byte An input data block may or may not be available in the dual port memory It is always available in the default memory map see the netX Dual Port Memory Manual Input Data Image Offset Type Name Description 0x2680 UINT8 abPdOInput 5760 Input Data Image Cyclic Data From The Network Table 8 Input Data Image 3 1 2 Output Process Data The output data block is used by fieldbus and industrial Ethernet protocols that utilize a cyclic data exchange mechanism The output data Image is used to send cyclic data from the host to the network The default size of the output data image is 5760 byte However not all available space is actually used by the protocol stack Depending on the specific protocol the area actually available for user data might be much smaller than 5760 byte An output data block may or may not be available in the dual port memory It is always available in the default memory map see the netX DPM Manual Output Data Image Offset Type Name Description 0x1000 UINT8 abPd0Output 5760 Output Data Image
300. rofile specific error code Only indicated if fErrorLedlsOn was changed to TRUE Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 195 297 from last known Error Led state fErrorLedlsOn BOOL32 0 1 State of Error Led TRUE On FALSE Off Table 183 EPLCN_PCK_STATE_CHG_TO_OPERATIONAL_IND NMT State changed to Operational Indication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference 196 297 typedef struct TLR_PACKET_HEADER_T tHead EPLCN_PCK_STATE_CHG TO OPERATIONAL_RES_T Packet Description EPRENSE Chas EAE CHE STOSOPERA TION RE Ss head structure EPLCN_PCK_STATE_CHG TO OPERATIONAL _RES_ T Type Response Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the
301. rview 54 297 POWER ON NMT_GS_ INITIALISING NMT_GS_ RESET_APPLICATION NMT_GS_ RESET_COMMUNICATION NMT_GS_ RESET_CONFIGURATION State Machine of Ethernet Powerlink Controlled Node Communication active Table 19 State Diagram of the Ethernet POWERLINK Controlled Node Part 1 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 55 297 The communication part of the simplified state diagram looks like NMT_GS_ INITIALISATION for details see figure above NMT_GS_ NOT_ACTIVE NMT_GS_ BASIC_ETHERNET NMT_CS_ PRE_OPERATIONAL_1 NMT_GS_ PRE_OPERATIONAL_2 NMT_GS_ READY_TO_OPERATE NMT_GS_ OPERATIONAL NMT_GS_ STOPPED Table 20 State Diagram of the Ethernet POWERLINK Controlled Node Part 2 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 56 297 In detail the different states have the following meaning NMT_GS_INITIALISING Bit mask 0001 1001 This is the initial state into which the device gets when its electric power is turned on so it is always the first stage of the initialization process of the device There is no special command necessary to accomplish that Also if a reset of the device will occur the device will be in exactly that state This is true independent of whet
302. s Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1305 EPLCN_PCK_STATE_CHG_TO_RESET_COMMUNICATIO N_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 166 EPLCN_PCK_STATE_CHG_TO_RESET_COMMUNICATION_RES NMT State Changed To ResetCommunication Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 172 297 6 1 10 EPLCN_PCK GO TO RESET CONFIGURATION REQ CNF Go to NMT State ResetConfiguration This packet requests the NMT state machine to enter ResetApplication state If the AP task receives EPLCN_PCK_STATE_CHG_REQ_TO_RESET_COMMUNICATION_IND it may have to respond with an EPLCN_PCK_GO_TO_RESET_CONFIGURATION_REQ request Note Only one AP task is allowed to answer this indication with such a request On DPM firmwares the AP task contained within the firmware will respond to this indication that way Packet Structure Reference typedef struct EPLCN_PCK_GO_TO_RESET_CONFIGURATION_REQ_Ttag TLR_PACKET_HEADER tHead EP
303. s bits for specific kinds of errors pending at the Controlled Node It is described just below in section 5 2 9 4 Entries The structure of a status or error history entry is described just below in section 5 2 9 5 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 108 297 5 2 9 3 Packets allowing Configuration of the Status Response Frame The following packets have an influence on the status response frame EPLCN_PCK_WRITE_STATIC_BIT_FIELD_REQ CNF Write a Bit in the Static Bit Field Changing bits in the static bit field of the status response frame can easily be accomplished by using this packet You need to specify which bit to set and whether it should be set to the new value EPLCN_PCK_CONF IGURE_NUMBI Oort Status Entries ER_OF_STATUS_ENTRIES_REQ CNF Configure Number of This packet allows configuring the number of entries of the error history within the status response frame Possible values range from 0 to 32 However it is recommended to use not less than 2 and no more than 14 entries 5 2 9 4 Static Error Bit Field The static error bit field is defined according to the table below Byte Offset is specified relatively to the beginning of the ASnd service slot Byte Offset Description 6 Contents of ERR_ErrorRegister_U8 see section 5 2 6 2 for more information 7 Reserved 8 13 Errors
304. sable on the same system Table 154 EPLCN_PCK_REGISTER_CNF Register Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 157 297 6 1 4 EPLCN_PCK_UNREGISTER_REQ CNF Unregistration at NMT State Indication Notification Table This packet unregisters a queue from the indication notify table of the NMT state machine Sending state indications to the AP task will be discontinued An attempt to unregister although no queue has registered before will cause an error with status code TLR_E_EPL_NMT_APP_NOT_REGISTERED 0xC017001C This packet will no longer be supported by the firmware described in this document after September 1 2009 Instead use the unregistering functionality described in the netX Dual Port Memory Manual RCX_UNREGISTER_APP_REQ Packet Structure Reference typedef struct TLR_PACKET_HEADER_T tHead EPLCN_PCK_UNREGISTER_REQ T EPLCN_PCK_UNREGISTER_REQ_Ttag Packet Description structure EPLCN_PCK_UNREGISTER_REQ T Type Request Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Desti
