Ethernet POWERLINKXML Device Description – Implementation Guideline
Version 1.0.1

Ethernet POWERLINKXML Device Description – Implementation Guideline

Version 1.0.1©

B&R(B&R Industrial Automation GmbH)
2023

XML Device Description –-2Implementation Guidelines V1.0.1

B&R Industrial Automation GmbH

POWERLINK-Office
B&R Straße 15142 Eggelsberg
Austria

powerlink.office@br-automation.com
www.br-automation.com/en/technologies/powerlink/

The EPSG Technical Specification “Ethernet Powerlink XML Device Description – Implementation
Guideline” has been provided by Ethernet POWERLINK Standardisation Group (hereinafter referred to as“EPSG”). As a consequence of the EPSG being dissolved from March 31st, 2023, B&R Industrial Automation
GmbH will – as the formal successor of EPSG regarding the rights and content – make the Ethernet
Powerlink XML Device Description – Implementation Guideline available as open source on it’s own
website subject to the conditions mentioned in the disclaimer under clause Pre. 1 of this document. B&R
Industrial Automation GmbH especially disclaims liability for any personal injury, property or otherdamage, of any nature whatsoever, whether special, indirect, consequential, or compensatory, directly or
indirectly resulting from the publication, use of, or reliance upon this, or any other EPSG Standard
document.

XML Device Description –-3Implementation Guidelines V1.0.1

Pre. 1

Disclaimer

Use of this EPSG Standard is wholly voluntary. The EPSG disclaims liability for any personal injury, property
or other damage, of any nature whatsoever, whether special, indirect, consequential, or compensatory,
directly or indirectly resulting from the publication, use of, or reliance upon this, or any other EPSG
Standard document.
The EPSG does not warrant or represent the accuracy or content of the material contained herein, andexpressly disclaims any express or implied warranty, including any implied warranty of merchantability or
fitness for a specific purpose, or that the use of the material contained herein is free from patent
infringement. EPSG Standards documents are supplied “AS IS”.
The existence of an EPSG Standard does not imply that there are no other ways to produce, test, measure,purchase, market, or provide other goods and services related to the scope of the EPSG Standard.
Furthermore, the viewpoint expressed at the time a standard is approved and issued is subject to changebrought about through developments in the state of the art and comments received from users of thestandard. Users are cautioned to check to determine that they have the latest edition of any EPSG
Standard.
In publishing and making this document available, the EPSG is not suggesting or rendering professional orother services for, or on behalf of, any person or entity. Nor is the EPSG undertaking to perform any duty
owed by any other person or entity to another. Any person utilizing this, and any other EPSG Standards
document, should rely upon the advice of a competent professional in determining the exercise ofreasonable care in any given circumstances.
Interpretations: Occasionally questions may arise regarding the meaning of portions of standards as they
relate to specific applications. When the need for interpretations is brought to the attention of the EPSG,
the group will initiate action to prepare appropriate responses. Since EPSG Standards represent a
consensus of concerned interests, it is important to ensure that any interpretation has also received theconcurrence of a balance of interests. For this reason, the EPSG and its members are not able to provide
an instant response to interpretation requests except in those cases where the matter has previously
received formal consideration.
Comments for revision of EPSG Standards are welcome from any interested party, regardless ofmembership affiliation with the EPSG. Suggestions for changes in documents should be in the form of a
proposed change of text, together with appropriate supporting comments. Comments on standards andrequests for interpretations should be sent to the address given on the page before.

XML Device Description –-4Implementation Guidelines V1.0.1

Pre. 1.1

Patent noticeAttention is called to the possibility that implementation of this standard may require use of subject
matter covered by patent rights. By publication of this standard, no position is taken with respect to theexistence or validity of any patent rights in connection therewith. B&R shall not be responsible for
identifying patents for which a license may be required by an EPSG standard or for conducting inquiries
into the legal validity or scope of those patents that are brought to its attention.

XML Device Description –-5Implementation Guidelines V1.0.1

Pre. 2Contribution

The following persons contributed to this document:

Hopfgartner, Thomas, Editor

Bernecker + Rainer Industrie-Elektronik Ges.m.b.H.

Matejka, Franz

Bernecker + Rainer Industrie-Elektronik Ges.m.b.H.

Kirchmayer, Stephan

Bernecker + Rainer Industrie-Elektronik Ges.m.b.H.

Seiss, Wolfgang

Bernecker + Rainer Industrie-Elektronik Ges.m.b.H.

Saloga, Bastian

Schneider Electric Motion Deutschland GmbHVey, Lothar

KEB Antriebstechnik

Gedenk, Thorsten

port GmbH

Naugk, Michael

port GmbH

Krüger, Daniel

SYS TEC electronic GmbHXML Device Description –-6Implementation Guidelines V1.0.1

Pre. 3

History

Vers.

Date

Authorshort description

0.0.1

2009-08-13

Thomas Hopfgartner

B&R

Created0.0.2

2009-10-23

Thomas Hopfgartner

B&R

Inputs after CIA TF XML meeting
incorporated

0.0.3

2009-11-27

Thomas Hopfgartner

B&R

Minor error corrections of the complete
XDD sample

1.0.0

2010-02-04

Thomas Hopfgartner

B&R

Review feedbacks incorporated
Contribution List exended

1.0.1

2023-06-02

Stephan Kirchmayer

B&R© B&R due to dissolution of EPSG

XML Device Description –-7Implementation Guidelines V1.0.1

Pre. 4

Content

Pre. 1

Disclaimer

3Pre. 1.1

Patent notice

4Pre. 2Contribution

5

Pre. 3

History

6Pre. 4

Content

7Pre. 5

Tables9Pre. 6

Figures10Pre. 7

Definitions and Abbreviations

11

Pre. 8References

121

Introduction

13

2

FileStrucuture14

2.1
ProfileContainer
2.1.1
POWERLINK Profiles
2.1.1.1
Profile - Device POWERLINK
2.1.1.1.1
Profile Header
2.1.1.1.2
Profile Body
2.1.1.1.2.1
Device Identity
2.1.1.1.2.2
DeviceFunction
2.1.1.1.2.3
Application Process
2.1.1.2
Profile – Communication POWERLINK
2.1.1.2.1
Profile Header
2.1.1.2.2
Profile Body
2.1.1.2.2.1
Application Layers
2.1.1.2.2.1.1
identity
2.1.1.2.2.1.2
DataTypeList
2.1.1.2.2.1.3
ObjectList
2.1.1.2.2.2
TransportLayers
2.1.1.2.2.3
Network Management

