®

F O U N D A T I O N

EPSG and OPC Foundation:
OPC Unified Architecture
POWERLINK
Companion Specification
Release 1.0
Nov 13, 2017

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CONTENTS
Page

1

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

2

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

3

Terms, definitions, and conventions .................................................................................. 2
3.1
3.2
3.3
3.4

4

Use of terms ............................................................................................................ 2
OPC UA for POWERLINK Information Model terms ................................................. 3
Abbreviations and symbols ...................................................................................... 4
Conventions used in this document ......................................................................... 5
3.4.1 Conventions for Node descriptions .............................................................. 5
3.4.2 NodeIds and BrowseNames ......................................................................... 6
3.4.2.1 NodeIds ........................................................................................ 6
3.4.2.2 BrowseNames ............................................................................... 7
3.4.3 Common Attributes ...................................................................................... 7
3.4.3.1 General ......................................................................................... 7
3.4.3.2 Objects ......................................................................................... 7
3.4.3.3 Variables ....................................................................................... 8
3.4.3.4 VariableTypes ............................................................................... 8
General information to Ethernet POWERLINK and OPC UA .............................................. 9
4.1

5Introduction to Ethernet POWERLINK ...................................................................... 9
4.1.1 General ....................................................................................................... 9
4.1.2 POWERLINK key features ........................................................................... 9
4.1.3 POWERLINK Device Model ....................................................................... 10
4.1.4 The POWERLINK Object Dictionary ........................................................... 11
4.1.5 Index and Sub-Index Usage ....................................................................... 12
4.2 Introduction to OPC Unified Architecture ............................................................... 12
4.2.1 General ..................................................................................................... 12
4.2.2 Graphical Notation ..................................................................................... 13
4.3 Use Cases ............................................................................................................. 15
4.3.1 Access to a POWERLINK Object Dictionary from an OPC UA client ........... 15
4.3.2 Access to POWERLINK Objects through untrusted networks ..................... 17
POWERLINK Model Overview ........................................................................................ 18
5.1
5.2

6

Overview ............................................................................................................... 18
Modeling concepts................................................................................................. 20
5.2.1 POWERLINK Objects and their attributes .................................................. 20
5.2.2 PowerlinkArrayType ................................................................................... 21
5.2.3 PowerlinkRecordType ................................................................................ 22
5.2.4 PowerlinkVariableType .............................................................................. 22
OPC UA ObjectTypes for POWERLINK Communication Profile EPSG DS 30 1 ................ 23
6.1

6.2

PowerlinkDeviceType ............................................................................................ 23
6.1.1 General ..................................................................................................... 23
6.1.2 PowerlinkDeviceType Definition ................................................................. 23
6.1.3 Placeholder CNIdentifier ............................................................................ 23
6.1.4 Placeholder MNIdentifier ........................................................................... 24
6.1.5 Mapping for DeviceType (Types namespace) ............................................. 24
PowerlinkConnectionPointType ............................................................................. 24
6.2.1 General ..................................................................................................... 24
6.2.2 PowerlinkConnectionPointType Definition .................................................. 25

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6.2.3 Method ReadByIndex................................................................................. 27
6.2.4 Method WriteByIndex ................................................................................. 27
6.3 PowerlinkCnConnectionPointType ......................................................................... 28
6.3.1 General ..................................................................................................... 28
6.3.2 PowerlinkCnConnectionPointType Definition ............................................. 28
6.3.3 Placeholder DeviceProfileIdentifier ............................................................ 28
6.4 PowerlinkMnConnectionPointType ......................................................................... 29
6.4.1 General ..................................................................................................... 29
6.4.2 PowerlinkMnConnectionPointType Definition ............................................. 29
Mapping of DataTypes .................................................................................................... 31
7.1
7.2

8

Primitive datatypes ................................................................................................ 31
Enumeration DataTypes ........................................................................................ 31
7.2.1 PowerlinkNMTStateEnumeration ................................................................ 31
7.2.2 PowerlinkNMTResetCmdEnumeration........................................................ 32
7.3 OptionSet DataTypes ............................................................................................ 32
7.3.1 PowerlinkAttributes .................................................................................... 32
7.3.2 ErrorRegisterBits ....................................................................................... 32
7.4 OPC UA VariableTypes ......................................................................................... 33
7.4.1 DIA_ERRStatistics_Type Definition............................................................ 33
7.4.2 DIA_NMTTelegrCount_Type Definition ...................................................... 33
7.4.3 DLL_ErrorCntRec_Type Definition ............................................................. 34
7.4.4 IDENTITY_Type Definition ......................................................................... 34
7.4.5 INP_ProcessImage_Type Definition ........................................................... 34
7.4.6 NMT_BootTime_Type Definition ................................................................ 34
7.4.7 NMT_CycleTiming_Type Definition ............................................................ 35
7.4.8 NMT_EPLNodeID_Type Definition ............................................................. 35
7.4.9 NMT_InterfaceGroup_Type Definition ........................................................ 36
7.4.10 NMT_MNCycleTiming_Type Definition ....................................................... 36
7.4.11 NMT_ParameterStorage_Type Definition ................................................... 36
7.4.12 NMT_RequestCmd_Type Definition ........................................................... 37
7.4.13 NWL_IpAddrTable_Type Definition ............................................................ 37
7.4.14 PDO_CommParamRecord_Type Definition ................................................ 37
7.5 OPC UA Structure DataTypes ................................................................................ 38
7.5.1 PowerlinkErrorEntryDataType .................................................................... 38
7.5.2 PowerlinkIpAddressDataType .................................................................... 38
7.5.3 PowerlinkPDOMappingEntryDataType ....................................................... 38
Direct Addressing of the POWERLINK Object Dictionary ................................................ 38
8.1
8.2

9

General ................................................................................................................. 38
OPAQUE NodeIds ................................................................................................. 39
8.2.1 General ..................................................................................................... 39
8.2.2 NodeIds for single instances ...................................................................... 39
8.2.3 NodeIds for multiple instances ................................................................... 39
8.3 String NodeIds ...................................................................................................... 40
Profiles and Namespaces ............................................................................................... 41

9.1 Namespace Metadata ............................................................................................ 41
9.2 OPC UA Conformance Units and Profiles .............................................................. 41
9.3 Handling of OPC UA namespaces ......................................................................... 43
Annex A (normative): POWERLINK Namespace and Mappings ............................................. 44

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A.1 Namespace and identifiers for POWERLINK Information Model ............................. 44
A.2 Profile URIs for POWERLINK Information Model ................................................... 44
Annex B : POWERLINK Object Dictionary ............................................................................. 45
B.1
B.2

References POWERLINK Objects to OPC UA objects ............................................ 45
Objects not defined in OPC UA Information Model ................................................. 47

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FIGURES
Figure 1 – Slot Communication Network Management ( SCNM) ............................................... 9
Figure 2 – POWERLINK Device Model .................................................................................. 11
Figure 3 – OPC UA Graphical Notation for NodeClasses ....................................................... 13
Figure 4 – OPC UA Graphical Notation for References ......................................................... 14
Figure 5 – OPC UA Graphical Notation Example ................................................................... 14
Figure 6 – Logical links between OPC UA Client and POWERLINK Object Dictionary ........... 15
Figure 7 – Connection through bridge on POWERLINK Managing Node ................................ 15
Figure 8 – Connection through bridge on a POWERLINK Controlled Node ............................ 16
Figure 9 – Connection to aggregated Information Model ....................................................... 16
Figure 10 – SDO access through untrusted networks ............................................................ 17
Figure 11 – POWERLINK OPC UA Model overview ............................................................... 18
Figure 12 – PowerlinkDeviceType example for POWERLINK Controlled Node ...................... 19
Figure 13 – Model of a POWERLINK Device Profile .............................................................. 19
Figure 14 – Example for XDD format ..................................................................................... 20
Figure 15 – PowerlinkDeviceType overview .......................................................................... 23
Figure 16 – PowerlinkConnectionPointType .......................................................................... 25

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TABLES
Table 1 – Common terms with different meanings ................................................................... 3
Table 2 – Type Definition Table .............................................................................................. 5
Table 3 – Examples of DataTypes ........................................................................................... 6
Table 4 – Common Node Attributes ......................................................................................... 7
Table 5 – Common Object Attributes ....................................................................................... 7
Table 6 – Common Variable Attributes .................................................................................... 8
Table 7 – Common VariableType Attributes ............................................................................ 8
Table 8 – POWERLINK Object Dictionary structure ............................................................... 11
Table 9 – Example for the description of Objects in POWERLINK specifications ................... 20
Table 10 – Example for the description of SubObjects in POWERLINK specifications ........... 20
Table 11 – Mapping of attributes ........................................................................................... 21
Table 12 – PowerlinkArrayType Definition ............................................................................. 21
Table 13 – PowerlinkRecordType Definition .......................................................................... 22
Table 14 – PowerlinkVariableType Definition ........................................................................ 22
Table 15 – PowerlinkDeviceType Definition ........................................................................... 23
Table 16 – DeviceType Mapping ........................................................................................... 24
Table 17 – PowerlinkConnectionPointType Definition ............................................................ 25
Table 18 – PowerlinkCnConnectionPointType Definition ....................................................... 28
Table 19 – PowerlinkDeviceProfileType Definition ................................................................. 29
Table 20 – Device Profile Ranges ......................................................................................... 29
Table 21 – PowerlinkMnConnectionPointType Definition ....................................................... 30
Table 22 – Mapping of primitive datatypes ............................................................................ 31
Table 23 – PowerlinkNMTStateEnumeration Values .............................................................. 31
Table 24 – PowerlinkNMTStateEnumeration Definition .......................................................... 31
Table 25 – PowerlinkNMTResetCmdEnumeration Values ...................................................... 32
Table 26 – PowerlinkNMTResetCmdEnumeration Definition .................................................. 32
Table 27 – PowerlinkAttributes Values .................................................................................. 32
Table 28 – PowerlinkAttributes Definition .............................................................................. 32
Table 29 – ErrorRegisterBits Values ..................................................................................... 33
Table 30 – ErrorRegisterBits Definition ................................................................................. 33
Table 31 – DIA_ERRStatistics_Type Definition ..................................................................... 33
Table 32 – DIA_NMTTelegrCount_Type Definition ................................................................ 33
Table 33 – DLL_ErrorCntRec_Type Definition ....................................................................... 34
Table 34 – IDENTITY_Type Definition ................................................................................... 34
Table 35 – INP_ProcessImage_Type Definition ..................................................................... 34
Table 36 – NMT_BootTime_Type Definition .......................................................................... 35
Table 37 – NMT_CycleTiming_Type Definition ...................................................................... 35
Table 38 – NMT_EPLNodeID_Type Definition ....................................................................... 36
Table 39 – NMT_InterfaceGroup_Type Definition .................................................................. 36
Table 40 – NMT_MNCycleTiming_Type Definition ................................................................. 36
Table 41 – NMT_ParameterStorage_Type Definition ............................................................. 37
Table 42 – NMT_RequestCmd_Type Definition ..................................................................... 37

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Table 43 – NWL_IpAddrTable_Type Definition ...................................................................... 37
Table 44 – PDO_CommParamRecord_Type Definition .......................................................... 38
Table 45 – PowerlinkErrorEntryDataType Structure .............................................................. 38
Table 46 – PowerlinkIpAddressDataType Structure ............................................................... 38
Table 47 – PowerlinkPDOMappingEntryDataType Structure .................................................. 38
Table 48 – NodeIds for single instances ................................................................................ 39
Table 49 – NodeIds for multiple instances ............................................................................. 39
Table 50 – NamespaceMetadata Object for this Specification ............................................... 41
Table 51 – POWERLINK Direct Access Server Facet Definition ............................................ 41
Table 52 – POWERLINK Direct Access Client Facet Definition ............................................. 41
Table 53 – POWERLINK Communication Profile Server Facet Definition ............................... 42
Table 54 – POWERLINK Communication Profile Client Facet Definition ................................ 42
Table 55 – Namespaces used in a POWERLINK OPC UA Server .......................................... 43
Table 56 – Namespaces used in this specification ................................................................ 43
Table 57 – Profile URIs ......................................................................................................... 44
Table 58 – POWERLINK Object Dictionary Entries, sorted by index ...................................... 45

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EPSG / OPC FOUNDATION____________AGREEMENT OF USE

COPYRIGHT RESTRICTIONS
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This document is provided "as is" by the OPC Foundation and the Ethernet POWERLINK Standardization
Group (EPSG).
Right of use for this specification is restricted to this specification and does not grant rights of use forreferred documents.
Right of use for this specification will be granted without cost.
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The intellectual property and copyright is solely owned by the OPC Foundation and the EPSG.

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TRADEMARKS
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ScopeThis specification was created by a joint working group of the OPC Foundation and the Ethernet
POWERLINK Standardization Group (EPSG). It defines an OPC UA Information Model torepresent the models from Ethernet POWERLINK.
OPC Foundation
The OPC Foundation defines standards for online data exchange between automation systems.
They address access to current data (OPC DA), alarms and events (OPC A&E) and historical
data (OPC HDA). Those standards are successfully applied in industrial automation.
The new OPC Unified Architecture (OPC UA) unifies the existing s tandards and brings them tostate-of-the-art technology using service-oriented architecture (SOA). Platform -independent
technology allows the deployment of OPC UA beyond current OPC applications only running on
Windows-based PC systems. OPC UA can also run on embedded systems as well as Linux /UNIX based enterprise systems. The provided information can be generically modelled andtherefore arbitrary information models can be provided using OPC UA.
Ethernet POWERLINK Standardization GroupThe Ethernet POWERLINK Standardization Group (EPSG) 1 was founded in 2003 as anindependent association. Its goals are the standardisation, promotion and further developmentof POWERLINK technology, which was first presented to the public in 2001. POWERLINK is apatent-free, manufacturer-independent and completely software-based communication system
for hard real-time that has been available as a free open source solution since 2008 2. The
EPSG's POWERLINK office handles public relations, coordinates the implementation of shar ed
projects and provides information for existing and prospective members.
The EPSG is working closely with the CiA (CAN in Automation) 3 organisation to integrate
CANopen with POWERLINK. CANopen is one of the most widely used application protocols
today. Key benefits of this protocol include standardi sed device description files that makestatus information, parameter configurations, device characteristics and other relevant data
available in transparent form on the network. A major decision made by the EPSG was to define
the protocol's application layer as a carrier of all CANopen mechanisms. CiA, the international
association of CAN users and manufacturers, was significantly involved in this development.
Ethernet POWERLINK uses the same concepts as CANopen for object dictionaries, device
descriptions and communication mechanisms including process data objects (PDOs), service
data objects (SDOs) and network management (NMT). As with CANopen, direct cross-traffic isalso one of the essential features of POWERLINK. All CANopen applications and device profiles
can be directly implemented in POWERLINK environments as well – the applications will notsee a difference between the two protoc ols. For this reason, POWERLINK can also be referred
to as "CANopen over Ethernet".