305. section 5 1 State Machine for more information about NMT states If no other AP task is processing this request the AP task has to send a EPLCN_PCK_GO_TO_RESET_COMMUNICATION_REQ request Only one AP task is allowed to answer this indication with such a request On DPM firmwares the AP task contained within the firmware will respond to this indication that way Packet Structure Reference typedef struct EPLCN_PCK_STATE_IND_DATA_Ttag Te Re EE usErrorProfile TLR_UINT16 usErrorCode TLR_BOOLEAN32 fErrorLedIsOn EPLCNEPCK STATE IND DATA Ty typedef struct EPLCN_PCK_STATE_CHG_REQ TO_RESET_APPLICATION_IND_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_STATE_IND_DATA_T tData EPLCN_PCK_STATE_CHG REQ TO _RESET_APPLICATION_IND_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 165 297 structure EPLCN_PCK_STATE_CHG REQ TO RESET _APPLICATION_IND_T Type Indication Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Ident
306. served ulRout UINT32 x Routing information do not change Table 214 EPLCN_PCK_OD_DELETE Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public OBJECT_CNF Delete Object Confirmation Hilscher 2006 2013 The Application Interface 238 297 6 1 34 EPLCN_PCK_OD_CREATE_DATATYPE_REQ CNF Create a Data type This packet creates a data type in the object dictionary Packet Structure Reference typedef struct EPLCN_PCK_OD_CREATE_DATATYPE_REQ_DATA_Ttag TLR_UINT16 usDatatype TLR_UINT32 ulBitLength TR_BOOLEAN32 fVariableLength EPLCN_PCK_OD_CREATE_DATATYPE_REQ DATA _T typedef struct EPLCN_PCK_OD_CREATE_DATATYPE_REQ_Ttag TLR_PACKET_HEADER_T tHead Jee WCIN JAC O D ORISA IDYNIVAN IESE IRIO IDI It ie Dene ele EPLCN_PCK_OD_CREATE_DATATYPE_REQ T Packet Description structure EPLCN_PCK_OD_CREATE_DATATYPE_REQ T Type Request Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet
307. signal a change of state 3 1 Cyclic Data Input Output Data The input block holds the process data image received from the network whereas the output block holds data sent to the network For the controlled buffered mode the protocol stack updates the process data in the internal input buffer for each valid bus cycle Each IO block uses handshake bits for access synchronization Input and output data block handshake operates independently from each other When the application toggles the input handshake bit the protocol stack copies the data from the internal buffer into the input data image of the dual port memory Now the application can copy data from the dual port memory and then give control back to the protocol stack by toggling the appropriate input handshake bit When the application driver toggles the output handshake bit the protocol stack copies the data from the output data image of the dual port memory into the internal buffer From there the data is transferred to the network The protocol stack toggles the handshake bits back indicating to the application that the transfer is finished and a new data exchange cycle may start This mode guarantees data consistency over both input and output area Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 23 297 3 1 1 Input Process Data The input data block is used by fieldbus and indust
308. sneeeesnaeess 104 SDO SDO_ClientContainerParam_XXh_REQ NumberOfEntries cccscceceeseeeeseneeeeesneeesseseees 104 SDO SDO_ClientContainerParam_XXh_REQ ClientNodelD_U8 ceescccceeeeeeeeteeeeeseteeesesaeees 105 SDO SDO_ClientContainerParam_XXh_REQ ServerNodelD_US8 cccccseeceeeeesceeeessteeessneeees 105 SDO SDO_ClientContainerParam_XXh_REQ ContainerLen_UB8 ccceccccceeeseceeeeeeeeeesneeeeseeees 106 SDO SDO_ ClientContainerParam _XXh_REQ HistorySize U8 0 00 ceeeecececeeeeeeeeneeeeeesteeeessneees 106 SDO SDO_ ClientContainerParam _XXh_REQ SDO_SequLayerTimeout_U32 c scceeerees 107 Static Error Bit Field scene T Oh east T eee EE ee eases AA 108 Structure of an Entry in the Status Response Frame ceccceesceseeeeeeeeeeeseeeeeeeeeneeeeeeeeeeseeesesaeeeerereaees 109 ENtry TY EE tet chivas tees acestlsceandesat hag tdaeeuanageassagaecctadeagessvaaeistaccestaaceddveace eves apendestye 110 Error Entries within Status Response Frames Hardware Errors ccccssccceseeceeeeeeeeeeseeeeeesneeeeeaes 111 Error Entries within Status Response Frames Protocol Errors ccccssceceeseeeeeeeeeeeeseeeeessneeeseaes 111 Error Entries within Status Response Frames Frame Size Errors ccc ccccceececeeeeeeeeeeesneeeeeeneeeeeees 111 Error Entries within Status Response Frames Timing Errors ccsceessceeeeeeeeeeeeeereseneeeeeeteeeeeeetaas 111 Erro
309. ss Data Type Description 0x0050 UINTS Channel Type COMMUNICATION must have the fixed value define RCX_CHANNEL_TYPE_COMMUNICATION 0x05 0x0051 UINT8 ID Channel Number Port Number 0x0052 UINT8 Size Position Of Handshake Cells 0x0053 UINT8 Total Number Of Blocks Of This Channel 0x0054 UINT32 Size Of Channel In Bytes 0x0058 UINT8 8 Reserved set to zero These addresses correspond to communication channel 0 for communication channels 1 2 and 3 you have to add an offset of 0x0010 0x0020 or 0x0030 to the address values respectively Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Fundamentals 20 297 2 4 Client Server Mechanism 2 4 1 Application as Client The host application may send request packets to the netX firmware at any time transition 1 gt 2 Depending on the protocol stack running on the netX parallel packets are not permitted see protocol specific manual for details The netX firmware sends a confirmation packet in return signaling success or failure transition 3 gt 4 while processing the request The host application has to register with the netX firmware in order to receive indication packets transition 5 gt 6 Depending on the protocol stack this is done either implicitly if application opens a TCP UDP socket or explicitly Details on when and how