14
14
15
15
16
17
20
21
23
23
23
24
24
25
26
26
26

3

Object List

27

3.1

Object27

3.2

SubObject30

3.3

objFlags

32

3.4

Store Configuration

32

3.5

Records33

3.6

uniqueIDRef

33

4

Mapping34

4.1

Static mapping

34

4.2

Dynamic Mapping36

XML Device Description –-8Implementation Guidelines V1.0.1

5

Network Management

37

5.1
5.1.1
5.1.2

Features
GeneralFeatures
CN Features

37
37
39

6

Application Process

41

6.1
6.1.1
6.1.1.1
6.1.1.2
6.1.1.3
6.1.1.4
6.1.1.5
6.1.1.6

parameterList
parameter
DataTypes
uniqueIDdefaultvalue
actualValue
Scaling
allowedValues

41
41
44
45
46
46
46
47

6.2

templateList

47

6.3
6.3.1
6.3.1.1
6.3.1.1.1
6.3.2

dataTypeList
structvarDeclaration
Signals
Domains

48
49
49
50
51

App. 1XDC Sample

52

XML Device Description –-9Implementation Guidelines V1.0.1

Pre. 5

TablesTab. 1File Layout – Profile Header Elements

15

Tab. 2File Layout - Profile Body Elements

16

Tab. 3File Layout – Device Identity Elements

18

Tab. 4File Layout – Device Function Elements

20

Tab. 5File Layout – identity Elements

24

Tab. 6

ObjectList – Attributes of ObjectList

27

Tab. 7

ObjectList – Object Element Attributes

29

Tab. 8

Static Mapping – Mapping types

34

Tab. 9Static Mapping – NMT_FeatureFlags_U32

35

Tab. 10

Static Mapping – MappingVersion_U8

35

Tab. 11

Static Mapping – Reference Object

36

Tab. 12

Network Management – MNFeatures

39

Tab. 13

Network Management – CNFeatures

40

Tab. 14

Application Process – Parameter attributes of element parameter

43

Tab. 15

Application Process – Datatype comparison

44

Tab. 16

Application process - Signals

50

XML Device Description –-10Implementation Guidelines V1.0.1

Pre. 6

FiguresFig. 1.

File Layout - ISO Container

14

Fig. 2.

File Layout - POWERLINK Profiles

14

Fig. 3.

File Layout - Device Profile Header

16

Fig. 4.

File Layout - Device Profile Body

19

Fig. 5.

File Layout - Device Profile Body

21

Fig. 6.

File Layout - Communication Profile Header

23

Fig. 7.

File Layout - identity

25

Fig. 8.

File Layout – DataTypeList

26

Fig. 9.

ObjectList – Mandatory Indices30

Fig. 10.

ObjectList – Store Configuration

33

Fig. 11.

Object List – uniqueIDRef

33

Fig. 12.

Network Management – General Features

38

Fig. 13.

Network Management – CN Features

39

Fig. 14.

File Layout - POWERLINK Profiles

43

Fig. 15.

ApplicationProcess - uniqueUD

46

Fig. 16.

Application Process - Scaling

47

Fig. 17.

Aplication Process - Ranges

47

Fig. 18.

ApplicationProcess – paramterTemplate, allowedValuesTemplate48

Fig. 19.

Application Process - Domains

51

XML Device Description –-11Implementation Guidelines V1.0.1

Pre. 7

Definitions and Abbreviations

XML

Extensible Markup Language

XDD

XML – Device Description

XDC

XML – Device Configuration

XML Device Description –-12Implementation Guidelines V1.0.1

Pre. 8References[1]
EPSG Draft Standard 301 (EPSG DS 301), Ethernet POWERLINK, Communication Profile
Specification[2]

EPSG Draft Standard 311 (EPSG DS 311), Ethernet POWERLINK, XML Device Description

XML Device Description –-13Implementation Guidelines V1.0.1

1Introduction

These implementation guideline corresponds to the specification “EPSG DS 311 V1.0.0”. They provide an
overview from of the common use of XML device descriptions for POWERLINK devices. XML Device
Descriptions (XDDs) and XML Device Configurations (XDCs) vary in the definition of default values (XDD)
and actual values (XDC).

The description is built up as step by step. In the beginning the structure of the file is described, which can
be overtaken and edited. Afterwards the most common used things are described. XML Sample parts
depicted from the complete XDD file in the end of the document always start with a line number to have areference for to the complete XDD.

The file shall always be build up as following:

0xVendorID_ProductName.xdd

A Sample is:

0x0100006C_X20BC0083.XDD

XML Device Description –-14Implementation Guidelines V1.0.1

2

FileStrucuture

2.1

ProfileContainer

POWERLINK device description / configuration files make use of the multi-profile container specified in ISO
157451:2005/Amd.1 for XML profile files. A valid POWERLINK XML file is defined as shown in Fig. 1

001
002
003
004
005

<?xml version="1.0" encoding="UTF-8" ?><ISO15745ProfileContainer>
xmlns="http://www.ethernet-powerlink.org"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://www.ethernet-powerlink.org Powerlink_Main.xsd">
418 </ISO15745ProfileContainer>

Fig. 1.

2.1.1

File Layout - ISO Container

POWERLINK Profiles

The POWERLINK profiles are placed within the ProfileContainter. The Device Profile describes the device
relevant parameters and the Communication Profile describes the communication network relevant
parameters of POWERLINK

A sample is given below.
001
002
003
004
005
006
007
008
019
020
021
165
418

<?xml version="1.0" encoding="UTF-8" ?><ISO15745ProfileContainer>
xmlns="http://www.ethernet-powerlink.org"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://www.ethernet-powerlink.org Powerlink_Main.xsd"><!-- Device Profile POWERLINK--><ISO15745Profile><ProfileHeader></ProfileHeader><ProfileBody
xsi:type="ProfileBody_Device_Powerlink"</ProfileBody></ISO15745ProfileContainer>

Fig. 2.

File Layout - POWERLINK Profiles

The distinction between the Device Profile area and the Communication Profile area is done via declaring
the type of the ProfileBody element ‘xsi:type="ProfileBody_xxx_Powerlink" ‘.

XML Device Description –-15Implementation Guidelines V1.0.1

Profile - Device POWERLINK

2.1.1.1

The device profile describes the device in detail. The content of this part is completely vendor specific.

Profile Header

2.1.1.1.1

The header shall contain the elements listed below.

Element

Description

ProfileIdentification

The value of this element uniquely identifies the current profile.

ProfileRevision

The value of this element identifies the current profile revision within the
XML file.

ProfileName

This element contains a descriptive English name of the current profile. Incase that more than one ProfileBody element are present within a device
profile, it is suggested that the value of the ProfileName element is givenby the concatenation of the values of the productName elements inside
the respective DeviceIdentity elements.

ProfileSourceThis element identifies the validator of the current profile.

ProfileClassID

This element identifies the class of the current profile according to ISO
15745-1. The element shall contain the value “Device”.

ISO15745ReferenceThis element states the ISO 15745 part, edition and technology, to which
the description conforms. This is a fixed value and can be taken from thesample in Fig. 3..

Tab. 1File Layout – Profile Header Elements

The ISO15745ProfileContainer is describing the references needed for describing an XML. This can betaken as shown in the sample below one by one.