2

Reference documents

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

EPSG DS 301

V1.3.0 : Ethernet POWERLINK – Communication Profile Specification

EPSG DS 302-A

V1.1.0 : Ethernet POWERLINK – High Availability

EPSG DS 302-B

V1.1.0 : Ethernet POWERLINK – Multiple ASnd

EPSG DS 302-C

V1.1.0 : Ethernet POWERLINK – PollResponse Chaining———————
1 http://www.ethernet-powerlink.org/
2 https://sourceforge.net/projects/openpowerlink/
3 https://www.can-cia.org/

OPC Unified Architecture for POWERLINK2EPSG DS 302-D

V1.0.0 : Ethernet POWERLINK – Multiple PReq/PResEPSG DS 302-E

V1.1.0 : Ethernet POWERLINK – Dynamic Node Allocation

EPSG DS 302-F

V1.1.0 : Ethernet POWERLINK – Modular Device

EPSG DS 311

V1.2.0 : Ethernet POWERLINK – XML Device Description

Release 1.0

IEEE 802.3 TM -2015: IEEE Standard for Ethernet

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

OPC UA Part 1: OPC Unified Architecture – Part 1: Overview

OPC UA Part 3: OPC Unified Architecture – Part 3: Address Space Model

OPC UA Part 4: OPC Unified Architecture – Part 4: Services

OPC UA Part 5: OPC Unified Architecture – Part 5: Information Model

OPC UA Part 6: OPC Unified Architecture – Part 6: Mappings

OPC UA Part 7: OPC Unified Architecture – Part 7: Profiles

OPC UA Part 100 : OPC Unified Architecture – OPC UA for Devices

3
3.1

Terms, definitions, and conventions
Use of terms

Defined terms of OPC UA specifications, types and their components defined in OPC UA
specifications and in this specification are highlighte d with italic in this document.
Certain Ethernet POWERLINK related terms and names are used together with POWERLINK,
especially in cases where the terms might lead to naming conflicts with existing OPCUA terms.
For instance the term Managing Node (a device role in POWERLINK) contains the word Nodethat has a different meaning in OPC UA.
Table 1 contains a list with the most prominent examples for common terms that have different
meanings in OPC UA and POWERLINK.

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Table 1 – Common terms with different meanings
Term
Node

OPC UAOPC UA Part 1:
The fundamental component of an AddressSpace.

NodeIdObjectMapping

POWERLINK
Commonly used for physical devices in a
POWERLINK network.
Terms:
POWERLINK Device
POWERLINK Controlled Node
POWERLINK Managing NodeOPC UA Part 3:
Each POWERLINK Device (MN, CN and Router) isaddressed by an 8 bit POWERLINK Node ID on theNodes are unambiguously identified using a
POWERLINK layer. This ID has only local
constructed identifier called the NodeId.
significance (i.e. it is unique within a POWERLINK
segment) and addresses a physical device whereas
the NodeId of OPC UA addresses elements of theinternal object dictionary.
OPC UA Part 3:
Data object:
Objects and their components are represented in the
Element of the POWERLINK Object Dictionary
AddressSpace as a set of Nodes described byProcess data object:
Attributes and interconnected by References.
Object for isochronous data exchange between
POWERLINK Devices.
Service data object:
Peer to peer communication with access to the
POWERLINK Object Dictionary of a device.
OPC UA Part 6:
Selection of the POWERLINK Objects that are sent orSpecifies how to implement an OPC UA feature with a received via PDOs.
specific technology.
Note: For example, the OPC UA Binary Encoding is a
Mapping that specifies how to serialise OPC UA data
structures as sequences of bytes.

3.2

OPC UA for POWERLINK Information Model terms

For the purposes of this document, the terms and definitions given in the referenced OPC UA
Specifications as well as the following apply.
3.2.1
Asynchronous POWERLINK Data
data in a POWERLINK network that is not time critical
Note 1 to entry: Within the POWERLINK cycle there is a specific period reserved for Asynchronous POWERLINK
Data which is shared by all POWERLINK Devices. Each POWERLINK Device connected to the network can send
asynchronous data by requesting it to the POWERLINK Managing Node. The POWERLINK Managing Node keeps alist of all asynchronous data requests and will subseq uently grant the network access to one POWERLINK Device
after the other.

3.2.2
Deterministic Communication
communication process with predictable timing behaviour (I.e. the time when a message
reaches the recipient is predictable)
3.2.3
Isochronous POWERLINK Data
data in a POWERLINK network which is to be transmitted every cycle (or every nth cycle incase of multiplexed isochronous data)
3.2.4
Legacy Ethernet
ethernet as standardised in IEEE 802.3 (non-deterministic operation in non-time-criticalenvironments)
3.2.5
NMT State
Network Management State of a POWERLINK Device

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3.2.6
POWERLINK Controlled Node
POWERLINK Device without the ability to manage the SCNM mechanism
3.2.7
POWERLINK Device Profile
standardised or vendor specific definition of an object model
3.2.8
POWERLINK Managing Node
POWERLINK Device capable to manage the SCNM mechanism in a POWERLINK network
3.2.9
POWERLINK Device
device in a POWERLINK network
3.2.10POWERLINK Object
data object, addressed by Index and Sub-Index
3.2.11POWERLINK Object Dictionary
repository of all POWERLINK Objects accessible over POWERLINK communications
3.2.12POWERLINK Record
record data type (as defined in the POWERLINK specification EPSG DS 301)
3.2.13POWERLINK XML Device Description
XML file for the description of the objects in a POWERLINK Object Dictionary (also called XDD)
Note 1 to entry: This description contains metadata about the POWERLINK Objects and about the POWERLINK
Device.

3.3

Abbreviations and symbols

A&E
ANSI
API
CN
CSMA/CD
DA
EPSG
HDA
HMI
IEC
IM
IP
ISO
LAN
MES
MN
NaN
NAT
NMT
OD
PDO
RTE
SCNM

Alarms & Events
American National Standards InstituteApplication Program Interface
POWERLINK Controlled Node
Carrier Sense Multiple Access/Collision Detection
Data Access
Ethernet POWERLINK Standardization Group
Historical Data Access
Human-Machine Interface
International Electrotechnical Commission
OPC UA Information Model
Internet Protocol - RFC 791
International Organization for Standardization
Local Area Network
Manufacturing Execution System
POWERLINK Managing Node
"Not a Number", a unique binary pattern representing an invalid num ber(ANSI/IEEE 754-1985)
Network Address Translation - RFC 2663
Network Management
POWERLINK Object Dictionary
POWERLINK Process Data Object
Real Time Ethernet
Slot Communication Network Management

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UA
UTC
XDD
XML
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Unified Architecture
Universal Time Coordinated
POWERLINK XML device description
Extensible Markup Language
Conventions used in this document

3.4.1

Conventions for Node descriptions

Node definitions are specified using tables (See Table 2)
Table 2 – Type Definition Table
Attribute
Attribute name

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

References
ReferenceType
name

NodeClassBrowseName
DataType
TypeDefinition
NodeClass of the BrowseName of the
Attributes of the referenced Node, only
TargetNode.
target Node. If theapplicable for Variables and Objects.
Reference is to beinstantiated by theserver, then the value ofthe target Node’s
BrowseName is “--“.

ModellingRule
Referenced
ModellingRule of
the referenced
Object.

Notes –
Notes referencing footnotes of the table content.

Attributes are defined by providing the Attribute name and a value, or a description of the value.
References are defined by providing the ReferenceType name, the BrowseName of theTargetNode and its NodeClass.


If the TargetNode is a component of the Node being defined in the table, the Attributesof the composed Node are defined in the same row of the table. That implies that thereferenced Node has a HasModelParent Reference with the Node defined in the Table
as TargetNode (see OPC UA Part 3 for the definition of ModelParents).

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

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Table 3 – Examples of DataTypes
Notation
Int32
Int32[]

DataType
Int32
Int32

ValueRank-1
1

ArrayDimensions
omitted or NULL
omitted or {0}Int32[][]

Int32

2

omitted or {0,0}Int32[3][]

Int32

2

{3,0}

Int32[5][3]

Int32

2

{5,3}

Int32{Any}

Int32

-2

omitted or NULL

Int32{ScalarOrOneDimension}

Int32

-3

omitted or NULL

Description
A scalar Int32
Single-dimensional array of Int32 with an unknown
size
Two-dimensional array of Int32 with unknown sizes
for both dimensions
Two-dimensional array of Int32 with a size of 3 forthe first dimension and an unknown size for thesecond dimension
Two-dimensional array of Int32 with a size of 5 forthe first dimension and a size of 3 for the second
dimension
An Int32 where it is unknown if it is scalar or arraywith any number of dimensions
An Int32 where it is either a single-dimensional
array or a scalar

The TypeDefinition is specified for Objects and Variables.

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



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

If the NodeId of a DataType is provided, the symbolic name of the Node representing the
DataType shall be used.
Nodes of all other NodeClasses cannot be defined in the same table; therefore only the used
ReferenceType, their NodeClass and their BrowseName are specified. A reference to anotherof this document points to their definition.
If no components are provided, the DataType, TypeDefinition and ModellingRule columns may
be omitted and only a Comment column is introduced to point to the Node definition.
Components of Nodes can be complex, i.e. containing components by themselves. The
TypeDefinition, NodeClass, DataType and ModellingRule can be derived from the typedefinitions, and the symbolic name can be created as defined in 3.4.2.1. Therefore thosecontaining components are not explicitly specified; they are implicitly specified by the typedefinitions.
3.4.2

NodeIds and BrowseNames

3.4.2.1 NodeIds
The NodeIds of all Nodes described in this document are only symbolic names. Annex A defines
the actual NodeIds.
The symbolic name of each Node defined in this document is its BrowseName, or, when it ispart of another Node, the BrowseName of the other Node, a “.”, and the BrowseName of itself.
In this case “part of” means that the whole has a HasProperty or HasComponent Reference toits part. Since all Nodes not being part of another Node have a unique name in this document,
the symbolic name is unique.
The namespace for this specification is defined in Annex A. The NamespaceIndex for all
NodeIds defined in this specification is server specific and depends on the position of thenamespace URI in the server namespace table.
Note: This specification does not only define concrete Nodes, but also requires that some Nodes
have to be generated, for example one for each device type available in the frame application.
The NodeIds of those Nodes are server-specific, including the Namespace. But theOPC Unified Architecture for POWERLINK

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NamespaceIndex of those Nodes cannot be the NamespaceIndex used for the Nodes definedby this specification, because they are not defined by this specification but generated by theServer.
3.4.2.2 BrowseNames
The text part of the BrowseNames for all Nodes defined in this specification is specified in thetables defining the Nodes. The NamespaceIndex for all BrowseNames defined in thisspecification is server specific and depends on the position of the namespace URI defined inthis specification in the server namespace table.
If the BrowseName is not defined by this specification, a NamespaceIndex prefix like
‘0:EngineeringUnits’ is added to the BrowseName. This is typically necessary if a Property of
another specification is overwritten or used in the OPC UA types defined in this specification.
Table 56 provides a list of namespaces used in this specification.
3.4.3

Common Attributes

3.4.3.1 General
For all Nodes specified in this specification, the Attributes named in Table 4 shall be set as
specified in the table.
Table 4 – Common Node Attributes
Attribute
DisplayName

Description
NodeClass
NodeIdWriteMask

UserWriteMask

Value
The DisplayName is a LocalizedText. Each server shall provide the DisplayName identical to theBrowseName of the Node for the LocaleId “en”. Whether the server provides translated names
for other LocaleIds is vendor specific.
Optionally a vendor specific description is provided
Shall reflect the NodeClass of the Node
The NodeId is described by BrowseNames as defined in 3.4.2.1 and defined in Annex A.
Optionally the WriteMask Attribute can be provided. If the WriteMask Attribute is provided, it
shall set all Attributes to not writeable that are not said to be vendor-specific. For example, theDescription Attribute may be set to writeable since a Server may provide a server-specificdescription for the Node. The NodeId shall not be writeable, because it is defined for each Nodein this specification.
Optionally the UserWriteMask Attribute can be provided. The same rules as for the WriteMask
Attribute apply.

3.4.3.2 Objects
For all Objects specified in this specification, the Attributes named in Table 5 shall be set as
specified in the table.
Table 5 – Common Object Attributes
Attribute
EventNotifier

Value
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3.4.3.3 Variables
For all Variables specified in this specification, the Attributes named in Table 6 shall be set as
specified in the table.
Table 6 – Common Variable Attributes
Attribute
MinimumSamplingInterval
AccessLevel

UserAccessLevel
Value
ArrayDimensions

Value
Optionally, a vendor-specific minimum sampling interval is provided
The access level for Variables used for type definitions is vendor-specific, for all other
Variables defined in this part, the access level shall allow a current read; other settings arevendor specific.
The value for the UserAccessLevel Attribute is vendor-specific. It is assumed that all Variables
can be accessed by at least one user.
For Variables used as InstanceDeclarations, the value is vendor-specific; otherwise it shallrepresent the value described in the text.
If the ValueRank does not identify an array of a specific dimension (i.e. ValueRank <= 0) the
ArrayDimensions can either be set to null or the Attribute is missing. This behaviour is vendorspecific.
If the ValueRank specifies an array of a specific dimension (i.e. ValueRank > 0) then the
ArrayDimensions Attribute shall be specified in the table defining the Variable.

3.4.3.4 VariableTypes
For all VariableTypes specified in this specification, the Attributes named in Table 7 shall be
set as specified in the table.
Table 7 – Common VariableType Attributes
Attributes
Value
ArrayDimensions

Value
Optionally a vendor-specific default value can be provided
If the ValueRank does not identify an array of a specific dimension (i.e. ValueRank <= 0) the
ArrayDimensions can either be set to null or the Attribute is missing. This behaviour is vendorspecific.
If the ValueRank specifies an array of a specific dimension (i.e. ValueRank > 0) then the
ArrayDimensions Attribute shall be specified in the table defining the VariableType.

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4 General information to Ethernet POWERLINK and OPC UA
4.1

Introduction to Ethernet POWERLINK

4.1.1

GeneralEthernet POWERLINK is a communication profile for Real-Time Ethernet (RTE). It extends
Ethernet according to the IEEE 802.3 standard with mechanisms to transfer data withpredictable timing and precise synchronisation. The communication profile meets timin g
demands typical for high-performance automation and motion applications. It does not change
basic principles of the Fast Ethernet Standard IEEE 802.3 but extends it towards RTE. Thus, it
is possible to leverage and continue to use any standard Ethernet s ilicon, infrastructurecomponent or test and measurement equipment like a network analy ser.
POWERLINK provides mechanisms to achieve the following:
1. Transmit time-critical data in precise isochronous cycles. Data exchange is based on a
publish/subscribe relationship. Isochronous data communication can be used for exchanging
position data of motion applications of the automation industry.
2. Synchronise networked POWERLINK Devices with high accuracy.
3. Transmit less time-critical data asynchronously on request. Asynchronous POWERLINK Data
communication can be used to transfer IP-based protocols like TCP or UDP and higher layer
protocols such as HTTP, FTP, etc.
POWERLINK manages the network traffic in a way that there are dedicated time-slots for Isochronousand Asynchronous POWERLINK Data. It takes care that always only one networked device gains
access to the network media. Thus, transmission of Isochronous POWERLINK Data and Asynchronous
POWERLINK Data will never interfere and precise communication timing is guaranteed. The mechanism
is called Slot Communication Network Management (SCNM). SCNM is managed by one particular
networked device – the POWERLINK Managing Node (MN) – which includes the MN functionality. Allother nodes are called POWERLINK Controlled Nodes (CN).

Figure 1 – Slot Communication Network Management (SCNM)
4.1.2

POWERLINK key features

POWERLINK provides the following key features:Ease-of-Use to be handled by typical automation engineers without in-depth Ethernet network
knowledge.

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



Deterministic communication guaranteed

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oDown to 100 μs cycle timesoUltra-low jitter (down to <1μs) for precise synchronisation of networked devices

Standard compliantoIEEE 802.3 Fast EthernetoIP based protocols supported (TCP, UDP, etc.)oIntegration with CANopen profiles EN 50325-4 for device interoperabilityoImplementation based on standard Ethernet chips - no special ASICs necessaryDirect peer-to-peer communication of all POWERLINK Devices (publish/subscribe)Hot plugging

Seamless IT-integration – routing of IP protocols

POWERLINK supports Client/Server and Producer/Consumer communication relationships.
The POWERLINK communication profile is based on CANopen commun ication profiles DS301
and DS302. Based on these communication profiles, the multitude of CANopen device profiles
can be used in a POWERLINK environment without changes.
A main focus of POWERLINK is ease of use. Ethernet technology can be quite complex andconfusing for machine and plant manufacturers , which are not necessarily networking experts.
The following features have thus been implemented:
Easy wiring, flexible topologies (line structures, tree structures or star structures). The
network is adapting to the needs of the machine.