310. st Triggered Output Exchange disabled Bit 2 1 Configure default objects removes all application objects Bit 3 1 Delete all application objects Bit 4 1 PReq PDO Mapping version check disabled Bit 5 1 Use Application _Ready for present RD flag Bit 6 1 Configure bus synchronous mode Bit 7 1 Use PReq_RxX for present data Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 279 297 exchange ulThresholdDisab UINT32 Threshold Disable Flags eplad These bits allow disabling thresholds Bit 0 1 Set LossSoC Threshold to 0 Bit 1 1 Set LossPReg Threshold to 0 Bit 2 1 Set LossSoA Threshold to 0 Bit 3 1 Set SoCJitter Threshold to 0 Bit 4 1 Set Collision Threshold to 0 Bit 5 1 Set CrcError Threshold to 0 ulThresholdLoss_ UINT32 Default value for LossSoC Threshold 0x1C0B 3 SoC 0 means ignore this parameter ulThresholdLoss UINT32 Default value for LossPReq Threshold 0x1C0D 3 PReq 0 means ignore this parameter ulThresholdLoss_ UINT32 Default value for LossSoA Threshold 0x1C0C 3 SoA F 0 means ignore this parameter ulThresholdSoCui UINT32 Default value for SoCJitter Threshold 0x1COE 3 tter 0 means ignore this parameter ulThresholdCollisi UINT32 Default value for Collision Threshold 0x1C0A 3 on A 0 means igno
311. st be at least two entries The length entry on subindex Oh and at least one error entry at sub index 1H Index 0x1003 Name ERR_History ADOM Object code ARRAY Data type UNSIGNED32 Category Optional Table 29 Pre defined error field ERR_History_ADOM NumberOfEntries Sub Index 0 Name NumberOfEntries Description Number of entries Data type UNSIGNED8 Entry Category Mandatory Access Read Write PDO mapping Optional Value 0 254 Default value 0 Table 30 ERR_History_ ADOM NumberOfEntries Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 78 297 Standard entry ErrorEntry_DOM Sub Index 1 0xFE Name ErrorEntry_DOM Description Standard entry error field Data type UNSIGNED8 Entry Category Optional Access Read only PDO mapping No Value 0 23 1 UNSIGNED32 There is no default value Table 31 ERR_History_ADOM Standard error field Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 79 297 5 2 6 4 Communication Cycle Period This object defines the communication cycle period specified in units of microseconds Index 0x1006 Name NMT_Cycle_Len_U32 Object code VAR Data type UNSIGNED32 Category Conditional Ma
312. t ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 2 7 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1317 EPLCN_PCK_STATE_ENABLE_RDY_TO_OPERATE_RE S Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 190 EPLCN_PCK_STATE_ENABLE_RDY_TO_OPERATE_RES NMT command EnableRdyToOperate received Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 206 297 6 1 22 EPLCN PCK GO TO READY TO OPERATE REQ CNF Goto NMT State ReadyToOperate This packet requests the NMT state machine to enter the ReadyToOperate state If the AP task receives EPLCN_PCK_STATE_ENABLE_RDY_TO_OPERATE_IND it may have to respond with an EPLCN_PCK_GO_TO_READY_TO_OPERATE_REQ request Note Only one AP task is allowed to answer this indication with such a request On DPM firmwares the AP task contained within the firmware will respond to this indication that way Packet Structure Reference typedef struct EPLCN_PCK_GO_TO_READY_TO_OPERATE_REQ_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_GO_TO_READY_TO_OPERATE_REQ_T
313. t Structure Reference typedef struct EPLCN_PCK_OD_NOTIFY_UNR 249 297 EGISTER_CNF_Ttag TLR_PACKET_HEAD EPLCN_PCK_OD Packet Description ER T tHead NOTIFY_UNREGISTER_CNF_T structure EPLCN_PCK_OD_NOTIFY_UNREGISTER_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1389 EPLCN_PCK_OD_NOTIFY_UNREGISTER_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 226 EPLCN_PCK_OD_NOTIFY_UNREGISTER_CNF Object Notify Unregister Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 250 297 6 1 40 EPLCN_PCK_OD_NOTIFY_READ_ IND RES Notification when Object
314. t Structure Reference typedef struct TLR_PACKET_HE 176 297 AD ER T tHead EPLCN_PCK_GO Packet Description EPLCN_PCK_GO_TO_RESET_CONF IGURATION_CHG_NODE_ID_CNF_Ttag TO_RESET_CONFIGURATION_CHG NODE_ID_CNF_T structure EPLCN_PCK_GO_TO_RESET_CONFIGURATION_CHG NODE_ID_CNF_T Type Confirmation Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 O Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1363 EPLCN_PCK_GO_TO_RESET_CONF IGURATION_CHG_N ODE_ID_CNF Command ulExt UINT32 0 Extension reserved ulRout UINT32 x Routing information do not change Table 170 EPLCN_PCK_GO_TO_RESET_CONFIGURATION_CHG_NODE_ID_CNF Go To NMT State ResetConfiguration with Change of Node Id Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Publ
315. te 0x2680 Input block 1490 Read Table 18 Input and Output Data 4 5 Task Structure of the Ethernet POWERLINK Controlled Node Stack The illustration below displays the internal structure of the tasks which together represent the Ethernet POWERLINK Controlled Node Stack System Area Handshake Area Channel Area A 4 netX a eel ree ath Mbx FSU Mbx FSU Call rX System AP Task Write Read OD PCK Task ke OD Module NMT Task a Function Interface i Packet Interface HAL Other kind of without rcX functions gt a relation XG XC Powerlink Figure 9 Internal Structure of Ethernet Powerlink Controlled Node Protocol API Firmware Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Getting started Configuration 52 297 For the explanation of the different kinds of arrows see lower left corner of figure The dual port memory is used for exchange of information data and packets Configuration and IO data will be transferred using this way The user application only accesses the task located in the highest layer namely the AP task which constitutes the application interface of the Ethernet POWERLINK Controlled Node stack The PCK task is the main part of the protocol stack located on higher level and interacting with the AP task The NMT task represents the lower level part of the protocol stack The SDO task is used to p