A sample is given below.
001
002
003
004
005
006
007
008
009
010
011
012
013
014
015
016

<?xml version="1.0" encoding="UTF-8" ?><ISO15745ProfileContainer>
xmlns="http://www.ethernet-powerlink.org"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://www.ethernet-powerlink.org Powerlink_Main.xsd"><!-- Device Profile POWERLINK--><ISO15745Profile><ProfileHeader><ProfileIdentification>EPL_Device_Profile_name</ProfileIdentification><ProfileRevision>1</ProfileRevision><ProfileName>Ethernet POWERLINK MyName device profile</ProfileName><ProfileSource/><ProfileClassID>Device</ProfileClassID><ISO15745Reference><ISO15745Part>4</ISO15745Part><ISO15745Edition>1</ISO15745Edition>

XML Device Description –-16Implementation Guidelines V1.0.1

017
018
019
020
021
165
418

<ProfileTechnology>Powerlink</ProfileTechnology></ISO15745Reference></ProfileHeader><ProfileBody
xsi:type="ProfileBody_Device_Powerlink"</ProfileBody></ISO15745ProfileContainer>

Fig. 3.

File Layout - Device Profile Header

Profile Body

2.1.1.1.2

The Profile body itself contains the following attributes in Tab. 1.

Attribute

Datatype

Use

Description

fileName

xsd:string

requiredName of the file with extension (.xdd or.xdc)

fileCreator

xsd:string

required

Person creating the file

fileCreationDate

xsd:daterequiredDate of file creation

fileCreationTime

xsd:time

optional

Time of file creation

fileModifiedBy

xsd:string

optional

Person last modifiying the file

fileModificationDate

xsd:date

optional

Date of last file change

fileModificationTime

xsd:time

optional

Time of last file change

fileVersion

xsd:string

required

Vendor specific version of the file

supportedLanguages

xsd:NMTOKENS

optional

List of supported languages

deviceClass

xsd:NMTOKEN

optional

Classification of the device profile;valid Values:
compact (the profile is complete and uniquefor a product or product family)

configurable (open configurable productthatneeds an external configuration tool tocreate theprofile of one instance)
Tab. 2File Layout - Profile Body Elements

XML Device Description –-17Implementation Guidelines V1.0.1

2.1.1.1.2.1

Device Identity

The DeviceIdentity element contains elements, which are independent of the network and of the device. It
describes the identity of a single device or a group of devices.

Element

Description

vendorName

The vendorName element identifies the name or the brand name of the device
vendor. The vendor name registered at CiA (CAN in Automation) shall be used. (Usethe company name, if not registered.)vendorID

The vendorID element identifies the vendor. The vendor ID assigned from CiA shallbe used. (Use 0, if no ID has been assigned.)

vendorText

The vendorText element allows the vendor to provide additional company
information, like address or hotline number.

deviceFamily

The deviceFamily element states the family of the device.
Examples for deviceFamily are:- Variable Speed Drive- Circuit Breaker- Pressure Sensor

productFamily The productFamily element contains a vendor specific affiliation of the device typeto a certain set of devices inside a family. The list of valid productFamily values issystem, tool or consortia specific.
Examples for productFamily:- I/O System

XML Device Description –-18Implementation Guidelines V1.0.1

productName

The productName element describes the name of the product as it’s known by thevendor. For example the sales product number from the device can be taken.

productID

The productID element describes a vendor specific unique identification for thedevice. For example the vendors internal ID for handling in the system can be taken.

productText

The productText element allows the vendor to provide a short textual description of
the device type.
Example- Modular I/O System IP67 basedorderNumber

The orderNumber element is used to store the single order number of a given device
or the set of different order numbers of the products of a device family, depending
upon whether the device profile describes a product or a device family.

versionThe version element is used to store different types of version information. Multiple
version elements are possible.
Types of versions:
SW – Software
FW – Firmware
HW - Hardware

Tab. 3File Layout – Device Identity Elements

A sample is given below.
001
002
003
004
005
006
007
019
020
021
022
023
024
025
026
027
028
029
030
031
032

<?xml version="1.0" encoding="UTF-8" ?><ISO15745ProfileContainer>
xmlns="http://www.ethernet-powerlink.org"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://www.ethernet-powerlink.org Powerlink_Main.xsd"><!-- Device Profile POWERLINK--><ISO15745Profile><ProfileHeader/><ProfileBody
xsi:type="ProfileBody_Device_Powerlink"
fileName="filename"
fileCreator="creator_name"
fileCreationDate="2006-07-10"
fileCreationTime="15:00:00+01:00"
fileModificationDate="2007-06-18"
fileModificationTime="15:20:00+01:00"
fileModifiedBy="modifier_name"fileVersion="00.01"
supportedLanguages="en"><DeviceIdentity><vendorName>vendor_name</vendorName>XML Device Description –-19Implementation Guidelines V1.0.1

033
034
035
036
037
038
039
040
041
042
043
044
045
046
047
048
049
050
051
052
053
054
055
056
057
058
059
060
061
062
063
064
065
066
067
068
069
070
071
072
073
074
075
076
077
078
079
080
081
082
083
084
085
165
166
167
168
169
181
182
417
418

<vendorID>0x12345678</vendorID><vendorText><label lang="en">Experiencing problems - contact our support : +1</label></vendorText><deviceFamily><label lang="en">Modular I/O system</label></deviceFamily><productName>MyName</productName><productID>1234</productID><productText><label lang="en">POWERLINK Dummy I/O device</label></productText><orderNumber>order_text</orderNumber><version versionType="HW">1</version><version versionType="FW">1</version><version versionType="SW">1</version></DeviceIdentity><DeviceFunction><capabilities><characteristicsList><characteristic><characteristicName><label lang="en">Operational voltages</label></characteristicName><characteristicContent><label lang="en">12 V</label></characteristicContent><characteristicContent><label lang="en">24 V</label></characteristicContent></characteristic><characteristic><characteristicName><label lang="en">Transfer rate</label></characteristicName><characteristicContent><label lang="en">100 MBit/s</label></characteristicContent></characteristic><characteristic><characteristicName><label lang="en">Mounting orientation</label></characteristicName><characteristicContent><label lang="en">Horizontal</label></characteristicContent><characteristicContent><label lang="en">Vertical</label></characteristicContent></characteristic></characteristicsList></capabilities></DeviceFunction></ProfileBody></ISO15745Profile><!-- Communication Profile POWERLINK--><ISO15745Profile><ProfileHeader/><ProfileBody
xsi:type="ProfileBody_CommunicationNetwork_Powerlink"/></ISO15745Profile></ISO15745ProfileContainer>

Fig. 4.

File Layout - Device Profile Body

XML Device Description –-20Implementation Guidelines V1.0.1

2.1.1.1.2.2

DeviceFunction

The DeviceFunction element defines the catalogue view of the device, presented as a set of capabilities
listing device characteristics.