Utilisation of well-known industrial infrastructure components

Simple address assignment by switch is possibleEasy replacement of devices in case of failureStraight-forward network diagnostics



Simple engineering separated from end user IT infrastructureEasy integration of RTE network with IT infrastructure

4.1.3

POWERLINK Device Model

A device is structured as follows (see Figure 2):Communication – This function unit provides the communication objects and theappropriate functionality to transport data items via the underlying network structure.



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

Application – The application comprises the functionality of the device with respect tothe interaction with the process environment.

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

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ObjectDictionary

State machine

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Application
Application
objectEntry 1Comm.
objectEntry 2Comm.
object:Comm.
objectApplication
objectApplication
objectEntry nComm.
objectApplication
objectBus system

Process

Figure 2 – POWERLINK Device Model
4.1.4

The POWERLINK Object Dictionary

The most important part of a POWERLINK profile is the POWERLINK Object Dictionary. The
POWERLINK Object Dictionary is essentially a grouping of POWERLINK Objects accessible via
the network in an ordered, pre-defined fashion. Each object within the dictionary is addressedusing a 16-bit index.
The overall layout of the standard POWERLINK Object Dictionary is shown by Table 8. Thislayout closely conforms to other industrial serial bus system concepts.
The POWERLINK Object Dictionary may contain a maximum of 65536 entries which are
addressed through a 16-bit index.
The Static Data Types at indices 0001h through 001Fh contain type definitions for standard
data types like BOOLEAN, INTEGER, floating point, string, etc. These entries are included forreference only; they cannot be read or written.
Table 8 – POWERLINK Object Dictionary structure
Index
0000h
0001h .. 001Fh
0020h .. 003Fh
0040h .. 005Fh
0060h .. 007Fh
0080h .. 009Fh
00A0h .. 03FFh
0400h – 041Fh
0420h – 04FFh
0500h .. 0FFFh
1000h .. 1FFFh
2000h .. 5FFFh
6000h .. 9FFFh
A000h .. BFFFh
C000h .. FFFFh

Objectnot used
Static Data Types
Complex Data Types
Manufacturer Specific Complex Data Types
Device Profile Specific Static Data Types
Device Profile Specific Complex Data Types
Reserved for further use
POWERLINK Specific Static Data Types
POWERLINK Specific Complex Data Types
Reserved for further use
Communication Profile Area
Manufacturer Specific Profile Area
Standardised Device Profile Area
Standardised Interface Profile Area
Reserved for further use

Complex Data Types at indices 0020h through 003Fh are pre -defined structures that arecomposed of standard data types and are common to all devices.
Manufacturer Specific Complex Data Types at indices 0040h through 005Fh are structures
composed of standard data types but are specific to a particular device.

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Device Profiles may define additional data types specific to their device type. The static datatypes defined by the device profile are listed at indices 0060h - 007Fh, the complex data types
at indices 0080h - 009Fh.
A device may optionally provide the structure of the supported complex data types (indices0020h - 005Fh and 0080h - 009Fh) at read access to the corresponding index. Sub -Index 0
provides the number of entries at this index, and the following sub -indices contain the data typeencoded as UNSIGNED16 according to 7.1 Primitive datatypes.
POWERLINK Specific Static Data Types shall be described at indices 0400h – 041Fh. These
entries are included for reference only; they cannot be read or written. POWERLINK SpecificComplex Data Types shall be described at indices 0420h – 04FFh
The Communication Profile Area at indices 1000h through 1FFFh contains the communication
specific parameters for the POWERLINK network. These entries are common to all devices andaddressed by this companion specification.
4.1.5

Index and Sub-Index Usage

A 16-bit index is used to address all entries within the POWERLINK Object Dictionary. In thecase of a simple variable, the index references the value of this variable directly. In the case ofrecords and arrays, however, the index addresses the whole data structure.
To allow individual elements of structures of dat a to be accessed via the network a Sub-Index
is defined. For single POWERLINK Object Dictionary entries such as an UNSIGNED8,BOOLEAN, INTEGER32 etc. the value for the Sub-Index is always zero. For complex
POWERLINK Object Dictionary entries such as arrays or records with multiple data fields theSub-Index references fields within a data-structure pointed to by the main index. The fields
accessed by the Sub-Index can be of differing data types.
4.2
4.2.1

Introduction to OPC Unified Architecture
GeneralThe main use case for OPC standards is the online data exchange between devices and HMI
or SCADA systems using Data Access functionality. In this use case the device data is provided
by an OPC server and is consumed by an OPC client integrated into the HMI or SCADA system.
OPC DA provides functionality to browse through a hierarchical namespaces containing data
items and to read, write and to monitor these items for data changes. The classic OPC standards
are based on Microsoft COM/DCOM technology for the communication between software
components from different vendors. Therefore classic OPC server and clients are restricted toWindows PC based automation systems.
OPC UA incorporates all features of classic OPC standards like OPC DA, A&E and HDA but
defines platform independent communication mechanisms and generic, extensible and object oriented modelling capabilities for the information a system wants to exp ose.
The OPC UA network communication part defines different mechanisms optimi sed for different
use cases. The first version of OPC UA is defining an optimi sed binary TCP protocol for highperformance intranet communication as well as a mapping to accept ed internet standards likeWeb Services. The abstract communication model does not depend on a specific protocol
mapping and allows adding new protocols in the future. Features like security, access control
and reliability are directly built into the trans port mechanisms. Based on the platform
independence of the protocols, OPC UA servers and clients can be directly integrated into
devices and controllers.
The OPC UA Information Model provides a standard way for Servers to expose Objects to
Clients. Objects in OPC UA terms are composed of other Objects, Variables and Methods. OPC
UA also allows relationships to other Objects to be expressed.
The set of Objects and related information that an OPC UA Server makes available to Clientsis referred to as its AddressSpace. The elements of the OPC UA Object Model are represented
in the AddressSpace as a set of Nodes described by Attributes and interconnected by
References. OPC UA defines eight classes of Nodes to represent AddressSpace components.

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The classes are Object, Variable, Method, ObjectType, DataType, ReferenceType and View.
Each NodeClass has a defined set of Attributes.
This specification makes use of three essential OPC UA NodeClasses: Objects, Methods andVariables.
Objects are used to represent components of a system. An Object is associated to acorresponding ObjectType that provides definitions for that Object.
Methods are used to represent commands or services of a system.
Variables are used to represent values. Two categories of Variables are defined, Properties and
DataVariables.
Properties are Server-defined characteristics of Objects, DataVariables and other Nodes.
Properties are not allowed to have Properties defined for them. An example for Properties of
Objects is the PowerlinkAttributes Property of the PowerlinkVariableType.
DataVariables represent the contents of an Object. DataVariables may have component
DataVariables. This is typically used by Servers to expose individual elements of arrays andstructures. This specification uses DataVariables to represent data like the
CumulativeCount_U32 of a DLL_ErrorCntRec_Type Object.
4.2.2

Graphical Notation

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

ObjectObjectType

Variable

VariableType

MethodDataType

ReferenceType

Figure 3 – OPC UA Graphical Notation for NodeClasses
Figure 4 shows the symbols for the ReferenceTypes used in this specification. The Reference
symbol is normally pointing from the source Node to the target Node. The only exception is the
HasSubtype Reference. The most important References like HasComponent, HasProperty,
HasTypeDefinition and HasSubtype have special symbols avoiding the name of the Reference.
For other ReferenceTypes or derived ReferenceTypes the name of the ReferenceType is used
together with the symbol.

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HasComponent

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HasInputVars

HasProperty
HasTypeDefinition
HasSubtype
Hierarchical
Reference
NonHierarchical
Reference

Figure 4 – OPC UA Graphical Notation for References
Figure 5 shows a typical example for the use of the graphical notation. Object_A and Object_B
are instances of the ObjectType_Y indicated by the HasTypeDefinition References. The
ObjectType_Y is derived from ObjectType_X indicated by the HasSubtype Reference. The
Object_A has the components Variable_1, Variable_2 and Method_1.
To describe the components of an Object on the ObjectType the same NodeClasses andReferences are used on the Object and on the ObjectType like for ObjectType_Y in the example.
The instance Nodes used to describe an ObjectType are instance declaration Nodes.
To provide more detailed information for a Node, a subset or all Attributes and their values canbe added to a graphical symbol.

ObjectType_X

Object_A
Object_B

ObjectType_Y

Variable_1
DataType = Int32
Value = -22
AccessLevel = Read

Variable_2

Method_1

Variable_1

Variable_1

Variable_2

Variable_2

Method_1

Method_1

Figure 5 – OPC UA Graphical Notation Example

Types

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Use Cases
Access to a POWERLINK Object Dictionary from an OPC UA client

An OPC UA Client can use standard OPC UA Services to browse and access POWERLINK
Objects defined in this document.
Possible use cases for this access are diagnostics, condition monitoring, configuration
management, visualisation etc.
Figure 6 shows logical links between an OPC UA Client and a POWERLINK Object Dictionary.

ClientFigure 6 – Logical links between OPC UA Client and POWERLINK Object Dictionary
Since OPC UA Clients are typically operating in standard Ethernet networks using CSMA/CD
and the POWERLINK network uses SCNM the physical connection will be established throughstandard TCP/IP routing mechanisms which may be implemented on the POWERLINKManaging Node (Figure 7) or on a POWERLINK Controlled Node (Figure 8).

LAN

ClientServerPOWERLINK
Object Dictionary

Figure 7 – Connection through bridge on POWERLINK Managing Node

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LANClientServerPOWERLINK
Object Dictionary

Figure 8 – Connection through bridge on a POWERLINK Controlled Node
Another option to access POWERLINK Objects is an OPC UA Server that represents a groupof POWERLINK Devices within one Information Model as shown in Figure 9.

ServerClientPOWERLINK
Object Dictionary

Figure 9 – Connection to aggregated Information Model

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Access to POWERLINK Objects through untrusted networks

The SDO protocol defined by POWERLINK is a Client/Server protocol to access POWERLINK
Objects in a POWERLINK Object Dictionary, but this protocol does not support security.
The definition of SDO services over OPC UA allows secure SDO connections between
POWERLINK Devices using the standard security mechanisms provided by OPC UA.

untrusted
network

ClientServerPOWERLINK
Object Dictionary

Figure 10 – SDO access through untrusted networks

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5 POWERLINK Model Overview
5.1

Overview

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

FolderType
OPC UA Part 5

OPC UA

BaseObjectType
OPC UA Part 5

OPC UA DI
FunctionalGroupType

TopologyElementType

NetworkType

DeviceType

ConnectionPointType

ProtcolType

OPC UA - POWERLINKPowerlinkDeviceProfileType

PowerlinkDeviceType

PowerlinkConnectionPointType

PowerlinkCnConnectionPointType

1..nPowerlinkProtocolType

PowerlinkMnConnectionPointType<Logic al Dev ic e N ame>

Figure 11 – POWERLINK OPC UA Model overview
POWERLINK Objects are represented by OPC UA Variables as part of thePowerlinkConnectionPointType and its subtypes. A PowerlinkConnectionPointType contains
common Variables while the subtypes contain only the Variables that are specific to the
POWERLINK Controlled Node and the POWERLINK Managing Node.
Instances of subtypes of PowerlinkConnectionPointType are used to represent the
POWERLINK Object Dictionary of a POWERLINK Device. The subtypes ofConnectionPointType are used to extend a Device (not limited to PowerlinkDeviceType) by one
or more POWERLINK Object Dictionaries.
The PowerlinkDeviceType is used to represent a typical POWERLINK Device and defines astandardised way to generate the mandatory Properties for a DeviceType (like SerialNumber,
RevisionCounter, etc.) from values of certain POWERLINK Objects. In case a Device
implements more than one POWERLINK interface (by implementing multiple ConnectionPoints),
the selection of the ConnectionPoint as source for the DeviceType Properties is implementation
specific.
Figure 12 shows an example for a Device (DeviceExample1) that implements an instance of a
POWERLINK Controlled Node and another Device (DeviceExample2) that implements two
instances of a POWERLINK Managing Node.

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Standardized model of an
DeviceType as defined in
OPC UA Part 100

PowerlinkDeviceType :DeviceExample1

Standardized model of an
DeviceType as defined in
OPC UA Part 100

PowerlinkDeviceType :DeviceExample2

Manufacturer

Manufacturer

Model

Model

...

...

FunctionalGroupType:

FunctionalGroupType:

Identification

Identification

POWERLINK Object Dicitonary of a POWERLINK
Controlled Node modelled as ConnectionPoint

POWERLINK Object Dicitonary of a POWERLINKManaging Node modelled as ConnectionPoint

PowerlinkCnConnectionPointType:PowerlinkMnConnectionPointType:

ControlledNode

ManagingNode1

FunctionalGroupType:

FunctionalGroupType:

...

...

POWERLINK Object Dicitonary of a POWERLINKManaging Node modelled as ConnectionPoint
PowerlinkMnConnectionPointType:ManagingNode2
FunctionalGroupType:...

Figure 12 – PowerlinkDeviceType example for POWERLINK Controlled Node
The focus of this document is the detailed specification of the POWERLINK Objects of thecommunication profile EPSG DS 301 and EPSG DS 302 , but it also defines the modelling rules
for the implementation of specific POWERLINK Device Profiles.
Figure 13 shows how to add device profile specific POWERLINK Objects to the existing
definition for the communication profile. The modelling rules are defined in 5.2.
PowerlinkCnConnectionPointType:

ControlledNode

BaseObjectType:

ParameterSet

0..n

POWERLINK Objects of thecommunication profiles EPSG DS 301 and
EPSG DS 302<ParameterIdentifier>FunctionalGroupType:...

PowerlinkDeviceProfileType:

DeviceProfile1

POWERLINK Objects of a device profile in
the range of Index 6000h to Index 67FFh

BaseObjectType:

ParameterSet

0..n<ParameterIdentifier>FunctionalGroupType:...

Figure 13 – Model of a POWERLINK Device Profile

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Modeling concepts
POWERLINK Objects and their attributes

One of the very significant differences between POWERLINK and OPC UA is that OPC UA
provides metadata to each object directly through the Server, whereas POWERLINK cantransport metadata only through XDD files or specification documents. Table 9 and Table 10show examples for object definitions in the POWERLINK Communication Profile EPSG DS 301.
Table 9 – Example for the description of Objects in POWERLINK specifications
Index
Name
Data Type
Value Range
Default Range

1006h
NMT_CycleLen_U32
UNSIGNED32
refer below-

Object Type

VAR

Category
AccessPDO MappingMrws, valid on reset
No

Table 10 – Example for the description of SubObjects in POWERLINK specifications
Sub-Index
Name
Data Type
Value Range
Default Range

09hPrescaler_U16
UNSIGNED16
0, 1-1000
2

Category
AccessPDO Mapping

MN: M, CN: O
rws, valid on reset
No

Figure 14 shows the same information in the XDD format defined in EPSG DS311.
<Object index="1006" name="NMT_CycleLen_U32"
objectType="7"
dataType="0007"
accessType="rw"
PDOmapping="no"defaultValue="0"/><SubObject subIndex="09" name="Prescaler_U16"
objectType="7"
dataType="0006"
accessType="rw"
defaultValue="2"/>

Figure 14 – Example for XDD format
Table 11 lists the attributes that are specified for POWERLINK Objects, and how they aremapped to OPC UA mechanisms.