316. te a Subobject see section 6 1 32 5 2 5 3 Data Type Maintenance Creating and Deleting Data Type For the definition of own objects also own data types may be defined based on the existing ones This is also down within the object directory The following functionality is available for this purpose Defining and undefining additional data types can be done by the packet EPLCN_PCK_OD_CREATE_DATATYPE_REQ CNF Create a Data type see section 6 1 34 A data type definition you made using this packets can afterwards be erased by using the packet EPLCN_PCK_OD_DELETE_DATATYPE_REQ CNF Delete a Data Type see section 6 1 35 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 70 297 5 2 5 4 Notification about Read and Write Access For the supervision of reading and writing accesses to the object dictionary there is a mechanism allowing to react to such events by registering and unregistering for notification and receiving indications in case the registered event occurs The following packets are provided for this purpose EPLCN_PCK_OD_NOTIFY_READ_IND RES Notification when Object is read see section 6 1 40 EPLCN_PCK_OD_NOTIFY_WRITE_IND RES Notification when Object is written see section 6 1 41 EPLCN_PCK_OD_NOTIFY_REGISTER_REQ CNF Register for Notification of Reading Writing of an Object see sec
317. tes a current attempt to read the specified object Note The response has to be sent back in order to complete the read access If it is not returned in time the entire request will be aborted Packet Structure Reference typedef struct TLR_UINI TERSUTNI 16 usIndex SESUL TAS TLR_UIN FINE EPLCN_PCK_OD_UNDE 32 ulExpectedDataSize D_READ_DATA_IND_DATA_Ttag EPLCN_PCK_OD_UNDEFINED READ DATA IND DATA T typedef struct EPLCN_PCK_OD_UNDE TLR_PACKET_HEADER_T PINE D_READ_DATA_IND_Ttag tHead EPLCN_PCK_OD_UNDEFINED_READ_DATA_IND_DATA_T tData EPLCN_PCK_OD_UNDEFINED_READ DATA_IND_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Description 264 297 structure EPLCN_PCK_OD_UNDEFINED_READ DATA _IND_T Type Indication ze Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Pack
318. thernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 60 297 o Falling back to state NUT_GS_RESET_CONFIGURATION after reception of an NMTResetConfiguration command on the network This state will also be the new current state if the Ethernet POWERLINK Controlled Node is either in NMT_CS OPERATIONAL state or in NMT_CS STOPPED state and an EnterPreoperational2 signal is received When the EPL CN firmware gets into this state an EPLCN_PCK_STATE_CHG_TO_PRE_OPERATIONAL_2_IND RES NMT State changed to Pre Operational 2 indication will be issued see section 6 1 16 of this document NMT_CS_READY_TO_OPERATE Bit mask 0110 1101 This state is used for signaling the general readiness for operation It is the only state from which the operational state can be reached directly The Ethernet Powerlink Controlled Node does not send any Ethernet frames autonomously as long as it stays in NMT_CS_PRE_OPERATIONAL 2 state unless it has been authorized explicitly by the Ethernet Powerlink Managing Node to behave in such a manner Such an explicite authorization is done by an SoA Asynclnvite command on the network as described in the Ethernet Powerlink specification Without the reception of an SoA Asynclinvite command from the networlk no transmission of Ethernet frames at all will happen while being in this state In the MT_CS_READY_TO OPERATE the RD
319. this document provides error recognition for collisions on the network this object can be used for monitoring collision like error situations detected by the Ethernet POWERLINK Controlled Node The object provides the following items a cumulative counter Sub index 1 a threshold counter data object Sub index 2 its threshold data object Sub index 3 Index 0x1C0A Name DLL_CNCollision REC Description Collision recognition counter and threshold object of Ethernet Powerlink Data Link Layer Object code RECORD Data type DLL_ErrorCntRec_TYPE Category Conditional Table 97 Object 0x1C0A DLL_CNCollision_REC NumberOfEntries This item contains the number of entries of the object Sub Index 0 Name NumberOfEntries Description Number of entries Access Read only PDO mapping No Value Range 0 3 Default value 3 Table 98 Object 0x1C0A DLL_CNCollision_REC NumberOfEntries Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 116 297 CumulativeCnt_U32 The cumulative counter should be incremented by 1 each time a collision event occurs Its value is the sum all of all monitored collision events that were detected by the Ethernet POWERLINK Controlled Node Sub Index 1 Name CumulativeCnt_U32 Description Cumulative Counter for collision events Data type
320. tification of Undefined Objects 0x13A1 6 1 43 EPLCN_PCK_OD_UNDEFINED_NOTIFY_UNREGISTER_REQ CNF 0x13A2 258 Unregister for Notification of Undefined Objects 0x13A3 6 1 44 EPLCN_PCK_OD_UNDEFINED_READ_PREPARE_IND RES Indication of 0x13A8 260 Stack to request Data Type Information 0x13A9 6 1 45 EPLCN_PCK_OD_UNDEFINED_READ_DATA_IND RES Undefined Object 0x13AA 263 Read Indication 0x13AB 6 1 46 EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_IND RES Undefined Object 0x13AC 266 Write Indication 0x13AD Table 148 Overview over the Packets of the EPLCN_PCK Task of the Powerlink Slave Protocol Stack Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 151 297 6 1 1 EPLCN PCK SET IO SIZES REQ CNE Set I O Sizes This packet configures the size of the input data as well as the size of the output data Packet Structure Reference typedef struct JIE NEICIN ICIS IO SLAMS IREHO _IDVANIVAN Ihe si TLR_UINT16 usProcessDataOutputSize TLR_UINT16 usProcessDataInputSize jb TIPIGIC ING IPCI SSE ILO IS ILVAIONS IREKO _IDYANILVAN 28 typedef struct TLR_PACKET_HEADER_T TE IL CAN IPCI SS NIE _ GOL ISIE AMS IROL IDA _ Tt EPLCN_PCK_SET_IO SIZES _ REQ T Packet Description EPR CNRE Chars Eile O MR SIE7 Sani
321. timeout Object code VAR Data type UNSIGNED32 Category Mandatory Access Read write PDO mapping No Value Range 0 2 1 Default value 5000000 Table 145 Object 0x1F99 NMT_CNBasicEthernetTimeout_U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 146 297 5 2 10 140bject 0x1F9E NMT_ResetCmd_U8 This object allows the generation of an internal reset of the Controlled Node The behavior is different on write and on read access On write access the following applies One of the following NMT commands can be initiated by writing the according value to this object NMTResetNode 0x28 NMTResetConfiguration 0x29 NMTResetCommunication 0x2A or NMTSwReset 0x2B These NMT commands are described in appendix 3 7 of the Ethernet Powerlink specification After the reset has been executed the contents of this object will automatically be reset to the value NMTInvalidService 0xFF On read access always the value NMTInvalidService will be delivered For more information about this object refer to section 7 2 1 6 1 of the Ethernet Powerlink specification Index 0x1F9E Name NMT_ResetCmd_U8 Description Reset object Object code VAR Data type UNSIGNED8 Category Mandatory Access Read write PDO mapping No Value Range NMTInvalidService NMTResetNode NMTResetConfiguration NMTResetCommunication NMTSwRes