Element

Description

capabilities

The mandatory capabilities element textually describes all functionalities,
their characteristics, and the important parameters of the device, that need
to be known by tools which use the device profile to select products with thesame or similar properties in purely text.

characteristicsList

The characteristicsList element is a collection of characteristics. The element
shall contain at least one characteristic sub-element.

characteristic

The characteristic element describes a single characteristic of a device. It
contains a mandatory characteristicName element and at least one to many
characteristicContent elements.

characteristicName

The mandatory characteristicName element denotes a major technicalcharacteristic of the device.
Examples are:"Maximum operational voltage","Overload protection","Electrical durability".

characteristicContent

This mandatory element contains a value for the characteristic. Multiple
values may be expressed by using multiple characteristicContent elements.
EXAMPLEAn example of a single value for "Maximum operational voltage" would be
680V.

Tab. 4File Layout – Device Function Elements

A sample is given below.
001
002
003
004
005
006
007
019
020

<?xml version="1.0" encoding="UTF-8" ?><ISO15745ProfileContainer>
xmlns="http://www.ethernet-powerlink.org"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://www.ethernet-powerlink.org Powerlink_Main.xsd"><!-- Device Profile POWERLINK--><ISO15745Profile><ProfileHeader/><ProfileBody

XML Device Description –-21Implementation Guidelines V1.0.1

021
022
023
024
025
026
027
028
029
030
049
050
051
052
053
054
055
056
057
058
059
060
061
062
063
064
065
066
067
068
069
070
071
072
073
074
075
076
077
078
079
080
081
082
083
084
085
164
165
166
167
168
180
416
417
418

xsi:type="ProfileBody_Device_Powerlink"
fileName="filename"
fileCreator="creator_name"
fileCreationDate="2006-07-10"
fileCreationTime="15:00:00+01:00"
fileModificationDate="2007-06-18"
fileModificationTime="15:20:00+01:00"
fileModifiedBy="modifier_name"fileVersion="00.01"
supportedLanguages="en"><DeviceIdentity/><DeviceFunction><capabilities><characteristicsList><characteristic><characteristicName><label lang="en">Operational voltages</label></characteristicName><characteristicContent><label lang="en">12 V</label></characteristicContent><characteristicContent><label lang="en">24 V</label></characteristicContent></characteristic><characteristic><characteristicName><label lang="en">Transfer rate</label></characteristicName><characteristicContent><label lang="en">100 MBit/s</label></characteristicContent></characteristic><characteristic><characteristicName><label lang="en">Mounting orientation</label></characteristicName><characteristicContent><label lang="en">Horizontal</label></characteristicContent><characteristicContent><label lang="en">Vertical</label></characteristicContent></characteristic></characteristicsList></capabilities></DeviceFunction><ApplicationProcess/></ProfileBody></ISO15745Profile><!-- Communication Profile POWERLINK--><ISO15745Profile><ProfileHeader/><ProfileBody/></ISO15745Profile></ISO15745ProfileContainer>

Fig. 5.

2.1.1.1.2.3

File Layout - Device Profile Body

Application ProcessThis element is described in chapter 6.

XML Device Description –-22Implementation Guidelines V1.0.1

XML Device Description –-23Implementation Guidelines V1.0.1

2.1.1.2

Profile – Communication POWERLINKThe ProfileHeader including all sub-elements and the attributes of the ProfileBody of the Communication
POWERLINK profile are similar to their counterparts in the Device POWERLINK profile. They shall containthe same values.

2.1.1.2.1

Profile Header

This element is described in chapter 2.1.1.1.1 and can be reused one by one.

A sample is given below.
001
002
003
004
005
006
007
009
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
416
417
418

<?xml version="1.0" encoding="UTF-8" ?><ISO15745ProfileContainer>
xmlns="http://www.ethernet-powerlink.org"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://www.ethernet-powerlink.org Powerlink_Main.xsd"><!-- Device Profile POWERLINK--><ISO15745Profile><ProfileHeader/><ProfileBody/></ISO15745Profile><!-- Communication Profile POWERLINK--><ISO15745Profile><ProfileHeader><ProfileIdentification>EPL_Device_Profile_name</ProfileIdentification><ProfileRevision>1</ProfileRevision><ProfileName>ETHERNET Powerlink name device profile</ProfileName><ProfileSource/><ProfileClassID>CommunicationNetwork</ProfileClassID><ISO15745Reference><ISO15745Part>4</ISO15745Part><ISO15745Edition>1</ISO15745Edition><ProfileTechnology>Powerlink</ProfileTechnology></ISO15745Reference></ProfileHeader><ProfileBody
xsi:type="ProfileBody_CommunicationNetwork_Powerlink"
fileName="filename"
fileCreator="creator_name"
fileCreationDate="2006-07-10"
fileCreationTime="15:00:00+01:00"
fileModificationDate="2007-06-18"
fileModificationTime="15:20:00+01:00"
fileModifiedBy="modifier_name"fileVersion="00.01"
supportedLanguages="en"/></ProfileBody></ISO15745Profile></ISO15745ProfileContainer>

Fig. 6.

2.1.1.2.2

File Layout - Communication Profile Header

Profile Body

This attributes of this element are described in chapter 2.1.1.1.2.

XML Device Description –-24Implementation Guidelines V1.0.1

2.1.1.2.2.1

Application Layers

The ApplicationLayers element represents the POWERLINK application layer. It gives detailed information
about the ObjectList of a device. The ObjectList is described in chapter 3.

2.1.1.2.2.1.1

identity

Since different communication profiles may require different identity information, an optional local
identity sub-element may be used within an ApplicationLayers element. This identity element may
contain a subset of the sub-elements of the DeviceIdentity element. All sub-element descriptions
given there also apply for the sub-elements of this identity element.

Element

Description

vendorID

The vendorID element identifies the vendor by an ID. The vendor ID assigned
from CiA shall be used. (Use 0, if no ID has been assigned.)

productID

The productID element describes a vendor specific unique identification of
the device. For example the vendors internal ID for handling in the system
can be taken.

versionThe version element is used to store different types of version information.
Multiple version elements are possible.
Types of version:- SW = Software- FW = Firmware- HW = Hardware

Tab. 5File Layout – identity Elements

A sample is given below.
001
002
003

<?xml version="1.0" encoding="UTF-8" ?><ISO15745ProfileContainer>
xmlns="http://www.ethernet-powerlink.org"

XML Device Description –-25Implementation Guidelines V1.0.1

004
005
006
007
019
165
166
167
168
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
399
400
415
416
417
418

xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://www.ethernet-powerlink.org Powerlink_Main.xsd"><!-- Device Profile POWERLINK--><ISO15745Profile><ProfileHeader/><ProfileBody/></ISO15745Profile><!-- Communication Profile POWERLINK--><ISO15745Profile><ProfileHeader/><ProfileBody
xsi:type="ProfileBody_CommunicationNetwork_Powerlink"
fileName="filename"
fileCreator="creator_name"
fileCreationDate="2006-07-10"
fileCreationTime="15:00:00+01:00"
fileModificationDate="2007-06-18"
fileModificationTime="15:20:00+01:00"
fileModifiedBy="modifier_name"fileVersion="00.01"
supportedLanguages="en"><ApplicationLayers><identity><vendorID>0x12345678</vendorID><productID>1234</productID><version versionType="HW">1</version><version versionType="FW">1</version><version versionType="SW">1</version></identity></ApplicationLayers><TransportLayers/><NetworkManagement/></ProfileBody></ISO15745Profile></ISO15745ProfileContainer>

Fig. 7.