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Table 11 – Mapping of attributes
POWERLINK
Attribute
Index
SubIndex
Name
Object Type

Description
Index and Sub-Index are provided by the Information Model as Properties of the Objects as defined in
5.2.2, 5.2.3 and 5.2.4.
The name of the POWERLINK Object shall be used as the BrowseName and the DisplayName of the
OPC UA NodeThe relevant object types of POWERLINK are VAR, ARRAY and RECORD.
The VariableTypes PowerlinkArrayType, PowerlinkRecordType and PowerlinkVariableType areused to represent such objects from the POWERLINK Object Dictionary and extend theBaseDataVariableType by POWERLINK specific information about the object.
POWERLINK Objects of the type ARRAY shall be modelled as PowerlinkArrayType (5.2.2)
POWERLINK Objects of the type RECORD shall be modelled as PowerlinkRecordType (5.2.3)
POWERLINK Objects of the type VAR shall be modelled as PowerlinkVariableType (5.2.4)
The mapping of primitive datatypes is defined in Table 22.
In certain cases the Information Model makes an exception and uses a Structure DataType to improve theusability.
Examples for such exceptions:- PowerlinkErrorEntryDataType (7.5.1), encoded as DOMAIN in POWERLINK- PowerlinkPDOMappingEntryDataType (7.5.3), encoded as UINT64 in POWERLINK

Data Type

Value Range
Category

AccessPDO Mapping
Default Value

5.2.2

Also for usability reasons some variables are modelled as Enumeration.
Examples for such cases:- NMT_CurrNMTState_U8 (PowerlinkNMTStateEnumeratioin)- NMT_ResetCmd_U8 (PowerlinkNMTResetCmdEnumeration)
The Value Range of the POWERLINK Object can be provided by the optional Property Range of thePowerlinkVariableType (5.2.4).
POWERLINK defines the 3 categories Mandatory (M), Optional (O) and Conditional (Cond).
OPC UA defines the ModellingRules Mandatory and Optional. Since OPC UA does provide an
ModellingRule which can be mapped to Conditional of POWERLINK, the mapping is the following:- Category M becomes the ModellingRule Mandatory- Category O becomes the ModellingRule Optional- Category Cond becomes the ModellingRule Optional and requires a textual description at theobjects definition about the condition that makes the object mandatory.
Access and PDO Mapping are provided by the Property PowerlinkAttributes defined for thePowerlinkVariableType (5.2.4).
The default value of the object is provided by the optional Property DefaultValue of thePowerlinkVariableType (5.2.4).

PowerlinkArrayType

The VariableType PowerlinkArrayType is formally defined in Table 12 and represents
POWERLINK Objects of the type ARRAY as defined in 5.2.
Table 12 – PowerlinkArrayType Definition
Attribute
BrowseName
IsAbstract
ValueRank
DataType
References

Value
PowerlinkArrayType
False
1 (1 = OneDimension)
BaseDataType
NodeClassBrowseName

DataType

Subtype of BaseDataVariableType defined in OPC UA Part 5.
HasProperty
VariablePowerlinkAttributes
PowerlinkAttributes
HasProperty
Variable
Index
UInt16
HasProperty
Variable
NumberOfEntries
Byte
HasProperty
Variable
Range
Range
HasProperty
Variable
DefaultValue
BaseDataType

TypeDefinition

Modelling
Rule

AccessLevel

PropertyType
PropertyType
PropertyType
PropertyType
PropertyType

Mandatory
Mandatory
Mandatory
Optional
Optional

Read
Read
Read / Write
Read
Read

The Property PowerlinkAttributes provides the information of the XML-Attribute ‘accessType’from the POWERLINK XML Device Description.
The Property Index provides the Index of the object in the POWERLINK Object Dictionary.

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The Property NumberOfEntries provides the value of Sub-Index 0 of the POWERLINK Object.
For most POWERLINK Objects this value is read-only. For a few, like ERR_History_ADOM or
PDO_RxMappParam_XXh_AU64, this Property is also writable.
The optional Property Range provides the Value Range of the array elements.
The optional Property DefaultValue provides the default value of the array elements. The
DataType of this Property shall be identical to the DataType of the DataVariable itself.
5.2.3

PowerlinkRecordType

The VariableType PowerlinkRecordType is formally defined in Table 13 and represents
POWERLINK Objects of the type RECORD as defined in 5.2.
Table 13 – PowerlinkRecordType Definition
Attribute
BrowseName
IsAbstract
ValueRank
DataType
Value
References

Value
PowerlinkRecordType
True-1 (-1 = Scalar)
Byte
0
NodeClassBrowseName

DataType

Subtype of BaseDataVariableType defined in OPC UA Part 5.
HasProperty
Variable
Index
UInt16
HasProperty
Variable
NumberOfEntries
Byte

TypeDefinition

Modelling
Rule

AccessLevel

PropertyType
PropertyType

Mandatory
Mandatory

Read
Read

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

5.2.4

PowerlinkVariableType

The VariableType PowerlinkVariableType if formally defined in Table 14 and represents
POWERLINK Objects of the type VAR as defined in 5.2.
Table 14 – PowerlinkVariableType Definition
Attribute
BrowseName
IsAbstract
ValueRank
DataType
References

Value
PowerlinkVariableType
False-1 (-1 = Scalar)
BaseDataType
NodeClassBrowseName

DataType

Subtype of BaseDataVariableType defined in OPC UA Part 5.
HasProperty
VariablePowerlinkAttributes
PowerlinkAttributes
HasProperty
Variable
Index
UInt16
HasProperty
Variable
SubIndex
Byte
HasProperty
Variable
Range
Range
HasProperty
Variable
DefaultValue
BaseDataType

TypeDefinition

Modelling
Rule

AccessLevel

PropertyType
PropertyType
PropertyType
PropertyType
PropertyType

Mandatory
Mandatory
Mandatory
Optional
Optional

Read
Read
Read
Read
Read

The Property PowerlinkAttributes provides the information of the XML-Attribute ‘accessType’from ‘Object’ and ‘SubObject’-Elements in the POWERLINK XML Device Description. The
DataType PowerlinkAttributes is formally defined in 7.3.1.
The Properties Index and SubIndex provide the address information of the object in the
POWERLINK Object Dictionary.
The optional Property Range provides the Value Range of the POWERLINK Object.
The optional Property DefaultValue provides the default value of the POWERLINK Object. The
DataType of this Property shall be identical to the DataType of the DataVariable itself.
Note 1 to entry:

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

6 OPC UA ObjectTypes for POWERLINK Communication Profile EPSG DS 301
6.1
6.1.1

PowerlinkDeviceType
GeneralThis OPC UA ObjectType represents a Device with one or more POWERLINK interfaces .
Figure 15 shows an overview for the PowerlinkDeviceType with its Properties and related
components. It is formally defined in Table 15.
DeviceType

PowerlinkDeviceType

Properties derived from DeviceType(see chapter DeviceType Mapping )Information Model for objects of an
POWERLINK Controlled Node, andits Device Profiles

Manufacturer
DeviceManual
ModelPowerlinkCn
ConnectionPointType:

0..n<CNIdentifier>...
Information Model for objects of an
POWERLINK Managing Node
FunctionalGroupType:
0..n

...
0..n

PowerlinkMn
ConnectionPointType:<MNIdentifier>Figure 15 – PowerlinkDeviceType overview
6.1.2

PowerlinkDeviceType Definition

The PowerlinkDeviceType is formally defined in Table 15.
Table 15 – PowerlinkDeviceType Definition
Attribute
Value
BrowseName PowerlinkDeviceType
IsAbstract
False
NodeClassBrowseName
DataType
Subtype of DeviceType defined in OPC UA Part 100.
ObjectObject<CNIdentifier><MNIdentifier>

TypeDefinition

Modelling Rule

PowerlinkCnConnectionPointType
PowerlinkMnConnectionPointType

OptionalPlaceholder
OptionalPlaceholder

The PowerlinkDeviceType is an example for a DeviceType that only implements POWERLINKManaging Node (MN) and/or POWERLINK Controlled Node (CN) interfaces, for instance for the
representation of POWERLINK Devices by a generic gateway. Usually a Device will only
implement one of these choices, but it is also possible to implement multiple POWERLINKinterfaces on one Device.
The usage of the PowerlinkCnConnectionPointType and the PowerlinkMnConnectionPointType
is not limited to the PowerlinkDeviceType. These ConnectionPoint-Types can be used by anyother subtype of DeviceType.
6.1.3

Placeholder CNIdentifier

The object CNIdentifier of the type PowerlinkCnConnectionPointType is a placeholder for the
POWERLINK
ObjectDictionary
ofa
POWERLINK
Controlled
Node.
The
PowerlinkCnConnectionPointType is defined in 6.3.

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Placeholder MNIdentifier

The object MNIdentifier of the type PowerlinkMnConnectionPointType is a placeholder for the
POWERLINK
ObjectDictionary
ofa
POWERLINKManaging
Node.
The
PowerlinkMnConnectionPointType is defined in 6.4.
6.1.5

Mapping for DeviceType (Types namespace)

The Type PowerlinkDeviceType is a subtype of DeviceType defined in OPC UA Part 100, which
mandates a list of Properties for the Device.
Table 16 defines the values for these Properties based on the POWERLINK Objects of theimplemented POWERLINK interface. If a PowerlinkDeviceType implements more than one
POWERLINK interface, the selection of the interface as source for these objects is device
specific.
Table 16 – DeviceType Mapping
DeviceType / OPC UA Part 100
BrowseName
DataType
1:SerialNumber
String

1:RevisionCounter
1:Manufacturer

1:Model

1:DeviceManual
1:DeviceRevision

POWERLINK
Description
Value of the POWERLINK Object SerialNo_U32 (Index 1018h, Sub-Index 4),
converted to a string as decimal number.
If the optional POWERLINK Object is not provided by the device, SerialNumber shallbe set to an empty string.
Int32
Always set to -1
LocalizedText This variable shall be set to the manufacturer name if known by the OPC UA server. If
the server does not know the name the variable shall be set to the value of the
POWERLINK Object VendorId_U32 (Index 1018h, Sub-Index 1), converted to a string
as decimal number.
LocalizedText Value of the POWERLINK Object NMT_ManufactDevName_VS (Index 1008h)
If the optional POWERLINK Object is not provided by the device, Model shall be set toan empty text field.
StringPathname in the file system or URL (Web Address) specifying the address of the user
manual for the Device.
StringValue of the POWERLINK Object RevisionNo_U32 (Index 1018h, Sub-Index 3),
converted to a string with the format “major.minor”, where “major” is the decimal
number of the higher 16 bit and “minor” is the decimal number of the lower 16 bit (asdefined in EPSG DS 301)
Example:POWERLINK RevisionNo_U32 = 0x00020064
DeviceRevision = “2.100”

1:SoftwareRevision

String1:HardwareRevision

String

1:DeviceClass

String6.2
6.2.1

If the optional POWERLINK Object t is not provided by the device, SoftwareRevision
shall be set to an empty string.
Value of the POWERLINK Object NMT_ManufactSwVers_VS (Index 100Ah).
If the optional POWERLINK Object is not provided by the device, SoftwareRevision
shall be set to an empty string.
Value of the POWERLINK Object NMT_ManufactHwVers_VS (Index 1009h)
If the optional POWERLINK Object is not provided by the device, SoftwareRevision
shall be set to an empty string.
Value of the POWERLINK Object NMT_DeviceType_U32 (Index 1000h), converted toa string as decimal number.

PowerlinkConnectionPointType
GeneralThe PowerlinkConnectionPointType is an abstract Object Type that defines the POWERLINK
Objects, which are common for both POWERLINK Managing Node and POWERLINK Controlled
Node.
Figure 16 shows a part of the PowerlinkConnectionPointType. The Object ParameterSet
contains the POWERLINK Objects, modelled as defined in 5.2. In addition to these Variables,
this specification defines a list of Methods (components of the Object MethodSet).
As defined by the concepts of OPC UA Part 100 the Parameters (Variables) of the ParameterSet
and Methods of the MethodSet are organised in FunctionalGroups where they are referenced
by Organize-References. This concept allows splitting the Parameters into different categories,
and at the same time, all Parameters are accessible under ParameterSet.

OPC Unified Architecture for POWERLINK

TopologyElementType

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PowerlinkConnectionPointType

FunctionalGroupType:

NetworkAddress<ParameterIdentifier>

BaseObjectType:

ParameterSet
FunctionalGroupType:CFM_ExpConfDateList_AU32

Identification

DIA_ERRStatistics_REC

NMT_DeviceType_U32

ERR_ErrorRegister_U8
INP_ProcessImage_REC

FunctionalGroupType:

Diagnostics

NMT_DeviceType_U32...

DIA_ERRStatistics_REC
FunctionalGroupType:

Configuration
BaseObjectType:

MethodSet

CFM_ExpConfDateList_AU32

ReadByIndex

FunctionalGroupType:

WriteByIndex

Control...

INP_ProcessImage_REC
FunctionalGroupType:

Status<ParameterIdentifier>Figure 16 – PowerlinkConnectionPointType
6.2.2

PowerlinkConnectionPointType Definition

The PowerlinkConnectionPointType is formally defined in Table 17.
Table 17 – PowerlinkConnectionPointType Definition
Attribute
Value
BrowseName
PowerlinkConnectionPointType
IsAbstract
True
NodeClass BrowseName

DataType

TypeDefinition

Modelling
RulePowerlink
Attributes

Subtype of ConnectionPointType defined in OPC UA Part 100.
HasSubtype PowerlinkCnConnectionPointType defined in 6.3
HasSubtype PowerlinkMnConnectionPointType defined in 6.4
FunctionalGroup NetworkAddress
Variable
NMT_EPLNodeID_REC
Variable
NWL_IpAddrTable_0h_REC-

NMT_EPLNodeID_Type
NWL_IpAddrTable_Type

Mandatory
Optional-

Functional Group Identification
Variable
NMT_ChildIdentList_AU16
Variable
NMT_DeviceType_U32
Variable
NMT_EPLVersion_U8
Variable
NMT_FeatureFlags_U32
Variable
NMT_HostName_VSTR
Variable
NMT_IdentityObject_REC
Variable
NMT_ManufactDevName_VS
Variable
NMT_ManufactHwVers_VS
Variable
NMT_ManufactSwVers_VS

UInt16 [ ]UInt32
Byte
UInt32StringStringStringStringPowerlinkArrayType
PowerlinkVariableType
PowerlinkVariableType
PowerlinkVariableType
PowerlinkVariableType
IDENTITY_Type
PowerlinkVariableType
PowerlinkVariableType
PowerlinkVariableType

Optional
Mandatory
Mandatory
Mandatory
Optional
Mandatory
Optional
Optional
Optional

R
CONST
CONST
CONST
RW,S
CONST
CONST
CONST

Functional Group Diagnostics
Variable
DIA_ERRStatistics_REC-

DIA_ERRStatistics_Type Optional-

OPC Unified Architecture for POWERLINK

26

Variable

DIA_NMTTelegrCount_REC-

Variable
Variable

ERR_ErrorRegister_U8
ERR_History_ADOM

Variable
Variable

PDO_ErrMapVers_OSTR
PDO_ErrShort_RX_OSTR

ErrorRegisterBits
PowerlinkError
EntryDataType [ ]ByteString
ByteString

Functional Group Configuration
Variable
NMT_ConsumerHeartbeatTime_AU32
Variable
NMT_CycleLen_U32
Variable
NMT_CycleTiming_REC
Variable
NMT_IsochrSlotAssign_AU8
Variable
NMT_MultiplCycleAssign_AU8
Variable
NMT_NodeAssignment_AU32
Variable
NMT_PResPayloadLimitList_AU16
Variable
NMT_RestoreDefParam_REC
Variable
NMT_StoreParam_REC
Variable
PDL_MnExpAppSwDateList_AU32
Variable
PDL_MnExpAppSwTimeList_AU32
Variable
PDO_RxCommParam_00h_REC
Variable
PDO_RxCommParam_01h_REC
Variable
PDO_RxCommParam_02h_REC
Variable
PDO_RxCommParam_03h_REC
Variable
PDO_RxMappParam_00h_AU64
Variable
PDO_RxMappParam_01h_AU64
Variable
PDO_RxMappParam_02h_AU64
Variable
PDO_RxMappParam_03h_AU64
Variable
PDO_TxCommParam_00h_REC
Variable