322. ting system and uses the shared DPM Finally chapter 6 titled The Application Interface describes the entire interface to the protocol stack in detail Depending on you choose the stack oriented approach or the Dual Port Memory based approach you will need either the information given in this chapter or those of the next chapter to be able to work with the set of functions described in chapter 5 All of those functions use the four parameters ulDest ulSrc ulDestId and ulSrcId This chapter and the next one inform about how to work with these important parameters Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Fundamentals 13 297 2 2 Accessing the Protocol Stack by Programming the AP Task s Queue In general programming the AP task or the stack has to be performed according to the rules explained in the Hilscher Task Layer Reference Manual There you can also find more information about the variables discussed in the following 2 2 1 Getting the Receiver Task Handle of the Process Queue To get the handle of the process queue of the EPLCN_PCK Task or the EPLCN_DPM Task the Macro TLR_QUE_IDENTIFY needs to be used It is described in detail within section 10 1 9 3 of the Hilscher Task Layer Reference Model Manual This macro delivers a pointer to the handle of the intended queue to be accessed which is returned within the third parameter phQue
323. tion 6 1 38 EPLCN_PCK_OD_NOTIFY_UNREGISTER_REQ CNF Unregister from Notification of Object Read Writes see section 6 1 39 EPLCN_PCK_OD_UNDEFINED_NOTIFY_REGISTER_REQ CNF Register for Notification of Undefined Objects see section 6 1 42 DEF INED_NOTIFY_UNREGISTER_REQ CNF see section 6 1 43 EPLCN_PCK_OD_U N EPLCN_PCK_OD_UNDEFINED_READ_DATA_IND RES Undefined Object Read Indication see section 6 1 45 EPLCN_PCK_OD_UNDEF INED_WRITE_DATA_IND RES Undefined Object Write Indication see section 6 1 46 5 2 5 5 Examples The following examples illustrate how to practically work with the object dictionary Example 1 Checking for Current Voltage and Temperature Events using the Error Register The error register ERR_ErrorRegister_U8 see section 5 2 6 2 of this document contains information about events when the maximum allowed values for current voltage and temperature have been exceeded To check whether such events have happened just read out this register Send an EPLCN_PCK_OD_READ_OBJECT_REQ packet with the following parameter values to EPLCN_PCK task usIndex 0x1001 bSubIdx 0 This will cause reading of the error register from the object dictionary The task will then receive an EPLCN_PCK_OD_READ_OBJECT_CNF confirmation packet containing the parameters ulLen and abData the other p
324. tion is expected to send a response packet back to the netX firmware transition 3 gt 4 Application netX o 2 4 Figure 5 Transition Chart Application as Server The netX firmware passes an indication packet through the mailbox The host application sends response packet to the netX firmware IND Indication lt gt Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 22 297 3 Dual Port Memory All data in the dual port memory is structured in blocks According to their functions these blocks use different data transfer mechanisms For example data transfer through mailboxes uses a synchronized handshake mechanism between host system and netX firmware The same is true for IO data images when a buffered handshake mode is configured Other blocks like the status block are read by the host application and use no synchronization mechanism Types of blocks in the dual port memory are outlined below e Mailbox transfer non cyclic messages or packages with a header for routing information e Data Area holds the process image for cyclic IO data or user defined data structures e Control Block is used to signal application related state to the netX firmware e Status Block holds information regarding the current network state e Change of State collection of flags that initiate execution of certain commands or
325. tion queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 0 Packet Data Length in bytes ulld UINT32 0 2 7 1 Packet Identification unchanged ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1347 EPLCN_PCK_WRITE_ERROR_ENTRY_CNF Command ulExt UINT32 O Extension reserved ulRout UINT32 x Routing information do not change Table 200 EPLCN_PCK_WRITE_ERROR_ENTRY_CNF Write Error Entry Confirmation Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface 218 297 6 1 27 EPLCN PCK NEW ERROR ENTRY IND RES Indication of a new Error Entry written This packet indicates a newly written Error Entry in the error history Note For the exact definition of all fields see sections 5 2 9 5 and 5 2 9 6 of this document and the Ethernet Powerlink specification Packet Structure Reference typedef struct EPLCN_PCK_NEW_ERROR_ENTRY_IND_DATA_Ttag TLR_UINT16 usEntryType TLR_UINT16 usErrorCode TLR_UINT32 aulAddInformation 2 EPLCN_PCK_NEW_ERROR_ENTRY_IND_DATA_T