File Layout - identity

2.1.1.2.2.1.2

DataTypeList

Data types in ObjectList are given in hexadecimal number (as defined in the POWERLINK Specification).
The element DataTypeList stores a hex to data type relation for tool implementations.

For each data type DataTypeList contains a sub-element.

A sample is given below.
200
201
202
203
204
205
206
207
208
209
210
211
212

<DataTypeList><defType dataType="0001"><Boolean/></defType><defType dataType="0002"><Integer8/></defType><defType dataType="0003"><Integer16/></defType><defType dataType="0004"><Integer32/></defType><defType dataType="0005"><Unsigned8/></defType><defType dataType="0006"><Unsigned16/></defType><defType dataType="0007"><Unsigned32/></defType><defType dataType="0008"><Real32/></defType><defType dataType="0009"><Visible_String/></defType><defType dataType="0010"><Integer24/></defType><defType dataType="0011"><Real64/></defType><defType dataType="0012"><Integer40/></defType>XML Device Description –-26Implementation Guidelines V1.0.1

213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229

Fig. 8.

<defType dataType="0013"><Integer48/></defType><defType dataType="0014"><Integer56/></defType><defType dataType="0015"><Integer64/></defType><defType dataType="000A"><Octet_String/></defType><defType dataType="000B"><Unicode_String/></defType><defType dataType="000C"><Time_of_Day/></defType><defType dataType="000D"><Time_Diff/></defType><defType dataType="000F"><Domain/></defType><defType dataType="0016"><Unsigned24/></defType><defType dataType="0018"><Unsigned40/></defType><defType dataType="0019"><Unsigned48/></defType><defType dataType="001A"><Unsigned56/></defType><defType dataType="001B"><Unsigned64/></defType><defType dataType="0401"><MAC_ADDRESS/></defType><defType dataType="0402"><IP_ADDRESS/></defType><defType dataType="0403"><NETTIME/></defType></DataTypeList>

File Layout – DataTypeList

2.1.1.2.2.1.3

ObjectList

This part is described in chapter 3.

2.1.1.2.2.2

TransportLayers

The TransportLayers element is existing for compatibility to the CANopen XML device description and is
mandatory. For POWERLINK this element is empty.

2.1.1.2.2.3

Network Management

This part is described in chapter 4.

XML Device Description –-27Implementation Guidelines V1.0.1

Object List

3

The ObjectList contains the definition of the Object Dictionary of a device. It consists of Object elements
which can contain up to 254 SubObject elements.

The ObjectList element contains the attributes given in following Table.
Attribute

Data type

Use

Description

mandatoryObjects

xsd:unsignedInt optional Number of mandatory objects in the dictionary;Communication related objects 1000h – 1FFFh

optionalObjects

xsd:unsignedInt optional Number of optional objects in the dictionary;Communication related and user related objects
1000h – FFFFh

manufacturerObjects xsd:unsignedInt optional Number of manufacturer-defined objects in the
dictionary 2000h – 5FFFh and C000h – FFFFh
Tab. 6

ObjectList – Attributes of ObjectList

3.1

Object

The element can contain zero to 254 SubObject elements. The Object element and the SubObject
element map the functional part of the POWERLINK device profile to the POWERLINK communication
network profile.

The Object element contains the attributes given in the following table.

XML Device Description –-28Implementation Guidelines V1.0.1

Attribute

Data type

Use

Description

index

xsd:hexBinary

requiredIndex of the object (four hex digits)

namexsd:string

requiredName of the object

objectTypexsd:unsigenedByte

required

One of the following POWERLINK object types:"7" - VAR
"8" - ARRAY"9" - RECORD

dataType

xsd:hexBinary

optional

POWERLINK data type (four hex digits). See
chapter 2.1.1.2.2.1.5

lowLimit

xsd:string

optional

Low limit of the parameter value

highLimit

xsd:string

optional

High limit of the parameter value

accessTypexsd:string

optional

Access type of the object; Valid values are:const – read only access; the value is not changing
ro – read only access
wo – write only accessrw – both read and write accessdefaultValue

xsd:string

optional

Default value of the object

XML Device Description –-29Implementation Guidelines V1.0.1

actualValue

xsd:string

optional

Actual value of the object. XDD files does notcontain this value. User inputs and actual
configured values are considered in this attribute.
If the attribute actualValue is used the file has tobe stored as a .xdc

denotation

xsd:string

optional

Application specific name of the object. Used bytools for application specific object naming (e.g.
pressure, velocity). If the attribute denotation isused the file has to be stored as a .xdc (XMLdevice configuration file).

PDOmapping

xsd:NMTTOKEN

optional

described in chapter 4

objFlags

xsd:hexBinary

optional

described in chapter 3.3

uniqueIDRef

xsd:IDREF

optional

described in chapter 3.6

subNumber

xsd:unsignedByte

optional

Number of sub-objects of the object

Tab. 7

ObjectList – Object Element Attributes

A list of mandatory Objects is given below.
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256

<ObjectList><!-- mandatory Objects --><Object index="1000" name="NMT_DeviceType_U32" objectType="7"/><Object index="1001" name="ERR_ErrorRegister_U8" objectType="7"/><Object index="1006" name="NMT_CycleLen_U32" objectType="7"/><Object index="1018" name="NMT_IdentityObject_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" defaultValue="4"/><SubObject subIndex="01" name="VendorId_U32" objectType="7"/><SubObject subIndex="02" name="ProductCode_U32" objectType="7"/><SubObject subIndex="03" name="RevisionNo_U32" objectType="7"/><SubObject subIndex="04" name="SerialNo_U32" objectType="7"/></Object><Object index="1020" name="CFM_VerifyConfiguration_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" defaultValue="2"/><SubObject subIndex="01" name="ConfDate_U32" objectType="7"/><SubObject subIndex="02" name="ConfTime_U32" objectType="7"/></Object><Object index="1030" name="NMT_InterfaceGroup_0h_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" defaultValue="9"/><SubObject subIndex="01" name="InterfaceIndex_U16" objectType="7"/><SubObject subIndex="02" name="InterfaceDescription_VSTR" objectType="7"/><SubObject subIndex="03" name="InterfaceType_U8" objectType="7"/><SubObject subIndex="04" name="InterfaceMtu_U16" objectType="7"/><SubObject subIndex="05" name="InterfacePhysAddress_OSTR" objectType="7"/><SubObject subIndex="06" name="InterfaceName_VSTR" objectType="7"/><SubObject subIndex="07" name="InterfaceOperStatus_U8" objectType="7"/><SubObject subIndex="08" name="InterfaceAdminState_U8" objectType="7"/>XML Device Description –-30Implementation Guidelines V1.0.1