PDO_TxMappParam_00h_AU64

Variable
Variable
Variable

SDO_CmdLayerTimeout_U32
SDO_SequLayerNoAck_U32
SDO_SequLayerTimeout_U32

Functional Group Status
Variable
NMT_CurrNMTState_U8
Variable

NMT_InterfaceGroup_0h_REC

Variable

NMT_RelativeLatencyDiff_AU32

Functional Group Control
Variable
INP_ProcessImage_REC
Variable
NMT_ResetCmd_U8

FunctionalGroup SdoServices
MethodReadByIndex
MethodWriteByIndex

Release 1.0
DIA_NMTTelegrCount_TypePowerlinkVariableType
PowerlinkArrayType

Optional-

Mandatory
Optional

R
R

PowerlinkVariableType
PowerlinkVariableType

Optional
Optional

RW
RW

UInt32 [ ]UInt32Byte [ ]Byte [ ]UInt32 [ ]UInt16 [ ]-PowerlinkArrayType
PowerlinkVariableType
NMT_CycleTiming_Type
PowerlinkArrayType
PowerlinkArrayType
PowerlinkArrayType
PowerlinkArrayType
NMT_ParameterStorage_Type

Optional
Mandatory
Mandatory
Optional
Optional
Optional
Optional
Optional

RW,S
RW,S,VR
RW,S,VR
RW,S,VR
RW,S
RW,S,VR-

UInt32 [ ]UInt32 [ ]-PowerlinkArrayType
PowerlinkArrayType
PDO_CommParam
Record_Type

Optional
Optional
Optional

RW,S
RW,S
-

PowerlinkPDO
MappingEntry
DataType [ ]PowerlinkArrayType

Optional

RW,S-

PDO_CommParam
Record_Type
PowerlinkArrayType

Optional-

Optional

RW,SPowerlinkVariableType
PowerlinkVariableType
PowerlinkVariableType

Optional
RW,S,VR
Optional
RW,S,VR
Mandatory RW,S,VR

PowerlinkPDO
MappingEntry
DataType [ ]UInt32
UInt32
UInt32

PowerlinkNMTState PowerlinkVariableType
Enumeration
NMT_InterfaceGroup_Ty
pe
UInt32 [ ]PowerlinkArrayType

Powerlink
NMTResetCmd
Enumeration

Mandatory R
Mandatory Optional

R

INP_ProcessImage_Type Optional
PowerlinkVariableType
Mandatory RWDefined in 6.2.3 Method ReadByIndex
Defined in 6.2.4 Method WriteByIndex

Mandatory
Mandatory

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Method ReadByIndex

The Method ReadByIndex reads the value of a POWERLINK Object addressed by Index and
Sub-Index.
Signature
ReadByIndex ([in] UInt16[in] Byte[out] BaseDataType[out] UInt32);
Argument
Index
SubIndex
Data
PowerlinkAbortCode

Index
SubIndex
Data
PowerlinkAbortCode

Description
Index of the POWERLINK Object in the POWERLINK Object Dictionary
Sub-Index of the POWERLINK Object in the POWERLINK Object Dictionary
Value of the POWERLINK Object
SDO Abort Code as defined in EPSG DS 301
Some of the SDO Abort Codes defined in POWERLINK are mapped to an OPC UA
ResultCode, see table for ‘Method Result Codes’

Method Result Codes
ResultCodeGood
Bad_ResourceInvalid

SDO Abort Code0-

Bad_NotFound

0x0602 0000
0x0609 0011
0x0504 0000
0x0601 0001
All other SDO Abort Codes

Bad_Timeout
Bad_NotReadable
Bad_CommunicationError

6.2.4

Description
The read access was successful
The POWERLINK Device is not available, the output
argument PowerlinkAbortCode will be set to 0x0504 0000
(timeout)
Object does not exist in the POWERLINK Object Dictionary
Sub-Index does not exist
The operation timed out / SDO protocol timed out
Attempt to read a write-only POWERLINK Object

Method WriteByIndex

The Method WriteByIndex can be used to access the POWERLINK Object Dictionary by Index
and Sub-Index to write values of POWERLINK Objects.
Signature
WriteByIndex ([in] UInt16[in] Byte[in] BaseDataType[out] UInt32);
Argument
Index
SubIndex
Data
PowerlinkAbortCode

Index
SubIndex
Data
PowerlinkAbortCode

Description
Index of the POWERLINK Object in the POWERLINK Object Dictionary
Sub-Index of the POWERLINK Object in the POWERLINK Object Dictionary
Data to be written to the POWERLINK Object
SDO Abort Code as defined in EPSG DS 301
Some of the SDO Abort Codes defined in POWERLINK are mapped to an OPC UA
ResultCode, see table for ‘Method Result Codes’

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Method Result Codes
ResultCodeGood
Bad_ResourceInvalid

SDO Abort Code0-

Bad_NotFound

0x0602 0000
0x0609 0011
0x0504 0000
0x0601 0000
0x0601 0002
0x0609 0030
0x0609 0031
0x0609 0032
0x0607 0010
0x0607 0012
0x0607 0013
All other SDO Abort Codes

Bad_Timeout
Bad_NotSupported
Bad_NotWritable
Bad_OutOfRange

Bad_TypeMismatch

Bad_CommunicationError

6.3
6.3.1

Description
The write access was successful
The POWERLINK Device is not available, the output
argument PowerlinkAbortCode will be set to 0x0504 0000
(timeout)
Object does not exist in the POWERLINK Object Dictionary
Sub-Index does not exist
The operation timed out / SDO protocol timed out
Unsupported access to an POWERLINK Object
Attempt to write a read-only POWERLINK Object
Value range of parameter exceeded
Value of parameter written too high
Value of parameter written too low
length of service parameter does not match
length of service parameter too highlength of service parameter too low

PowerlinkCnConnectionPointType
GeneralThe PowerlinkCnConnectionPointType is a subtype of PowerlinkConnectionPointType and adds
the POWERLINK Objects that are specific to the POWERLINK Controlled Node. It also provides
the possibility to implement POWERLINK Device Profiles and customer specific POWERLINK
Objects by adding components of the Type PowerlinkDeviceProfileType.
6.3.2

PowerlinkCnConnectionPointType Definition

The PowerlinkCnConnectionPointType is formally defined in Table 18.
Table 18 – PowerlinkCnConnectionPointType Definition
Attribute
BrowseName
IsAbstract
NodeClass

Value
PowerlinkCnConnectionPointType
False
BrowseName

DataType TypeDefinition

Modelling
RulePowerlink
Attributes

Subtype of PowerlinkConnectionPointType defined in 6.2.2.
Object-PowerlinkDeviceProfileType

OptionalPlaceholder

FunctionalGroup Diagnostics
Variable
DLL_CNCollision_REC
Variable
DLL_CNCRCError_REC
Variable
DLL_CNLossOfLinkCum_U32
Variable
DLL_CNLossOfSocTolerance_U32
Variable
DLL_CNLossPReq_REC
Variable
DLL_CNLossSoA_REC
Variable
DLL_CNLossSoC_REC
Variable
DLL_CNSoCJitter_REC

UInt32
UInt32-

DLL_ErrorCntRec_Type
DLL_ErrorCntRec_Type
PowerlinkVariableType
PowerlinkVariableType
DLL_ErrorCntRec_Type
DLL_ErrorCntRec_Type
DLL_ErrorCntRec_Type
DLL_ErrorCntRec_Type

Optional
Mandatory
Optional
Mandatory
Optional
Optional
Mandatory
Optional

RW
RW,S
-

FunctionalGroup Configuration
Variable
DLL_CNSoCJitterRange_U32
Variable
NMT_CNBasicEthernetTimeout_U32

UInt32
UInt32

PowerlinkVariableType
PowerlinkVariableType

Optional
Mandatory

RW
RW,S,VR

6.3.3<DeviceProfileIdentifier>Placeholder DeviceProfileIdentifier

The object DeviceProfileIdentifier of the type PowerlinkDeviceProfileType is a placeholder forthe device- or vendor-specific part of the POWERLINK Object Dictionary.
The PowerlinkDeviceProfileType is formally defined in Table 19.

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Table 19 – PowerlinkDeviceProfileType Definition
Attribute
BrowseName
IsAbstract
References

Value
PowerlinkDeviceProfileType
False
NodeClassBrowseName
DataType

TypeDefinition

Modelling
Rule

AccessLevel

PropertyType
PropertyType

Mandatory
Mandatory

Read
Read

Subtype of TopologyElementType defined in Part 100
HasProperty
HasProperty

Variable
Variable

IndexRangeStart
IndexRangeSize

UInt16
UInt16

The Properties IndexRangeStart and IndexRangeSize indicate the range of POWERLINK
Objects represented by the instance. The POWERLINK Objects shall be components of the
Object ParameterSet, which is defined in the TopologyElementType by OPC UA Part 100.
Table 20 shows the ranges that are available for objects defined by POWERLINK Device
Profiles and manufacturer specific POWERLINK Objects.
Table 20 – Device Profile Ranges
Index Range
2000h – 5FFFh
6000h – 67FFh
6800h – 6FFFh
7000h – 77FFh
7800h – 7FFFh
8000h – 87FFh
8800h – 8FFFh
9000h – 97FFh
9800h – 9FFFh

6.4
6.4.1

Description
Manufacturer Specific Profile Area
Standardised Device Profile Area, device 0
Standardised Device Profile Area, device 1
Standardised Device Profile Area, device 2Standardised Device Profile Area, device 3
Standardised Device Profile Area, device 4Standardised Device Profile Area, device 5
Standardised Device Profile Area, device 6
Standardised Device Profile Area, device 7

PowerlinkMnConnectionPointType
GeneralThe PowerlinkMnConnectionPointType is a subtype of PowerlinkConnectionPointType andadds the POWERLINK Objects that are specific to the POWERLINK Managing Node.
6.4.2

PowerlinkMnConnectionPointType Definition

The PowerlinkMnConnectionPointType is formally defined in Table 21.

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Table 21 – PowerlinkMnConnectionPointType Definition
Attribute
BrowseName
IsAbstract
NodeClass

Value
PowerlinkMnConnectionPointType
False
BrowseName

DataType

TypeDefinition

Modelling
RulePowerlink
Attributes

PowerlinkArrayType
PowerlinkArrayType
PowerlinkArrayType
PowerlinkArrayType
PowerlinkArrayType
PowerlinkArrayType
DLL_ErrorCntRec_Type
DLL_ErrorCntRec_Type
DLL_ErrorCntRec_Type
PowerlinkVariableType
PowerlinkArrayType
PowerlinkArrayType
PowerlinkArrayType

Optional
Optional
Optional
Optional
Mandatory
Mandatory
Optional
Mandatory
Optional
Optional
Optional
Mandatory
Mandatory

RW
R
RW,S
RW
R
RW,S
RW
RW
R
RW,S

PowerlinkArrayType

Mandatory

R

PowerlinkArrayType

OptionalR

NMT_RequestCmd_Type

Mandatory-

PowerlinkArrayType
PowerlinkArrayType
PowerlinkArrayType
PowerlinkVariableType
NMT_BootTime_Type
PowerlinkArrayType
NMT_MNCycleTiming_Type
PowerlinkArrayType
PowerlinkArrayType
PowerlinkArrayType
PowerlinkArrayType
PowerlinkArrayType
PowerlinkArrayType
PowerlinkVariableType
PDO_CommParam
Record_Type

Optional
Optional
Optional
Mandatory
Mandatory
Mandatory
Mandatory
Mandatory
Mandatory
Optional
Optional
Optional
Optional
Mandatory
Optional

RW,S
RW,S
RW,S
RW
RW,S,VR
RW,S,VR
RW,S,VR
RW,S,VR
RW,S,VR
RW,S,VR
RW,S,VR
RW,S,VR-

PowerlinkArrayType

Optional

RW,S

Subtype of PowerlinkConnectionPointType defined in 6.2.2.
FunctionalGroup Diagnostics
Variable
DLL_MNCNLatePResCumCnt_AU32
UInt32 [ ]Variable
DLL_MNCNLatePResThrCnt_AU32
UInt32 [ ]Variable
DLL_MNCNLatePResThreshold_AU32 UInt32 [ ]Variable
DLL_MNCNLossPResCumCnt_AU32
UInt32 [ ]Variable
DLL_MNCNLossPResThrCnt_AU32
UInt32 [ ]Variable
DLL_MNCNLossPResThreshold_AU32 UInt32 [ ]Variable
DLL_MNCollision_REC
Variable
DLL_MNCRCError_REC
Variable
DLL_MNCycTimeExceed_REC
Variable
DLL_MNLossOfLinkCum_U32
UInt32 [ ]Variable
DLL_MNLossStatusResCumCnt_AU32 UInt32 [ ]Variable
DLL_MNLossStatusResThrCnt_AU32
UInt32 [ ]Variable
DLL_MNLossStatusResThreshold_AU3 UInt32 [ ]2Variable
NMT_MNNodeCurrState_AU8
Powerlink
NMTState
Enumeration [ ]Variable
NMT_MNNodeExpState_AU8
Powerlink
NMTState
Enumeration [ ]Variable
NMT_RequestCmd_REC
FunctionalGroup Configuration
Variable
CFM_ExpConfDateList_AU32
UInt32 [ ]Variable
CFM_ExpConfIdList_AU32
UInt32 [ ]Variable
CFM_ExpConfTimeList_AU32
UInt32 [ ]Variable
DLL_MNCycleSuspendNumber_U32
UInt32
Variable
NMT_BootTime_REC
Variable
NMT_MNCNPResTimeout_AU32
UInt32 [ ]Variable
NMT_MNCycleTiming_REC
Variable
NMT_MNDeviceTypeIdList_AU32
UInt32 [ ]Variable
NMT_MNPReqPayloadLimitList_AU16 UInt16 [ ]Variable
NMT_MNProductCodeList_AU32
UInt32 [ ]Variable
NMT_MNRevisionNoList_AU32
UInt32 [ ]Variable
NMT_MNSerialNoList_AU32
UInt32 [ ]Variable
NMT_MNVendorIdList_AU32
UInt32 [ ]Variable
NMT_StartUp_U32
UInt32
Variable
PDO_TxCommParam_01h_REC Variable
PDO_TxCommParam_02h_REC
Variable
PDO_TxCommParam_03h_REC
Variable
PDO_TxMappParam_01h_AU64 PowerlinkPDO
Variable
PDO_TxMappParam_02h_AU64 MappingEntry
Variable
PDO_TxMappParam_03h_AU64 DataType [ ]OPC Unified Architecture for POWERLINK

7

Mapping of DataTypes

7.1

Primitive datatypes

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Table 22 shows the mapping between basic data types of both standards.
Table 22 – Mapping of primitive datatypes
POWERLINK
Basic Data Types
BOOLEANINTEGER8
INTEGER16
INTEGER32
INTEGER64
UNSIGNED8UNSIGNED16
UNSIGNED32
UNSIGNED64
REAL32
REAL64
DOMAIN
IP_ADDRESSOCTET_STRINGVISIBLE_STRING