326. to countries where this is prohibited by the United States Export Administration Act and its additional provisions You are obligated to comply with the regulations at your personal responsibility We wish to inform you that you may require permission from state authorities to export re export or import the product Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Fundamentals 12 297 2 Fundamentals 2 1 General Access Mechanisms on netX Systems This chapter explains the possible ways to access a Protocol Stack running on a netX system 1 By accessing the Dual Port Memory Interface directly or via a driver 2 By accessing the Dual Port Memory Interface via a shared memory 3 By interfacing with the Stack Task of the Protocol Stack The picture below visualizes these three ways fo Extended Status Block Send Mailbox Reveive Mailbox Output Data Image Input Data Image ae ry AP Task 3 Fieldbus Task s Network Abstraction Layer Network Figure 1 The three different Ways to access a Protocol Stack running on a netX System This chapter explains how to program the stack alternative 3 correctly while the next chapter describes accessing the protocol stack via the dual port memory interface according to alternative 1 and 2 if the user application is executed on the netX chip in the context of the rcX opera
327. to register for certain events is described in the protocol specific manual Depending on the command code of the indication packet a response packet to the netX firmware may or may not be required transition 7 gt 8 Application netX o 4 7 Figure 4 Transition Chart Application as Client The host application sends request packets to the netX firmware O The netX firmware sends a confirmation packet in return The host application receives indication packets from the netX firmware The host application sends response packet to the netX firmware may not be required EO Request CNE Confirmation IND Indication lt gt Response Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Fundamentals 21 297 2 4 2 Application as Server The host application has to register with the netX firmware in order to receive indication packets Depending on the protocol stack this is done either implicit if application opens a TCP UDP socket or explicit if application wants to receive unsolicited DPV1 packets Details on when and how to register for certain events is described in the protocol specific manual When an appropriate event occurs and the host application is registered to receive such a notification the netX firmware passes an indication packet through the mailbox transition 1 gt 2 The host applica
328. ture Definition Common Status Block Structure Reference typedef struct NETX_COMMON_STATUS_BLOCK_Ttag UINT32 ulCommunicationCOS UINT32 ulCommunicationState UINT32 ulCommunicationError UINT16 usVersion UINT16 usWatchdogTime UINT16 ausReserved 2 UINT32 ulHostWatchdog UINT32 ULE reoelConaliaitc p UINT32 ulErrorLogIind UINT32 ulReserved 2 union NETX_MASTER_STATUS_T tMasterStatus for master implementation UINT32 aulReserved 6 otherwise reserved unStackDepended NETX_COMMON_STATUS_BLOCK_T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 32 297 Common Status Block Structure Reference typedef struct NETX_COMMON_STATUS_BLOCK_Ttag UINT32 ulCommunicationCOS UINT32 ulCommunicationState UINT32 ulCommunicationError UINT16 usVersion UINT16 usWatchdogTime UINT16 ausReserved 2 UINT32 ulHostWatchdog UINT32 ulerrcorCount UINT32 ulErrorLogInd UINT32 ulReserved 2 union NETX_MASTER_STATUS_T tMasterStatus for master implementation UINT32 aulReserved 6 otherwise reserved unStackDepended NETX_COMMON_STATUS_BLOCK_T Communication Change of State All Implementations The communication change of state register contains information about the current operating status of the communication channel and
329. typedef struct EPLCN_DPM_WARMSTART_R EPLCN_DPM_WARMSTART_REQ T Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 20 HO Ttag TLR_PACKET_HEADER_T tHead EPLCN_DPM_ WARMSTART_REQ DATA _T tData 13 10 Released Public 271 297 Hilscher 2006 2013 The Application Interface Packet Description 272 297 structure EPLCN_DPM_ WARMSTART_REQ T Type Request Area _ Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 Packet Data Length in bytes ulld UINT32 0 2 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x13C0 EPLCN_DPM_WARMSTART_REQ Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_DPM_WARMSTART_REQ_DATA_T ulSystemFlags UINT32 System flags ulWatchdogTi
330. uct EPLCN_PCK_STATE_CHG_TO_OPERATIONAL_IND_Ttag TLR_PACKET_HEADER_T tHead EPLCN_PCK_STATE_IND_DATA_T tData EPLCN_PCK_STATE_CHG TO OPERATIONAL_IND_T Packet Description structure EPLCN_PCK_STATE_CHG TO OPERATIONAL_IND_T Type Indication Area Variable Type Value Range Description tHead structure TLR_PACKET_HEADER_T ulDest UINT32 Destination Queue Handle ulSrc UINT32 Source Queue Handle ulDestld UINT32 Destination End Point Identifier specifying the final receiver of the packet within the Destination Process Set to 0 for the Initialization Packet ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 8 Packet Data Length in bytes ulld UINT32 0 27 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 See chapter Status Error Codes Overview ulCmd UINT32 0x1310 EPLCN_PCK_STATE_CHG_TO_OPERATIONAL_IND Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData Structure EPLCN_PCK_STATE_IND_DATA_T usErrorProfile UINT16 Valid profile EPL Error Profile n mger Only indicated if fErrorLedlsOn was changed to TRUE from last known Error Led state usErrorCode UINT16 Valid error code P
331. ue handler ulSrc has to be filled in Therefore its use is mandatory the use of u Srcid is optional The netX operating system passes the request packet to the protocol stack s AP task The protocol stack then builds a reply to the packet and returns it to the mailbox The application has to make sure that the packet finds its way back to the originator process 22 in the example 2 3 2 3 How to Route rcX Packets To route an rcX packet the source identifier u Srcid and the source queues handler u Src in the packet header hold the identification of the originating process The router saves the original handle from ulSrcild and ulSrc The router uses a handle of its own choices for u Srcid and ulSrc before it sends the packet to the receiving process That way the router can identify the corresponding reply packet and matches the handle from that packet with the one stored earlier Now the router replaces its handles with the original handles and returns the packet to the originating process Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Fundamentals 18 297 2 3 3 Obtaining useful Information about the Communication Channel A communication channel represents a part of the Dual Port Memory and usually consists of the following elements Output Data Image is used to transfer cyclic process data to the network normal or high priority Input Data Image