257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
398

<SubObject subIndex="09" name="Valid_BOOL" objectType="7" objectType="7"/></Object><Object index="1300" name="SDO_SequLayerTimeout_U32" objectType="7"/><Object index="1C0B" name="DLL_CNLossSoC_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" defaultValue="3"/><SubObject subIndex="01" name="CumulativeCnt_U32" objectType="7"/><SubObject subIndex="02" name="ThresholdCnt_U32" objectType="7"/><SubObject subIndex="03" name="Threshold_U32" objectType="7"/></Object><Object index="1C0F" name="DLL_CNCRCError_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" defaultValue="3"/><SubObject subIndex="01" name="CumulativeCnt_U32" objectType="7"/><SubObject subIndex="02" name="ThresholdCnt_U32" objectType="7"/><SubObject subIndex="03" name="Threshold_U32" objectType="7"/></Object><Object index="1C14" name="DLL_CNLossOfSocTolerance_U32" objectType="7"/><Object index="1F82" name="NMT_FeatureFlags_U32" objectType="7"/><Object index="1F83" name="NMT_EPLVersion_U8" objectType="7"/><Object index="1F8C" name="NMT_CurrNMTState_U8" objectType="7"/><Object index="1F93" name="NMT_EPLNodeID_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" defaultValue="2"/><SubObject subIndex="01" name="NodeID_U8" objectType="7"/><SubObject subIndex="02" name="NodeIDByHW_BOOL" objectType="7"/></Object><Object index="1F98" name="NMT_CycleTiming_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" defaultValue="8"/><SubObject subIndex="01" name="IsochrTxMaxPayload_U16" objectType="7"/><SubObject subIndex="02" name="IsochrRxMaxPayload_U16" objectType="7"/><SubObject subIndex="03" name="PResMaxLatency_U32" objectType="7"/><SubObject subIndex="04" name="PReqActPayload_U16" objectType="7"/><SubObject subIndex="05" name="PResActPayload_U16" objectType="7"/><SubObject subIndex="06" name="ASndMaxLatency_U32" objectType="7"/><SubObject subIndex="07" name="MultiplCycleCnt_U8" objectType="7"/><SubObject subIndex="08" name="AsyncMTUSize_U16" objectType="7"/></Object><Object index="1F99" name="NMT_CNBasicEthernetTimeout_U32" objectType="7"/><Object index="1F9E" name="NMT_ResetCmd_U8" objectType="7"/></ObjectList>

Fig. 9.

ObjectList – Mandatory Indices

3.2

SubObject

The SubObject element has an empty content and contains the attributes given in following Table.

XML Device Description –-31Implementation Guidelines V1.0.1

Attribute

Data type

Use

Description

subIndex

xsd:hexBinary

requiredIndex of the sub-object (four hex digits)

namexsd:string

requiredName of the sub-object

objectTypexsd:unsigenedByte

required

The following POWERLINK object type is allowed:"7" – VAR shall be used

dataType

xsd:hexBinary

optional

POWERLINK data type (four hex digits). See
chapter 2.1.1.2.2.1.5

lowLimit

xsd:string

optional

Low limit of the parameter value

highLimit

xsd:string

optional

High limit of the parameter value

accessTypexsd:string

optional

Access type of the sub-object; Valid values are:const – read only access; the value is notchanging
ro – read only access
wo – write only accessrw – both read and write accessdefaultValue

xsd:string

optional

Default Value of the object

actualValue

xsd:string

optional

Actual value of the sub-object.
If the attribute actualValue is used the file has tobe stored as .xdc

XML Device Description –-32Implementation Guidelines V1.0.1

denotation

xsd:string

optional

Application specific name of the sub-object.
Used by tools for application specific sub-object
naming (e.g. pressure, velocity). If this attribute isused the file has to be stored as .xdc.

PDOmapping

xsd:NMTTOKEN

optional

further described in chapter 5

objFlags

xsd:hexBinary

optional

further described in chapter 3.3

uniqueIDRef

xsd:IDREF

optional

further described in chapter 6

3.3

objFlags

The purpose of objFlags is to control the behaviour of tools. E.g. writing a value to an object can have a
direct influence like changing the direction of a motor. To prevent this the object flag “write on download
not allowed” can be set.

It is a four hex digits value and defined as following:
bit 0:

0 – write on download allowed
1 – write on download not allowed

bit 1:

0 – read on upload allowed
1 – read on upload not allowed

bit 2:

0 – change of value takes effect immediately
1 – change takes effect after reset

bit 3 to 31:

3.4

reserved (0)Store Configuration

If a device is able to store parameters, the associated Object 1010h shall exist within the Object list.
By including this object into the XML file tools and their runtime environment have the possibility to store
the parameters on the device.

A sample is given below.

XML Device Description –-33Implementation Guidelines V1.0.1

302
303
304
305
306
307

Fig. 10.

3.5<Object index="1010" name="NMT_StoreParam_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" dataType="0005"
accessType="const" defaultValue="0x1" PDOmapping="no" /><SubObject subIndex="01" name="AllParam_U32" objectType="7" dataType="0007"
accessType="rw" defaultValue="0" PDOmapping="no" /></Object>

ObjectList – Store Configuration

Records

Records are objects which can contain subObjects of different data types than the object. Records shall befully described with all their valid subObjects and only the subObjects can be referenced within theapplication process. (See chapter 6)

3.6

uniqueIDRef

The uniqueIDRef attribute links the object or sub-object to an appropriate parameter definition in theapplication process part (see chapter 6). This parameter is identified via a uniqueID containing the samevalue as the uniqueIDRef element of the object / sub-object.
If the attribute is present, the attributes datatype, lowLimit, highLimit, accessType, and defaultValue shallbe defined by the referenced element in the application process part. These attributes of
Object/SubObject are ignored by tools and can be omitted.

A Sample for an Object List entry referencing to the application process is given below.
230
383
384
398

Fig. 11.

<ObjectList>...
<Object index="2001" name="NonMapableExample2_U8" objectType="7" PDOmapping="no"uniqueIDRef="UID_2"/>...
</ObjectList>

Object List – uniqueIDRef

XML Device Description –-34Implementation Guidelines V1.0.1

Mapping

4

There are three different types of mapping for devices which are listed in the following table.
Type

Description

default mappingThis mapping represents the factory settings. Always present after a NMTResetand can not be changed from the user.

static mapping

Userdefined CN – mapping which is fixed from CN side and can’t be changed
from MN side. Described in chapter 4.1.

dynamic mapping

Fully flexible mapping to the CN which can be performed from MN side.
Describe in chapter 4.2.