7.2
7.2.1

OPC UA

Description

Boolean
SByte
Int16
Int32
Int64
Byte
UInt16
UInt32
UInt64
Float
Double
ByteString
PowerlinkIpAddressDataType
ByteString
String

1 Bit
Signed integer, 8 Bit
Signed integer, 16 Bit
Signed integer, 32 Bit
Signed integer, 64 Bit
Unsigned integer, 8 Bit
Unsigned integer, 16 Bit
Unsigned integer, 32 Bit
Unsigned integer, 64 Bit
Float, 32 Bit
Float, 64 Bit
ByteString with variable size
IPV4 Address
ByteString with variable size
Variable number bytes interpreted as ISO 646-1973(E) 7-bit codedcharacters

Enumeration DataTypes
PowerlinkNMTStateEnumeration

This DataType is an enumeration that represents the NMT State. Its values are defined in Table
23. States with the prefix “NMT_XS” represent a state that is existing for the POWERLINK
Controlled Node as well as for the POWERLINK Managing Node. For instance, the states
NMT_MS_OPERATIONAL and NMT_CS_OPERATIONAL are both represented by theenumeration value NMT_XS_OPERATIONAL_253.
Table 23 – PowerlinkNMTStateEnumeration Values
Value
NMT_GS_OFF_0
NMT_GS_INITIALISING_25
NMT_GS_RESET_APPLICATION_41
NMT_GS_RESET_COMMUNICATION_57
NMT_GS_RESET_CONFIGURATION_121
NMT_XS_NOT_ACTIVE_28
NMT_XS_PRE_OPERATIONAL_1_29
NMT_XS_PRE_OPERATIONAL_2_93
NMT_XS_READY_TO_OPERATE_109
NMT_XS_OPERATIONAL_253
NMT_CS_STOPPED_77
NMT_XS_BASIC_ETHERNET_30

Description
first state after power-on of the POWERLINK Device
set manufacturer-specific and standardised device profile area to their power-on
valuesset communication profile area (except ERR_History_ADOM) to their power-on
valuesgenerate the active device configurationa non-permanent state which allows a starting device to recognise the current
network state
the POWERLINK network operates in reduced cycle
the POWERLINK network operates in isochronous operation, but the device isstill in a configuration state
the device configuration is completed and the device is ready to switch over to
NMT_XS_OPERATIONAL
normal operating state of a POWERLINK Device
the device is largely passive, NMT_CS_STOPPED shall be used for controlled
shutdown of a selected CN while the system is still running
Legacy Ethernet communication according to IEEE 802.3, no POWERLINK
specific network traffic control

Its representation in the AddressSpace is defined in Table 24.
Table 24 – PowerlinkNMTStateEnumeration Definition
Attributes
Value
BrowseName
PowerlinkNMTStateEnumeration
Subtype of Enumeration defined in OPC UA Part 5.

OPC Unified Architecture for POWERLINK
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PowerlinkNMTResetCmdEnumeration

This DataType is an Enumeration that represents the NMT reset commands for POWERLINK.
Its values are defined in Table 23.
Table 25 – PowerlinkNMTResetCmdEnumeration Values
Value
NMTResetNode_40
NMTResetCommunication_41
NMTResetConfiguration_42
NMTSwReset_43
NMTInvalidService_255

Description
start application initialisation
start communication initialisation
activate device configuration
start basic node initialisation
readback value for the POWERLINK Object NMT_ResetCmd_U8

Its representation in the AddressSpace is defined in Table 24.
Table 26 – PowerlinkNMTResetCmdEnumeration Definition
Attributes
Value
BrowseName
PowerlinkNMTResetCmdEnumeration
Subtype of Enumeration defined in OPC UA Part 5.

7.3
7.3.1

OptionSet DataTypes
PowerlinkAttributes

This DataType is an OptionSet that represents the POWERLINK entry attributes. It is a subtypeof OptionSet. Its values are defined in Table 27 and the DataType is used for the Property
PowerlinkAttributes
inthe
VariableTypes
PowerlinkArrayType(5.2.2)andPowerlinkVariableType (5.2.4).
Table 27 – PowerlinkAttributes Values
Value
Const
Read
Write
Input
OutputStore
ValidOnResetDefaultMapping
RPDO
TPDO

Bit
0
1
2
3
4
5
6
7
8
9

Abbreviation
CONST
R
W
I
O
S
VR
DEF
RPDO
TPDO

Description
Read access only, the value is not changing
Read access
Write access
Represents process input data, object can be used in PDO mapping
Represents process output data, object can be used in PDO mapping
Can be stored to non-volatile memory
Only valid after reset
Variable is included in default mapping
Variable may be mapped into receive PDO
Variable may be mapped into transmit PDO

The expressions in the column ‘Abbreviation’ are used in the OPC UA object definitions.
The Field CurrentRead of the Variables Attribute AccessLevel shall be contain the same value
as the Field Read in the Variables Attribute PowerlinkAttributes.
The Field CurrentWrite of the Variables Attribute AccessLevel shall be contain the same value
as the Field Write in the Variables Attribute PowerlinkAttributes.
Table 28 – PowerlinkAttributes Definition
Attributes
Value
BrowseName
PowerlinkAttributes
Subtype of OptionSet defined in OPC UA Part 3.

7.3.2

ErrorRegisterBits

This DataType is an OptionSet that represents the values of the
ERR_ErrorRegister_U8. It is a subtype of Byte. Its values are defined in Table 29.

VariableOPC Unified Architecture for POWERLINK

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Table 29 – ErrorRegisterBits Values
Value
Generic_error

Bit0

Current
Voltage
Temperature
Communication_error
Device_profile_specificReserved
Manufacturer_specific

1
2
3
4
5
6
7

Description
This bit shall be set if any error is present.
Additionally to this bit, the following bits may be used to signal more detailed error
information.

always 0

Table 30 – ErrorRegisterBits Definition
Attributes
Value
BrowseName
ErrorRegisterBits
Subtype of OptionSet defined in OPC UA Part 3.

7.4
7.4.1

OPC UA VariableTypes
DIA_ERRStatistics_Type Definition

Table 31 formally defines
DIA_ERRStatistics_TYPE.

the

VariableTypeto represent the

POWERLINK

RecordTable 31 – DIA_ERRStatistics_Type Definition
Attribute
BrowseName
IsAbstract
References

Value
DIA_ERRStatistics_Type
False
NodeClassBrowseName

Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent Variable
HistoryEntryWrite_U32
HasComponent Variable
EmergencyQueueWrite_U32
HasComponent Variable
EmergencyQueueOverflow_U32
HasComponent Variable
StatusEntryChanged_U32
HasComponent Variable
StaticErrorBitFieldChanged_U32
HasComponent Variable
ExceptionResetEdgePos_U32
HasComponent Variable
ExceptionNewEdge_U32

7.4.2

Data
Type

Type
Definition

Modelling
RulePowerlink
Attributes

UInt32

Powerlink
Variable
Type

OptionalR

DIA_NMTTelegrCount_Type Definition

Table 32 formally defines the
DIA_NMTTelegrCount_TYPE.

VariableTypeto represent

the

POWERLINK

RecordTable 32 – DIA_NMTTelegrCount_Type Definition
Attribute
BrowseName
IsAbstract
References

Value
DIA_NMTTelegrCount_Type
False
NodeClassBrowseName

Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent Variable
IsochrCyc_U32
HasComponent Variable
IsochrRx_U32
HasComponent Variable
IsochrTx_U32
HasComponent Variable
AsyncRx_U32
HasComponent Variable
AsyncTx_U32
HasComponent Variable
SdoRx_U32
HasComponent Variable
SdoTx_U32
HasComponent Variable
Status_U32

Data
Type

Type
Definition

Modelling
RulePowerlink
Attributes

UInt32

Powerlink
Variable
Type

Optional

R

OPC Unified Architecture for POWERLINK
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DLL_ErrorCntRec_Type Definition

Table 33 formally defines
DLL_ErrorCntRec_TYPE.

the

VariableTypeto represent the

POWERLINK

RecordTable 33 – DLL_ErrorCntRec_Type Definition
Attribute
BrowseName
IsAbstract
References

Value
DLL_ErrorCntRec_Type
False
NodeClassBrowseName

Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent Variable
CumulativeCnt_U32
HasComponent Variable
Threshold_U32
HasComponent Variable
ThresholdCnt_U32

7.4.4

Data
Type

Type
Definition

Modelling
RulePowerlink
Attributes

UInt32
UInt32
UInt32

Powerlink
VariableType

Mandatory
Mandatory
Mandatory

RW
RW,S,VRR

IDENTITY_Type Definition

Table 34 formally defines the VariableType to represent the POWERLINK Record IDENTITY.
Table 34 – IDENTITY_Type Definition
Attribute
BrowseName
IsAbstract
References

Value
IDENTITY_Type
False
NodeClassBrowseName

Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent Variable
VendorId_U32
HasComponent Variable
ProductCode_U32
HasComponent Variable
RevisionNo_U32
HasComponent Variable
SerialNo_U32

7.4.5

Data
Type

Type
Definition

Modelling
RulePowerlink
Attributes

UInt32
UInt32
UInt32
UInt32

Powerlink
VariableType

Mandatory
Optional
Optional
Optional

CONST
CONST
CONST
CONST

INP_ProcessImage_Type Definition

Table 35 formally defines
INP_ProcessImage_TYPE.

the

VariableTypeto represent the

POWERLINK

RecordTable 35 – INP_ProcessImage_Type Definition
Attribute
BrowseName
IsAbstract
References

Value
INP_ProcessImage_Type
False
NodeClassBrowseName

Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent Variable
SelectedRange_U32
HasComponent Variable
ProcessImageDomain_DOM

7.4.6

Data
Type

Type
Definition

Modelling
RulePowerlink
Attributes

UInt32
ByteString

Powerlink
VariableType

Mandatory
Mandatory

RW
RW

NMT_BootTime_Type Definition

Table 36 formally defines
NMT_BootTime_TYPE.

the

VariableTypeto represent the

POWERLINK

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Table 36 – NMT_BootTime_Type Definition
Attribute
BrowseName
IsAbstract
References

Value
NMT_BootTime_Type
False
NodeClassBrowseName

Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent Variable
MNWaitNotAct_U32
HasComponent Variable
MNTimeoutPreOp1_U32
HasComponent Variable
MNWaitPreOp1_U32
HasComponent Variable
MNTimeoutPreOp2_U32
HasComponent Variable
MNTimeoutReadyToOp_U32
HasComponent Variable
MNIdentificationTimeout_U32
HasComponent Variable
MNSoftwareTimeout_U32
HasComponent Variable
MNConfigurationTimeout_U32
HasComponent Variable
MNStartCNTimeout_U32
HasComponent Variable
MNSwitchOverPriority_U32
HasComponent Variable
MNSwitchOverDelay_U32
HasComponent Variable
MNSwitchOverCycleDivider_U32

7.4.7

Data
Type

Type
Definition

Modelling
RulePowerlink
Attributes

UInt32
UInt32
UInt32
UInt32
UInt32
UInt32
UInt32
UInt32
UInt32
UInt32
UInt32
UInt32

Powerlink
VariableType

Mandatory
Mandatory
Optional
Mandatory
Mandatory
Optional
Optional
Optional
Optional
Optional
Optional
Optional

RW,S,VR
RW,S,VR
RW,S,VR
RW,S,VR
RW,S,VR
RW,S,VR
RW,S,VR
RW,S,VR
RW,S,VR
RW,VR
RW,VR
RW,VR

NMT_CycleTiming_Type Definition

Table 37 formally defines
NMT_CycleTiming_TYPE.

the

VariableTypeto represent the

POWERLINK

RecordTable 37 – NMT_CycleTiming_Type Definition
Attribute
BrowseName
IsAbstract
References

Value
NMT_CycleTiming_Type
False
NodeClassBrowseName

Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent Variable
IsochrTxMaxPayload_U16
HasComponent Variable
IsochrRxMaxPayload_U16
HasComponent Variable
PResMaxLatency_U32
HasComponent Variable
PReqActPayloadLimit_U16
HasComponent Variable
PResActPayloadLimit_U16
HasComponent Variable
ASndMaxLatency_U32
HasComponent Variable
MultiplCycleCnt_U8
HasComponent Variable
AsyncMTU_U16
HasComponent Variable
Prescaler_U16
HasComponent Variable
PResMode_U8
HasComponent Variable
PResTimeFirst_U32
HasComponent Variable
PResTimeSecond_U32
HasComponent Variable
SyncMNDelayFirst_U32
HasComponent Variable
SyncMNDelaySecond_U32
HasComponent Variable
LeaseTime_U32

7.4.8

Data
Type

Type
Definition

Modelling
RulePowerlink
Attributes

UInt16
UInt16
UInt32
UInt16
UInt16
UInt32
Byte
UInt16
UInt16
Byte
UInt32
UInt32
UInt32
UInt32
UInt32

Powerlink
VariableType

Mandatory
Mandatory
Optional
Optional
Optional
Optional
Mandatory
Mandatory
Optional
Optional
Optional
Optional
Optional
Optional
Optional

CONST
CONST
CONST
RW,S,VR
RW,S,VR
CONST
RW,S,VR
RW,S,VR
RW,S,VR
R
R
R
R
R
R

NMT_EPLNodeID_Type Definition

Table 38 formally defines
NMT_EPLNodeID_TYPE.

the

VariableTypeto represent the

POWERLINK

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Table 38 – NMT_EPLNodeID_Type Definition
Attribute
BrowseName
IsAbstract
References

Value
NMT_EPLNodeID_Type
False
NodeClassBrowseName

Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent Variable
NodeID_U8
HasComponent Variable
NodeIDByHW_BOOL
HasComponent Variable
SWNodeID_U8

7.4.9

Data
Type

Type
Definition

Modelling
RulePowerlink
Attributes

Byte
Boolean
Byte

Powerlink
VariableType

Mandatory
Mandatory
Optional

R
R
RW,S,VR

NMT_InterfaceGroup_Type Definition

Table 39 formally defines the
NMT_InterfaceGroup_Xh_TYPE.

VariableTypeto represent the

POWERLINK

RecordTable 39 – NMT_InterfaceGroup_Type Definition
Attribute
BrowseName
IsAbstract
References

Value
NMT_InterfaceGroup_Type
False
NodeClassBrowseName

Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent Variable
InterfaceIndex_U16
HasComponent Variable
InterfaceDescription_VSTR
HasComponent Variable
InterfaceType_U8
HasComponent Variable
InterfaceMtu_U16
HasComponent Variable
InterfacePhysAddress_OSTR
HasComponent Variable
InterfaceName_VSTR
HasComponent Variable
InterfaceOperStatus_U8
HasComponent Variable
InterfaceAdminState_U8
HasComponent Variable
Valid_BOOL
HasComponent Variable
PortEnableMask_U64

7.4.10

Data
Type

Type
Definition

Modelling
RulePowerlink
Attributes

UInt16
String
Byte
UInt16
ByteString
String
Byte
Byte
Boolean
UInt64

Powerlink
VariableType

Mandatory
Mandatory
Mandatory
Mandatory
Mandatory
Mandatory
Mandatory
Mandatory
Mandatory
Optional

R
CONST
CONST
CONST
CONST
R
R
RW,S
RW,S
R

NMT_MNCycleTiming_Type Definition

Table 40 formally defines the
NMT_MNCycleTiming_TYPE.