332. ulSrcld UINT32 Source End Point Identifier specifying the origin of the packet inside the Source Process ulLen UINT32 Packet Data Length in bytes ulld UINT32 0 2 1 Packet Identification as unique number generated by the Source Process of the Packet ulSta UINT32 ulCmd UINT32 0x13AC EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_IND Command ulExt UINT32 O Extension not in use set to zero for compatibility reasons ulRout UINT32 x Routing do not touch tData structure EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_IND_DATA_T usIndex UINT16 a 000 0xFFF Index of the object bSubldx UINT8 0 0xFF Subindex of the object abData ais Data of the object Table 239 EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_IND Undefined Object Write Indication Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 The Application Interface Packet Structure Reference 268 297 typedef struct EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_RES_Ttag i TLR_PACKET_HEADER_T tHead EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_RES_T Packet Description structure EPLCN_PCK_OD_UNDEFINED_WRITE_DATA_RES_T Type Response Area Variable Type Value Range Description tHead Description ulDest UINT32 Destination queue handle unchanged ulSrc UINT32 Source queue handle unchanged ulDestld UINT32 Dest
333. uld be established as a pair Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 102 297 5 2 8 1 SDO Server Container Parameter Index 0x1200 0x127F Name SDO_ServerContainerParam_XXh_REQ Description SDO Server Container Parameter Object code SDO_ParameterRecord_TYPE Data type RECORD Category Optional Table 74 SDO SDO_ServerContainerParam_XXh_REQ NumberOfEntries Sub Index 0 Name NumberOfEntries Description Number of entries Entry Category Mandatory Access Read only PDO mapping No Value Range 4 Default value 4 Table 75 SDO SDO_ServerContainerParam_XXh_REQ NumberOfEntries ClientNodelD_U8 This item represents the Ethernet Powerlink Node ID of SDO client Sub Index 1 Name ClientNodelD_U8 Description ClientNode ID Data type UNSIGNED8 Entry Category Mandatory Access Read write PDO mapping No Value 0 255 Default value none Table 76 SDO SDO_ServerContainerParam_XXh_REQ ClientNodelD_U8 ServerNodelD_U8 This item represents the Ethernet Powerlink Node ID of SDO server Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 103 297 Sub Index 2 Name ServerNodelD_U8 Description ServerNode ID Data type UNSIGNED8
334. ults produced when utilized by the user Liability for any damages that may result from the use of the hardware or software or related documents is limited to cases of intent or grossly negligent violation of significant contractual obligations Indemnity claims for the violation of significant contractual obligations are limited to damages that are foreseeable and typical for this type of contract It is strictly prohibited to use the software in the following areas Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Introduction 11 297 for military purposes or in weapon systems for the design construction maintenance or operation of nuclear facilities in air traffic control systems air traffic or air traffic communication systems in life support systems in systems in which failures in the software could lead to personal injury or injuries leading to death We inform you that the software was not developed for use in dangerous environments requiring fail proof control mechanisms Use of the software in such an environment occurs at your own risk No liability is assumed for damages or losses due to unauthorized use 1 9 4 Export The delivered product including the technical data is subject to export or import laws as well as the associated regulations of different counters in particular those of Germany and the USA The software may not be exported
335. umulativeCnt_U32 The cumulative counter should be incremented by 1 each time a CRC error event occurs Its value is the sum all of all monitored CRC error events that were detected by the Ethernet POWERLINK Controlled Node Sub Index 1 Name CumulativeCnt_U32 Description Cumulative Counter for CRC error events Data type UNSIGNED32 Entry Category Mandatory Access Read write PDO mapping No Value 0 2 1 Default value 0 Table 124 Object Ox1COF DLL_CNCRCError_REC Cumulative Counter ThresholdCnt_U32 The threshold counter variable ThresholdCnt_U32 should be incremented by 8 counts each time a CRC error event occurs and decremented by 1 at each cycle without occurrence of such an event This value might be used as a measure for the network quality Sub Index 2 Name ThresholdCnt_U32 Description Threshold counter for CRC error events Data type UNSIGNED32 Entry Category Optional Access Read only PDO mapping No Value 0 2 1 Default value 0 Table 125 Object Ox1COF DLL_CNCRCError_REC ThresholdCnt_U32 Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Overview 132 297 Threshold_U32 This item represents the threshold value When the threshold is reached a specific action might be executed and the CRC error recognition counter should be reset to 0 according to the Ethernet P
336. us of controlled nodes which do not work isochronously or are in state PRE_OPERATIONAL1 When receiving an SoA STATUS REQUEST the controlled node has to answer with an ASnd STATUS RESPONSE message sent to the Managing Node and eventually the other controlled nodes on the network see illustration below 5 2 9 2 Structure of the Status Response Frame The status response frame consists among others of the following parts EN bit A change in either the static error bit field or the status entries or the availability of new history entries in the status response frame are indicated to the Managing Node by setting this bit Exception new bit to the inverse value For isochronous Controlled Nodes this field should only be evaluated when being in state NUT_CS_PRE_OPERATIONAL_1 Also see section 6 5 4 of the Ethernet Powerlink Specification EC bit This bit Exception clear bit is used to indicate to the Managing Node that the initialization of the error signaling has been performed correctly It should reflect the last ER bit received from the Managing Node Also see section 6 5 4 of the Ethernet Powerlink Specification PR bit Priority bit indicating the priority of the requested frame RS bit RequestToSend bit indicating the number of pending requests addressed for the Ethernet POWERLINK Controlled Node NMT Status Current status of the Controlled Node s internal state machine Static Error Bit Field The static error bit field contain