Tab. 8

4.1

Static Mapping – Mapping types

Static mapping

To describe a complete static mapping for a device, several conditions need to be fulfilled. These
conditions are listed below.

XML Device Description –-35Implementation Guidelines V1.0.1

Condition 1
The object 1F82h contains the feature flags of a CN. Bit 6 describes the support of “Dynamic
PDO Mapping” which need to be FALSE meaning that the device does not support dynamic
mapping.
A sample is given below.
273<Object index="1F82" name="NMT_FeatureFlags_U32" objectType="7"value="0607"/>

Tab. 9Static Mapping – NMT_FeatureFlags_U32

Condition 2
If 1400h and/or 1800h is/are existing, Sub-object 2 of this index is describing the mapping
version. The value of the attribute “accessType” of Sub-object 2 needs to be “ro”.
A sample is given below.
312 <Object index="1800" name="PDO_TxCommParam_0h_REC" objectType="9">313<SubObject subIndex="00" name="NumberOfEntries" objectType="7" dataType="0005"
314
accessType="ro" defaultValue="0x2" PDOmapping="no" />315<SubObject subIndex="01" name="NodeID_U8" objectType="7" dataType="0005"
316
accessType="rw" defaultValue="0x0" PDOmapping="no" />317<SubObject subIndex="02" name="MappingVersion_U8" objectType="7" dataType="0005"
318
accessType="ro" defaultValue="0x0" PDOmapping="no" />319 </Object>

Tab. 10

Static Mapping – MappingVersion_U8

Condition 3
If object 1400h is existing the corresponding object 1600h shall to exist as well. Same is valid
for 1800h and 1A00h.

XML Device Description –-36Implementation Guidelines V1.0.1

Condition 4
Each Sub-object of object index 1600h or 1A00h shall have a further entry within the
ObjectList, describing the mapped (sub)-object in detail.
A sample is given below.
319
320
321
322
323
342

<Object index="1A00" name="PDO_TxMappParam_0h_AU64" objectType="8"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" dataType="0005"
accessType="ro" defaultValue="0x0A" PDOmapping="no" /><SubObject subIndex="01" name="ObjectMapping 1" objectType="7" dataType="001B"
accessType="ro" defaultValue="0x0010000000003000" PDOmapping="no" /></Object>344
345<Object index="3000" name="Status" objectType="7" PDOmapping="default"
accessType="ro" dataType="0006" defaultValue="0x00" />Tab. 11

Static Mapping – Reference Object

Condition 5
All objects and sub-objects with indexes greater or equal 2000h need to have the attribute“PDOmapping=default” or “PDOmapping=no”.

4.2

Dynamic Mapping

There are different possibilities for mapping objects as PDO:•

no – not mappable to PDO data•

default – mapped by default (described in chapter 4.1)•

optional – can be mapped either as transmit or receive PDO•

TPDO – can only be mapped as transmit PDO•

RPDO – can only be mapped as receive PDO

XML Device Description –-37Implementation Guidelines V1.0.1

5

Network Management

Device information not covered by mandatory objects is stored in subelements of the
NetworkManagement element.

They are separated as following:
Features (mandatory)

Features are called device description entries in the POWERLINK
specification. Refer to the POWERLINK specification for a comprehensive
list. The features are further grouped in general, MN, and CN features.

deviceCommissioning

Used by tools to store additional commissioning information (.xdc only)(optional)
Diagnostics

Description of diagnostics data (errors) reported by the device(optional)

5.1

Features

Every feature is assigned to GeneralFeatures, MNFeatures or CNFeatures according to its availability
on an MN, CN or both. The GeneralFeatures sub-element is mandatory whereas MNFeatures and
CNFeatures are optional. In a device description for a CN the element CNFeatures has to be present.
Similar a device description for an MN shall contain the element MN Features
The elements GeneralFeatues, MNFeatures or CNFeatures have empty content.
The features are described as attributes of GeneralFeatures, MNFeatures or CNFeatures. The data
type of a feature is derived from the data type defined in the POWERLINK Specification and converted toan XML data type. For a list and description of all POWERLINK Features please refer to the device
description entries in the POWERLINK specification.

5.1.1

GeneralFeatures

The element GeneralFeatures is mandatory.

A sample of General Features is given below:

XML Device Description –-38Implementation Guidelines V1.0.1

402
403
404
405
406
407
408
409
410
411

<GeneralFeatures
DLLFeatureMN="false"
NMTBootTimeNotActive="4000"
NMTCycleTimeMax="60000"
NMTCycleTimeMin="200"
NMTErrorEntries="2"
NWLIPSupport="false"
SDOServer="true"
SDOMaxConnections="1"
SDOMaxParallelConnections="1"/>Fig. 12.

Network Management – General Features

XML Device Description –-39Implementation Guidelines V1.0.1

FeatureDescription

DLLFeatureMN

Indicates if the XDD file is either for a MN or a CN whereby “false” isthe indication that it is for a CN. In case a device support both there
need to be 2 XML Files existing for every type (MN,CN) one

NMTBootTimeNotActive

Represents the boot time (in microseconds) of the device from power
on to NMT_MS_NOT_ACTIVE. It is possible to use this value toconfigure the MN properly waiting for the boot-up of the CN to. It
influences directly the boot up time of complete systems.

NMTCycleTimeMax

Is the maximum cycle time in microseconds the device supports.

NMTCycleTimeMin

Is the minimum cycle time in microseconds the device supports

NMTErrorEntries

Gives the maximum number of error entries (status and history
entries) which can be sent in the StatusResponse frame.

NWLIPSupport

Ability of the node to communicate via IP. If “true” tools can use thisto configure the MN to set the correct parameters to the CN tocommunicate via IP. (e.g.: set IP gateway)

SDOServer

Determines whether the device has got an SDOServer implementend
or not.

SDOMaxConnections

Describes the maximum number of SDO connections.

SDOMaxParallelConnections

Describes the maximum number of active SDO connections between
an SDO client/server pair.

Tab. 12

5.1.2

Network Management – MNFeatures

CN Features

In case the XDD file is describing a CN these features are mandatory.

A sample of CN Features is given below:
412
413
414

<CNFeatures
DLLCNFeatureMultiplex="true"
NMTCNSoC2PReq="0"/>Fig. 13.

Network Management – CN Features

XML Device Description –-40Implementation Guidelines V1.0.1

FeatureDescription

DLLCNFeatureMultiplex

Node’s ability to perform control of multiplexed isochronous
communication. Tools can use this to allow configuration ofmultiplexed from MN side.

NMTSoC2PReq

Time in nanoseconds to handle a PReq following an SoC. It is toconsider, that this time is not exceeding the Minimum possible cycle
time.