VariableTypeto represent the

POWERLINK

RecordTable 40 – NMT_MNCycleTiming_Type Definition
Attribute
BrowseName
IsAbstract
References

Value
NMT_MNCycleTiming_Type
False
NodeClassBrowseName

Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent Variable
WaitSoCPReq_U32
HasComponent Variable
AsyncSlotTimeout_U32
HasComponent Variable
ASndMaxNumber
HasComponent Variable
MinRedCycleTime_U32

7.4.11

Data
Type

Type
Definition

Modelling
RulePowerlink
Attributes

UInt32
UInt32
Byte
UInt32

Powerlink
VariableType

Mandatory
Optional
Optional
Optional

RW,S,VR
RW,S,VR
RW,S,VR
RW,S,VR

NMT_ParameterStorage_Type Definition

Table 41 formally defines the
NMT_ParameterStorage_TYPE.

VariableTypeto represent the

POWERLINK

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Table 41 – NMT_ParameterStorage_Type Definition
Attribute
BrowseName
IsAbstract
References

Value
NMT_ParameterStorage_Type
False
NodeClassBrowseName

Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent Variable
AllParam_U32
HasComponent Variable
CommunicationParam_U32
HasComponent Variable
ApplicationParam_U32
HasComponent Variable
ManufacturerParam_XXh_U32

7.4.12

Data
Type

Type
Definition

Modelling
RulePowerlink
Attributes

UInt32
UInt32
UInt32
UInt32

Powerlink
VariableType

Mandatory
Optional
Optional
Optional
Placeholder

RW
RW
RW
RW

NMT_RequestCmd_Type Definition

Table 42 formally defines
NMT_RequestCmd_TYPE.

the

VariableTypeto represent the

POWERLINK

RecordTable 42 – NMT_RequestCmd_Type Definition
Attribute
BrowseName
IsAbstract
References

Value
NMT_RequestCmd_Type
False
NodeClassBrowseName

Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent Variable
Release_BOOL
HasComponent Variable
CmdID_U8
HasComponent Variable
CmdTarget_U8
HasComponent Variable
CmdData_DOM

7.4.13

DataType

Type
Definition

Modelling
RulePowerlink
Attributes

Boolean
Byte
Byte
ByteString

Powerlink
VariableType

Mandatory
Mandatory
Mandatory
Optional

RW
RW
RW
RW

NWL_IpAddrTable_Type Definition

Table 43 formally defines
NWL_IpAddrTable_TYPE.

the

VariableTypeto represent the

POWERLINK

RecordTable 43 – NWL_IpAddrTable_Type Definition
Attribute
BrowseName
IsAbstract
References

Value
NWL_IpAddrTable_Type
False
NodeClassBrowseName

Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent Variable
IfIndex_U16
HasComponent Variable
Addr_IPAD
HasComponent

Variable

NetMask_IPAD

HasComponent
HasComponent

Variable
Variable

ReasmMaxSize_U16
DefaultGateway_IPAD

7.4.14

DataType

Type
Definition

Modelling
RulePowerlink
Attributes

UInt16
PowerlinkIpAddress
DatatTypePowerlinkIpAddress
DatatTypeUInt16
PowerlinkIpAddress
DatatTypePowerlink
VariableType

Mandatory
MandatoryR
RW,S

Mandatory

RW,S

Mandatory
MandatoryR
RW,S

PDO_CommParamRecord_Type Definition

Table 44 formally defines the
PDO_CommParamRecord_TYPE.

VariableTypeto represent the

POWERLINK

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Table 44 – PDO_CommParamRecord_Type Definition
Attribute
BrowseName
IsAbstract
References

Value
PDO_CommParamRecord_Type
False
NodeClassBrowseName

Subtype of PowerlinkRecordType defined in 5.2.3.
HasComponent Variable
NodeID_U8
HasComponent Variable
MappingVersion_U8

7.5

DataType

Type
Definition

Modelling
RulePowerlink
Attributes

Byte
Byte

Powerlink
VariableType

Mandatory
Mandatory

RW,S
RW,S

OPC UA Structure DataTypes

7.5.1

PowerlinkErrorEntryDataType

Table 45 formally defines the Structure DataType PowerlinkErrorEntryDataType to represent
the entries of the POWERLINK Object ERR_History_ADOM.
Table 45 – PowerlinkErrorEntryDataType Structure
NamePowerlinkErrorEntryDataType
entryTypeerrorCodetimeStamp
additionalInformation

7.5.2

Type
Structure
UInt16
UInt16
UInt64
UInt64

Description
Entry type as defined in the Powerlink specification EPSG DS 301
Error code as defined in the Powerlink specification EPSG DS 301
SoC Nettime from the cycle when the error/event was detected
This field contains device profile or vendor specific additional error information

PowerlinkIpAddressDataType

Table 46 formally defines the Structure DataType PowerlinkIpAddressDataType to represent
POWERLINK Objects of the POWERLINK data type IP_ADDRESS.
Table 46 – PowerlinkIpAddressDataType Structure
NamePowerlinkIpAddressDataType
b1
b2
b3
b4

7.5.3

Type
Structure
Byte
Byte
Byte
Byte

Description
1st byte of the IP-Address, e.g. 192 for the Address 192.168.100.1
2nd byte of the IP-Address, e.g. 168 for the Address 192.168.100.1
3rd byte of the IP-Address, e.g. 100 for the Address 192.168.100.1
4th byte of the IP-Address, e.g. 1 for the Address 192.168.100.1

PowerlinkPDOMappingEntryDataType

Table 47 formally defines the Structure DataType PowerlinkPDOMappingEntryDataType torepresent the entries of POWERLINK Objects like PDO_RxCommParam_00h_REC.
Table 47 – PowerlinkPDOMappingEntryDataType Structure
NamePowerlinkPDOMappingEntryDataType
lengthoffsetreserved
subIndex
index

8
8.1

Type
Structure
UInt16
UInt16
Byte
Byte
UInt16

Description
Index of the object to be mapped
Sub-Index of the object to be mapped
for alignment purpose
Offset related to start of PDO payload (Bit count)
Length of the mapped object (Bit count)Direct Addressing of the POWERLINK Object Dictionary
GeneralThe definition of the objects in the previous paragraphs enables t he generic access to
POWERLINK Objects from the communication profile EPSG DS 301 and EPSG DS 302. Without
an extension of the Information Model the access to vendor- or profile-specific POWERLINK
Objects would be only possible through the SDO Services defined in 0.A client would not be

OPC Unified Architecture for POWERLINK

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able to create monitored items and subscriptions to vendor-specific objects since they would
not have an individual NodeId.
One way to generate individual NodeIds is to convert the vendor specific device description
from POWERLINK into an OPC UA Information Model and to deploy the models of all involved
POWERLINK Devices to the OPC UA Server. This might be feasible for Servers that run on the
POWERLINK Device itself and represent only their own device.
This paragraph defines another, more generic way to provide individual NodeIds for random
objects in a POWERLINK Object Dictionary.
For this generic access the Namespace‘http://opcfoundation.org/UA/POWERLINK/UA/DirectAccess/’ is used.
8.2
8.2.1

OPAQUE NodeIds
GeneralWhen using NodeIds of the type OPAQUE_3 the NodeId contains information about address
and DataType in binary form. Compared to String-NodeIds this format is smaller and generates
less overhead when registering Nodes for Subscriptions.
8.2.2

NodeIds for single instances

To access POWERLINK Objects on a Server, which represents only one POWERLINK Object
Dictionary the size of the NodeId is 4 byte and the format is defined in shown in Table 48.
Table 48 – NodeIds for single instances
Byte
0
1
2
3

Description
LSB of the objects POWERLINK Index
HSB of the objects POWERLINK Index
POWERLINK Sub-Index
DataTypeId

Byte 0, 1 and 2 are the values of the POWERLINK addressing scheme Index / Sub -Index. If the
POWERLINK Object requested by Index/Sub-Index is not existing the server shall signal thiscase with the StatusCode Bad_NodeIdUnknown.
With byte 3 the client specifies the expected DataType of the response data by using the built in types defined in Part 6. Allowed values are 1 to 12, as well as 15. If byte 3 is set to 12 or 15(String or ByteString) the server shall respond with the same length like the POWERLINK
Object. Otherwise, if the bit-length of the referenced POWERLINK Object is different to the bitlength of the requested DataType, the Server shall signal this case with the StatusCode
Bad_NodeIdInvalid.
8.2.3

NodeIds for multiple instances

To access POWERLINK Objects on a Server, which represents more than one POWERLINK
Object Dictionary the size of the NodeId is 6 byte and the format is defined in Table 49.
Table 49 – NodeIds for multiple instances
Byte
0
1
2
3
4
5

Description
LSB of the objects POWERLINK Index
HSB of the objects POWERLINK Index
POWERLINK Sub-Index
DataTypeId
POWERLINK DeviceAddress
POWERLINK Network

Byte 0 to 3 have the same function like in Table 48.
Byte 4 defines the Address of the device in the POWERLINK network.
Byte 5 defines the interface/network number where this device is expected. The assignment of
a number to a physical interface is application specific.

OPC Unified Architecture for POWERLINK
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String NodeIds

When using NodeIds of type STRING_1 the NodeId contains information about address and
DataType as string value. Compared to opaque NodeIds this format is easier for manual entry
by the user.
The NodeId has the following form:[[<Network>.]<DeviceAddress>.]<Index>.<Sub-Index>:<Datatype>
Network:
This parameter identifies the network and starts with “NW” followed by the decimal number ofthe selected network, e.g. “NW1” for the first POWERLINK network which is represented by thisServer. If the parameter is omitted the selection of a network is ser ver specific.
DeviceAddress:
This parameter identifies the POWERLINK Device within a network. It shall either be “MN” forthe POWERLINK Managed Node or “CN” followed by the device address, e.g. “CN2”.
Both parameters (Network and Device) are not relevant for Servers that only implement one
single POWERLINK Object Dictionary and therefore they may be omitted.
Index:
Index of the POWERLINK Object, e.g. “0x1001” for the object ERR_ErrorRegister_U8. The
value shall be given as decimal string, or as hexadecimal string preceding the characters “0x”.
Sub-Index:
Sub-Index of the POWERLINK Object, e.g. “17” for accessing Sub-Index 17. The value shall begiven as decimal string, or as hexadecimal string preceding the characters “0x”.
If the POWERLINK Object requested by Index/Sub-Index is not existing the server shall signal
this case with the StatusCode Bad_NodeIdUnknown.
Datatype:
Requested DataType of the response data for read access or monitored items. Allowed values
are the names of the built-in types 1 to 12, and 15. E.g. if Datatype is “UInt64” the Server shall
respond with an unsigned 64 bit integer. Capitalisation of this parameter shall be irrelevant, so“uint64” and “UInt64” shall give the same result. If Datatype is set to “String” or “ByteString” theserver shall respond with the same length like the POWERLINK Object. Otherwise, if the bitlength of the referenced POWERLINK Object is different to the bit-length of the requested
DataType, the Server shall signal this case with the StatusCode Bad_NodeIdInvalid.
Examples for String NodeIds:
“0x1001.0:byte” : Object ERR_ErrorRegister_U8

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

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

OPC Unified Architecture for POWERLINK

9Profiles and Namespaces

9.1

Namespace Metadata

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Table 50 defines the namespace metadata for this specification. The Object is used to provide
version information for the namespace and an indication about static Nodes. Static Nodes are
identical for all Attributes in all Servers, including the Value Attribute. See OPC UA Part 5 formore details.
The information is provided as Object of type NamespaceMetadataType. This Object is acomponent of the Namespaces Object that is part of the Server Object. The
NamespaceMetadataType ObjectType and its Properties are defined in OPC UA Part 5.
The version information is also provided as part of the ModelTableEntry in the UANodeSet XML
file. The UANodeSet XML schema is defined in OPC UA Part 6.
Table 50 – NamespaceMetadata Object for this Specification
Attribute
BrowseName
References
HasProperty
HasProperty
HasProperty
HasProperty
HasProperty
HasProperty
HasProperty

9.2

Value
http://opcfoundation.org/UA/POWERLINK/
BrowseName
DataType
Value
NamespaceUri
Stringhttp://opcfoundation.org/UA/POWERLINK/
NamespaceVersion
String
1.0.0
NamespacePublicationDate
DateTime
2017-10-10 , 13:00
IsNamespaceSubset
Boolean
False
StaticNodeIdTypes
IdType[]{Numeric}
StaticNumericNodeIdRange
NumericRange[]
Null
StaticStringNodeIdPattern
StringNull

OPC UA Conformance Units and Profiles

This chapter defines the corresponding profiles and conformance units for the OPC UA
Information Model for POWERLINK Profiles are named groupings of conformance units. Facets
are profiles that will be combined with other Profiles to define the complete functionality of an OPC
UA Server or Client. The following tables specify the facets available for Servers that implement
the POWERLINK Information Model companion standard, and for Clients that arecommunicating with such Servers.
Table 51 defines a server facet for direct access to the POWERLINK Objects through astructured NodeId that may be generated by user entry or by tools.
Table 51 – POWERLINK Direct Access Server Facet Definition
Conformance Unit

Description

POWERLINK BinaryAddress

Supports generic access to POWERLINK Objects using
opaque NodeIds
Supports generic access to POWERLINK Objects using
string NodeIds

POWERLINK StringAddress

ProfilesCore Server Facet
Embedded DataChange Subscription Server Facet

Optional/
Mandatory
M
M

M
O

Table 52 defines a client facet for direct access to the POWERLINK Objects through a structured
NodeId that may be generated by user entry or by tools.
Table 52 – POWERLINK Direct Access Client Facet Definition
Conformance Unit

Description

POWERLINK DirectAccessClient

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

ProfilesCore Client Facet
Attribute Read Client Facet
Attribute Write Client Facet
DataChange Subscriber Client Facet

Optional/
Mandatory
M

M
M
O
O

OPC Unified Architecture for POWERLINK

42

Release 1.0

Table 53 defines a server facet for access to POWERLINK Objects of the communication
profiles EPSG DS 301 and EPSG DS302 through the OPC UA Information Model.
Table 53 – POWERLINK Communication Profile Server Facet Definition
Conformance Unit

Description

POWERLINK
Supports the Information Model for the communication
CommunicationProfileServer
profile EPSG DS 301 and EPSG DS 302
ProfilesComplexType Server Facet
Method Server Facet
BaseDevice_Server_Facet (defined in OPC UA Part 100)
DeviceIdentification_Server_Facet (defined in OPC UA Part 100)
DeviceCommunication_Server_Facet (defined in OPC UA Part 100)

Optional/
Mandatory
M

M
M
M
M
M

Table 54 defines a client facet for access to POWERLINK Objects of the communication profiles
EPSG DS 301 and EPSG DS302 through the OPC UA Information Model.
Table 54 – POWERLINK Communication Profile Client Facet Definition
Conformance Unit

Description

POWERLINK
CommunicationProfileClient

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

ProfilesCore Client Facet
Method Client Facet
ComplexType Server Facet
BaseDevice_Client_Facet (defined in OPC UA Part 100)
DeviceIdentification_Client_Facet (defined in OPC UA Part 100)
DeviceCommunication_Client_Facet (defined in OPC UA Part 100)

Optional/
Mandatory
M

M
M
M
M
M
M

OPC Unified Architecture for POWERLINK
9.3

43

Release 1.0

Handling of OPC UA namespaces

Namespaces are used by OPC UA to create unique identifiers across different naming
authorities. The Attributes NodeId and BrowseName are identifiers. A node in the UA Address
Space is unambiguously identified using a NodeId. Unlike NodeIds, the BrowseName cannot
be used to unambiguously identify a node. Different nodes may have the same BrowseName.
They are used to build a browse path between two nodes or to define a standard Property.
Servers may often choose to use the same namespace for the NodeId and the BrowseName.
However, if they want to provide a standard Property, its BrowseName shall have thenamespace of the standards body although the namespace of the NodeId reflects somethingelse, for example the EngineeringUnits property. All NodeIds of nodes not defined in thisspecification shall not use the standard namespaces .
Table 55 provides a list of mandatory and optional namespaces used in a POWERLINK OPC
UA Server.
Table 55 – Namespaces used in a POWERLINK OPC UA Server
Namespacehttp://opcfoundation.org/UA/

Local Server URI

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

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

http://opcfoundation.org/UA/POWERLINK/DirectAccess/Vendor specific types and instances

Description
Namespace for NodeIds andBrowseNames defined in the OPC UA
specification. This namespace shallhave namespace index 0.
Namespace for nodes defined in thelocal server. This may include types andinstances used in a device represented
by the server. This namespace shallhave namespace index 1 in the server.
Namespace for NodeIds andBrowseNames defined in OPC UA Part
100. The namespace index is server
specific.
Namespace for NodeIds andBrowseNames defined in thisspecification. The namespace index isserver specific.
Namespace for NodeId scheme definedin paragraph 8. The namespace index isserver specific.
A server may provide vendor specifictypes like types derived fromPowerlinkDeviceType orPowerlinkCnConnectionPointType, orvendor specific instances of devices in a
vendor specific namespace.