337. usl eid EEEE septs AE EE E AE Bonne ea evita 72 Table 168 EPLCN_PCK_GO_TO_RESET_CONFIGURATION_CNF Go To NMT State Reset Configuration Confirmation c cccceeeees dacthincttadisssicaeisagesazass Fauci A E TAE E E 173 Table 169 EPLCN_PCK_GO_TO_RESET_CONFIGURATION_CHG_NODE_ID_REQ Go To NMT State ResetConfiguration with Change of Node Id REQueSt eecceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeaeeseaeeeseeseeeesieeeneeeeas 175 Table 170 EPLCN_PCK_GO_TO_RESET_CONFIGURATION_CHG_NODE_ID_CNF Go To NMT State ResetConfiguration with Change of Node Id Confirmation ccceeccececceeeeeeeeneeeeeeeseeeeeaeeseaeeseaeeseaeeseeerias 176 Table 171 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_CONFIGURATION_IND NMT State Changed To ResetConfiguration Indication whlch ania waives N a E shen bea opine es ita tiete ea aetuoeess 178 Table 172 EPLCN_PCK_STATE_CHG_REQ_TO_RESET_CONFIGURATION_CNF NMT State Changed to ResetConfiguration Response 0 E A A deep tesboars viene Reveteter epSdeams acreeseeetts 179 Table 173 EPLCN_PCK_GO_TO_NOT_ACTIVE_REQ Go To NMT State Not Active Request cceeeeeeee 180 Table 174 EPLCN_PCK_GO_TO_NOT_ACTIVE_CNF Go To NMT State Not Active Confirmation 0 00 181 Table 175 EPLCN_PCK_STATE_CHG_REQ_TO_NOT_ACTIVE_IND NMT State changed to Not Active Indication stages Sac E ates satin Sadat es caatas tiie E E N E eee aes i at ores ih ede ste ene eater 183 Table 176 EPLCN_PCK_STATE_CHG_RE
338. utCallback TLR_UINT32 ulIncompatibleMappingCounter TERSUINTS Z ulUnexpectedEndOfPdoCounter TLR_UINT32 ulStateChangesDueSoCLoss TERAGUINTS2 ulStateChangesDueSoCJitter TER UINT 3S ulStateChangesDuePReqLoss TLR_UINT32 ulStateChangesDueSoALoss THRO UING 32 ulStateChangesDueCollision TLE _UINTS2 ulStateChangesDueCrcError Tie eS Z ulStateChangesDueBusOff TIGR JOLIN S2 ulPResBufferExchangeFailures TLR_UINT32 ulWatchdogErrorsOccurred TEI U ILING S23 ulMarker TLR_UINT16 usActPResSize ERSUN bFirstPResDone EPLCN_DPM_EXTENDED_STATUS_DATA_T In detail the meaning of these parameters is bNodeld Within an Ethernet Powerlink network each connected device acting as a node of network i e Managing Node Controlled Nodes and router can be addressed by an 8 bit value the Node ID uniquely identifying the Ethernet POWERLINK Controlled Node within the Ethernet Powerlink network Allowed values range from 1 to 239 The value 240 is not allowed as it is reserved for the Managing Node This item contains the currently configured value of the Node ID For more information about the Node ID refer to section 4 5 of the Ethernet Powerlink specification bNmtStatus This is the status of the NMT state machine of the Ethernet POWERLINK Controlled Node The state machine and all possible status values are discussed in section 5 1 State Machine of this document Ethernet POWERLINK Controlled Node DOC07
339. utlined below is common to all protocol stacks Common Status Structure Definition Common Status Offset Type Name Description 0x0010 UINT32 ulCommunicationCOs Communication Change of State READY RUN RESET REQUIRED NEW CONFIG AVAILABLE CONFIG LOCKED 0x0014 UINT32 ulCommunicationState Communication State NOT CONFIGURED STOP IDLE OPERATE 0x0018 UINT32 ulCommunicationError Communication Error Unique Error Number According to Protocol Stack 0x001C UINT16 usVersion Version Version Number of this Diagnosis Structure 0x001E UINT16 usWatchdogTime Watchdog Timeout Configured Watchdog Time 0x0020 UINT16 usHandshakeMode Handshake Mode Process Data Transfer Mode see netX DPM Interfce Manual 0x0022 UINT16 usReserved Reserved Set to 0 0x0024 UINT32 ulHostWatchdog Host Watchdog Joint Supervision Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Dual Port Memory 31 297 Mechanism Protocol Stack Writes Host System Reads 0x0028 UINT32 ulErrorCount Error Count Total Number of Detected Error Since Power Up or Reset 0x002C UINT32 ulErrorLoglnd Error Log Indicator Total Number Of Entries In The Error Log Structure not supported yet 0x0030 UINT32 ulReserved 2 Reserved Set to 0 Table 12 Common Status Struc
340. x specified Ethernet POWERLINK Controlled Node DOC071104API12EN Revision 12 English 2013 10 Released Public Hilscher 2006 2013 Subobject is addressed relative to a base pointer Status Error Codes Overview 289 297 Hexadecimal Definition Value Description 0xC0170019 TLR_E_EPL_NMT_COULD_NOT_LOCK_MUTEX Could not lock internal mutex 0xC017001A TLR_E_EPL_NMT_INVALID_STATIC_BIT_FIELD_ NUMBER Invalid static bit field bit number 0xC017001B TLR_E_EPL_NMT_NO_MORE_APP_HANDLES No more application handles available 0xC017001C TLR_E_EPL_NMT_APP_NOT_REGISTERED Application is not registered 0xC017001D TLR_E_EPL_NMT_APP_ALREADY_REGISTERED Application is already registered 0xC017001E TLR_E_EPL_NMT_FAILED_TO_INITIALIZE_EPLCN_INTERFACE EplCn Interface could not be initialized 0xC017001F TLR_E_EPL_NMT_INVALID_ PARAMETERS Invalid Parameters 0xC0190001 TLR_E_EPL_PLD_COMMAND_INVALID Invalid command received 0xC0280001 TLR_E_OD2_OBJECT_IN_USE Object is currently in use 0xC0280002 TLR_E_OD2_INVALID_SUBINDEX Subindex does not exist 0xC0280003 TLR_E_OD2_INVALID_DATATYPE Invalid data type 0xC0280004 TLR_E_OD2_INVALID_BUFFER_PTR Invalid Buffer pointer 0xC0280005 TLR_E_OD2_INVALID_SECTOR Object does not exist 0xC0280006 TLR_E_OD2_INVALID_ SUBSECTOR Object does not exist 0xC0280007 TLR_E_OD2_INVALID_OBJECT Object does not exist

Ethernet POWERLINK Controlled Node

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