Use
Mandatory

Mandatory

Mandatory

Mandatory

Optional
Optional

Table 56 provides a list of namespaces and their index used for BrowseNames in thisspecification. The default namespace of this specification is not listed since all BrowseNames
without prefix use this default namespace.
Table 56 – Namespaces used in this specification
Namespacehttp://opcfoundation.org/UA/
http://opcfoundation.org/UA/DI/

Namespace
Index
0
1

Example0:EngineeringUnits
1:SerialNumber

OPC Unified Architecture for POWERLINK

44

Release 1.0

Annex A (normative): POWERLINK Namespace and Mappings
A.1

Namespace and identifiers for POWERLINK Information Model

This appendix defines the numeric identifiers for all of the numeric NodeIds defined in thisstandard. The identifiers are specified in a CSV file with the following syntax:<SymbolName>, <Identifier>, <NodeClass>
Where the SymbolName is either the BrowseName of a Type Node or the BrowsePath for an
Instance Node that appears in the specification and the Identifier is the numeric value for the
NodeId.
The BrowsePath for an Instance Node is constructed by appending the BrowseName of theinstance Node to the BrowseName for the containing instance or type. An underscore characteris used to separate each BrowseName in the path. Let’s take for example, the
DIA_ERRStatistics_Type ObjectType Node which has the HistoryEntryWrite_U32 Variable. The
Name for the HistoryEntryWrite_U32 InstanceDeclaration within the DIA_ERRStatistics_Type
declaration is DIA_ERRStatistics_Type_HistoryEntryWrite_U32 .
The NamespaceUri for all NodeIds defined here is http://opcfoundation.org/UA/POWERLINK/The CSV released with this version of the standard can be found here:
http://www.opcfoundation.org/UA/schemas/POWERLINK/1.0/Opc.Ua.POWERLINK.NodeIds.csv
NOTE

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

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

A computer processible version of the complete Information Model defined in this standard isalso provided. It follows the XML Information Model schema syntax defined in OPC UA Part 6.
The Information Model Schema released with this version of the standard can be found here:
http://www.opcfoundation.org/UA/schemas/POWERLINK/1.0/Opc.Ua.POWERLINK.NodeSet2.xml
NOTE

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

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

A.2

Profile URIs for POWERLINK Information Model

Table 57 defines the Profile URIs for the POWERLINK Information Model companion standard.
Table 57 – Profile URIs
ProfilePOWERLINK Direct Access Server Facet
POWERLINK Direct Access Client Facet
POWERLINK Communication Profile Server Facet
POWERLINK Communication Profile Client Facet

Profile URI
http://opcfoundation.org/UAProfile/External/POWERLINK/DirectAccessServer
http://opcfoundation.org/UAProfile/External/POWERLINK/DirectAccessClient
http://opcfoundation.org/UAProfile/External/POWERLINK/CommunicationProfileServer
http://opcfoundation.org/UAProfile/External/POWERLINK/CommunicationProfileClientOPC Unified Architecture for POWERLINK

45

Release 1.0

Annex B : POWERLINK Object Dictionary
B.1

References POWERLINK Objects to OPC UA objects

Table 58 shows the references where the POWERLINK Objects of the communication profile
EPSG DS 301 can be found in this OPCUA POWERLINK Companion Specification.
Table 58 – POWERLINK Object Dictionary Entries, sorted by index
Index
1000h
1001h
1003h
1006h
1008h
1009h
100Ah
1010h
1011h
1016h
1018h
1020h
1021h
1022h
1027h

Scope
CN
+
MN

1030h
1031h
..
1039h
1050h
1101h
1102h
1200h
..
127Fh
1280h
..
12FFh
1300h
1301h
1302h
1400h
1401h
1402h
1403h
1404h
..
14FFh
1600h
1601h
1602h
1603h
1604h
..
16FFh
1800h
1801h
1802h
1803h
1804h
..
18FFh
1A00h

1A01h

MN

MN
+
CN
MN

Name
NMT_DeviceType_U32
ERR_ErrorRegister_U8
ERR_History_ADOM
NMT_CycleLen_U32
NMT_ManufactDevName_VS
NMT_ManufactHwVers_VS
NMT_ManufactSwVers_VS
NMT_StoreParam_REC
NMT_RestoreDefParam_REC
NMT_ConsumerHeartbeatTime_AU32
NMT_IdentityObject_REC
CFM_VerifyConfiguration_REC
CFM_StoreDevDescrFile_DOM
CFM_StoreDevDescrFormat_U16
NMT_ChildIdentList_AU16(used by EPSG DS302-F)
NMT_InterfaceGroup_0h_REC
NMT_InterfaceGroup_Xh_REC

Store
x
1-254
1-3
x
x

8-9
8-9

Category
M
M
O
M
O
O
O
O
O
O
M
M
O
Cond
Cond
M
O
Cond

Reference to OPC UA Modeldefined in 6.2

Annex B.2 Objects not defined in
OPC UA Information Modeldefined in 6.2

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

NMT_RelativeLatencyDiff_AU32(used by EPSG DS302-C)
DIA_NMTTelegrCount_REC
DIA_ERRStatistics_REC
SDO_ServerContainerParam_XXh_REC

defined in 6.2

1-4

O
O
O

SDO_ClientContainerParam_XXh_REC

1-4

O

SDO_SequLayerTimeout_U32
SDO_CmdLayerTimeout_U32
SDO_SequLayerNoAck_U32
PDO_RxCommParam_00h_REC
PDO_RxCommParam_01h_REC
PDO_RxCommParam_02h_REC
PDO_RxCommParam_03h_REC
PDO_RxCommParam_XXh_REC

x
x
x
1-2
1-2
1-2
1-2
1-2

M
O
O
Cond
Cond
Cond
Cond
Cond

defined in 6.2

PDO_RxMappParam_00h_AU64
PDO_RxMappParam_01h_AU64
PDO_RxMappParam_02h_AU64
PDO_RxMappParam_03h_AU64
PDO_RxMappParam_04h_AU64

0-254
0-254
0-254
0-254
0-254

Cond
Cond
Cond
Cond
Cond

defined in 6.2

PDO_TxCommParam_00h_REC
PDO_TxCommParam_01h_REC
PDO_TxCommParam_02h_REC
PDO_TxCommParam_03h_REC
PDO_TxCommParam_XXh_REC

1-2
1-2
1-2
1-2
1-2

Cond
Cond
Cond
Cond
Cond

defined in 6.2
defined in 6.4

PDO_TxMappParam_00h_AU64

0-254

Cond

defined in 6.2

PDO_TxMappParam_01h_AU64

0-254

Cond

defined in 6.4

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

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

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

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

OPC Unified Architecture for POWERLINK
1A02h
1A03h
1A04h
..
1AFFh
1B00h
..
1BFFh
1C00h
1C01h
1C02h
1C03h
1C04h
1C05h
1C06h
1C07h
1C08h
1C09h
1C0Ah
1C0Bh
1C0Ch
1C0Dh
1C0Eh
1C0Fh
1C10h
1C12h
1C13h
1C14h
1C15h
1C16h
1C17h
1C40h
1C80h
1C81h
1D00h
..
1DFFh
1E40h
1E41h
..
1E49h
1E4Ah
1E80h
1E81h
1E90h
..
1ECFh
1ED0h
..
1EDFh
1EE0h
..
1EEFh
1F20h
1F21h
1F22h
1F23h
1F24h
1F25h
1F26h
1F27h
1F28h
1F50h
1F51h
1F52h
1F53h
1F54h

MN
+
CN
MN

CN

MN
CN
MN

MN
+
CN

MN

CN
+
MN

46

Release 1.0

PDO_TxMappParam_02h_AU64
PDO_TxMappParam_03h_AU64
PDO_TxMappParam_XXh_AU64

0-254
0-254
0-254

Cond
Cond
Cond

RT1_AclFwdTable_XXh_REC

1-9

Cond

DLL_MNCRCError_REC
DLL_MNCollision_REC
DLL_MNCycTimeExceed_REC
DLL_MNLossOfLinkCum_U32
DLL_MNCNLatePResCumCnt_AU32
DLL_MNCNLatePResThrCnt_AU32
DLL_MNCNLatePResThreshold_AU32
DLL_MNCNLossPResCumCnt_AU32
DLL_MNCNLossPResThrCnt_AU32
DLL_MNCNLossPResThreshold_AU32
DLL_CNCollision_REC
DLL_CNLossSoC_REC
DLL_CNLossSoA_REC
DLL_CNLossPReq_REC
DLL_CNSoCJitter_REC
DLL_CNCRCError_REC
DLL_CNLossOfLinkCum_U32
DLL_MNCycleSuspendNumber_U32
DLL_CNSoCJitterRange_U32
DLL_CNLossOfSocTolerance_U32
DLL_MNLossStatusResCumCnt_AU32
DLL_MNLossStatusResThrCnt_AU32
DLL_MNLossStatusResThreshold_AU32
DLL_MNRingRedundancy_REC(used by EPSG DS302-A)
PDO_ErrMapVers_OSTR
PDO_ErrShort_RX_OSTR
RT1_NatTable_XXh_REC

3
3
3
1-254
1-254
3
3
3
3
3
3
x
x
x
1-254

M
O
O
Cond
Cond
Cond
Cond
O
M
M
O
M
Cond
Cond
Cond
M
Cond
M
Cond
M
O
M
M
Cond

1-4

O
O
Cond

NWL_IpAddrTable_0h_REC
NWL_IpAddrTable_Xh_REC(2,3,) 5(2,3,) 5

CondO

NWL_IpGroup_REC
RT1_EplRouter_REC
RT1_SecurityGroup_REC
RT1_IpRoutingTable_XXh_REC(1,) 2
1,2
1-3
1-4, 6,7

Cond
Cond
Cond
Cond

RT1_AclInTable_Xh_REC

1-9

Cond

RT1_AclOutTable_Xh_REC

1-9

Cond

CFM_StoreDcfList_ADOM
CFM_DcfStorageFormatList_AU8
CFM_ConciseDcfList_ADOM
CFM_StoreDevDescrFileList_ADOM
CFM_DevDescrFileFormatList_AU8
CFM_ConfCNRequest_AU32
CFM_ExpConfDateList_AU32
CFM_ExpConfTimeList_AU32
CFM_ExpConfIdList_AU32
PDL_DownloadProgData_ADOM
PDL_ProgCtrl_AU8
PDL_LocVerApplSw_REC
PDL_MnExpAppSwDateList_AU32
PDL_MnExpAppSwTimeList_AU32

1-254
1-254
1-254
1-254
1-254
1-254
1-254
1-254
0-254
0-254

Cond
O
O
Cond
O
O
O
O
O
O
Cond
Cond
Cond
Cond

Annex B.2 Objects not defined in
OPC UA Information Modeldefined in 6.4

defined in 6.3

defined in 6.4
defined in 6.3
defined in 6.4

Annex B.2 Objects not defined in
OPC UA Information Modeldefined in 6.2
Annex B.2 Objects not defined in
OPC UA Information Modeldefined in 6.2
Annex B.2 Objects not defined in
OPC UA Information Modeldefined in 6.4

Annex B.2 Objects not defined in
OPC UA Information Modeldefined in 6.2
defined in 6.2

OPC Unified Architecture for POWERLINK
1055h
1F70h
1F80h
1F81h
1F82h
1F83h
1F84h
1F85h
1F86h
1F87h
1F88h
1F89h
1F8Ah
1F8Bh
1F8Ch
1F8Dh

MN
CN
+
MN
MN

CN
+
MN
MN

1F8Eh
1F8Fh
1F92h
1F93h
1F94h

CN
+
MN

1F98h
1F99h
1F9Ah
1F9Bh
1F9Ch
1F9Eh
1F9Fh
1FA0h

CN
CN
+
MN
MN
CN
+
MN

1FA1h

B.2

47

PDL_DownloadChildProgList_AU16(used by EPSG DS302-F)
INP_ProcessImage_REC
NMT_StartUp_U32
NMT_NodeAssignment_AU32
NMT_FeatureFlags_U32
NMT_EPLVersion_U8
NMT_MNDeviceTypeIdList_AU32
NMT_MNVendorIdList_AU32
NMT_MNProductCodeList_AU32
NMT_MNRevisionNoList_AU32
NMT_MNSerialNoList_AU32
NMT_BootTime_REC
NMT_MNCycleTiming_REC
NMT_MNPReqPayloadLimitList_AU16
NMT_CurrNMTState_U8
NMT_PResPayloadLimitList_AU16
NMT_MNNodeCurrState_AU8
NMT_MNNodeExpState_AU8
NMT_MNCNPResTimeout_AU32
NMT_EPLNodeID_REC
NMT_PdoNodeAssign_AU8(used by EPSG DS302-D)
NMT_CycleTiming_REC
NMT_CNBasicEthernetTimeout_U32
NMT_HostName_VSTR
NMT_MultiplCycleAssign_AU8
NMT_IsochrSlotAssign_AU8
NMT_ResetCmd_U8
NMT_RequestCmd_REC
NMT_PredecessorNodeNumberList_AU32(used by EPSG DS302-E)
NMT_PredecessorHubPortList_AU32(used by EPSG DS302-E)

Release 1.0
Cond
x
x
0-254
0-254
0-254
0-254
0-254
1-9
1,2,4
0-254
0-254

O
M
O
M
M
M
O
O
O
O
M
M
M
M
O

0-254
3

M
O
M
M
Cond

4,5, 7-9
x
x
0-254
0-254
-

M
M
Cond
Cond
O
M
M
Cond

Annex B.2 Objects not defined in
OPC UA Information Modeldefined in 6.2
defined in 6.4
defined in 6.2

defined in 6.4

defined in 6.2

defined in 6.4

defined in 6.2
Annex B.2 Objects not defined in
OPC UA Information Modeldefined in 6.2
defined in 6.3
defined in 6.2

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

Cond

Objects not defined in OPC UA Information Model

Some of the objects in the POWERLINK Object Dictionary are not defined in the OPC UA
Information Model of the current version of this document. However most of this objects can beaccessed by the SDO Services (like ReadByIndex or WriteByIndex) provided by thePowerlinkConnectionPointType defined in 6.2.
The current specification does not allow access to DOMAIN objects that are so large thatstandard stack implementations cannot handle it in one single service.
Examples:-

1F50 h / PDL_DownloadProgData_ADOM (Firmware download)-

1F22 h / CFM_ConciseDcfList_ADOM

The access to these objects will be defined in future versions of this specification. The definition
should be done in alignment with future developments in the DI Group (Part 100).