Tab. 13

Network Management – CNFeatures

XML Device Description –-41Implementation Guidelines V1.0.1

Application Process

6

The ApplicationProcess element respresents the set of services and parameters, which constitute thebehaviour and the interfaces of the the device in terms of the application, independent of the device
technology and the underlaying communication networks and communication protocols.

The application process consists of the following elements.
oparameterList (see chapter 6.1)

otemplateList (see chapter 6.2)odatatypeList (see chapter 6.3)

6.1

parameterList

The parameterList is mandatory within the application process and represents a sequence of one to many
parameter elements.
Each of the parameter elements represents a parameter of the device profile.
A parameter is described by:its name(s) and description(s)its attributesa choice of possible referencesa reference to a simple data typea reference to a complex data typea possible empty set of sub-elements(conditionalSupport, denotation, actualValue, defaultValue,
substituteValue, allowedValues, unit and property)

6.1.1

parameter

The used elements of a parameter with their functionality are described in the further sub-chapters.

The parameter element shall contain the attributes given in the following Tab.

XML Device Description –-42Implementation Guidelines V1.0.1

Attribute

Data type

Use

Description

uniqueIDXSD:IDrequired

Unique ID of parameter. Described in
6.1.1.2.

XML Device Description –-43Implementation Guidelines V1.0.1

accessXSD:NMTTOKEN

default

Defines which operations are valid for theparameter:
const – read access only; the value is notchangedread – read access only (default value)
write – write access only
readWrite – read and write access
readWriteInput – both read and write
access, but represents process input data
readWriteOutput – both read and write
access, but represents process output datanoAccess – access denied

persistent

xsd:Boolean

default

Defines the behaviour after a power
failure; valid values are false (default) andtrue

offsetxsd:string

optional

further described in chapter 6.1.1.5

multiplierxsd:string

optional

further described in chapter 6.1.1.5

templateIDRef

xsd:IDREF

optional

further described in chapter 6.1.1.7

Tab. 14

Application Process – Parameter attributes of element parameter

A sample is given below.
086
125
126
127
128
143
163
164

<ApplicationProcess><parameterList><parameter uniqueID="UID_1" access="readWrite"><label lang="en">NonMapableExample_U8</label><USINT/></parameter></parameterList></ApplicationProcess>Fig. 14.

Application Process - Parameter

XML Device Description –-44Implementation Guidelines V1.0.1

6.1.1.1

DataTypes

Datatypes are described with an element from the group g_Simple. g_Simple defines a ceratin set ofdatatypes. The following table is making a comparison between the g_Simple group, EPSG and IEC 611313 datatypes.

g_simple

EPSG

EPSG Code (2 Byte hex)

IEC 61131-3

BOOL

BOOLEAN

0001

BOOL

SINT

INTEGER8

0002

SINT

INT

INTEGER16

0003

INT

DINT

INTEGER32

0004

DINT

LINT

INTEGER64

0015

LINT

USINT

UNSIGNED8

0005

USINT

UINT

UNSIGNED16

0006

UINT

UDINT

UNSIGNED32

0007

UDINT

ULINT

UNSIGNED64

001B

ULINT

REAL

REAL32

0008

REAL

LREAL

REAL64

0011

LREAL

STRINGVISIBLE_STRING

0009

STRINGBYTE

UNSIGNED8

0005

BYTE

WORD

UNSIGNED16

0006

WORD

DWORD

UNSIGNED32

0007

DWORD

LWORD

UNSIGNED64

001B

LWORD

BITSTRING

-

-

-

CHAR

VISIBLE_STRING

0009

STRING[1]Tab. 15

Application Process – Datatype comparison

XML Device Description –-45Implementation Guidelines V1.0.1

6.1.1.2

uniqueID

An element can have an attribute uniqueID which shall be unique within the whole XML file. Referencing
with a uniqueIDRef from an Object/Subobject within the ObjectList or from the application process itself isresulting in a uniqueID within the application process.

XML Device Description –-46Implementation Guidelines V1.0.1

A sample is given below.

ObjectList
230
381
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<ObjectList><Object index="2000" name="NonMapableExample_U8" objectType="7" PDOmapping="no"uniqueIDRef="UID_1"/></ObjectList>

Application Process
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<ApplicationProcess><parameterList><parameter uniqueID="UID_1" access="readWrite" multiplier="3" offset="25"><label lang="en">NonMapableExample_U8</label><USINT/><actualValue value="150"/><defaultValue value ="100"/><allowedValues><range><minValue value="0x19"/><maxValue value="0xFF"/></range><value="0x19"/><value="0x34"/><value="0x88"/><value="0xEF"/><value="0xF0"/><value="0xFF"/></allowedValues></parameter></parameterList></ApplicationProcess>Fig. 15.

ApplicationProcess - uniqueUD

6.1.1.3

defaultvalue

Determines the default value of the parameter.

6.1.1.4

actualValue

The actual value of the parameter. XDD files does not contain this attribute. User inputs and actual
configured values are considered in this attribute. If the attribute actualValue is used the file has to be
stored as an .xdc

6.1.1.5

Scaling

The parameter elements offset and multiplier are used for scaling purposes. Scaling is used to describe adifferences of the displayed value to the one given by the device.
This formula is used: “Displayed value = (value + offset) * multiplier”

XML Device Description –-47Implementation Guidelines V1.0.1

A Sample is given below.
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<ApplicationProcess><parameterList><parameter uniqueID="UID_1" access="readWrite" multiplier="3" offset="25"><label lang="en">NonMapableExample_U8</label><USINT/><actualValue value="150"/><defaultValue value ="100"/></parameter></parameterList>

Fig. 16.

6.1.1.6

163 </ApplicationProcess>Application Process - Scaling

allowedValues

Parameters can be limited by defining ranges. Ranges are sub-elements of allowed values. With theattributes minValue and maxValue a value can be assigned to a range which tools can check and use. The
allowedValues element does have a reference to a parameter template which is describe in chapter 6.2.

A sample is given below.
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<ApplicationProcess><parameterList><parameter uniqueID="UID_1" access="readWrite" multiplier="3" offset="25"><label lang="en">NonMapableExample_U8</label><USINT/><actualValue value="150"/><defaultValue value ="100"/><allowedValues><range><minValue value="0x19"/><maxValue value="0xFF"/></range><value="0x19"/><value="0x34"/><value="0x88"/><value="0xEF"/><value="0xF0"/><value="0xFF"/></allowedValues></parameter></parameterList></ApplicationProcess>Fig. 17.

6.2

Aplication Process - Ranges

templateList

Templates are used in case settings of parameters can be reused. This is on one hand to minimize thework to create a XDD/XDC and on the other hand to minimize the size of the XML. Templates arereferenced with the attribute “templateIDRef” from the element “parameter” or “allowedValues”. The

XML Device Description –-48Implementation Guidelines V1.0.1

values from “parameterTemplate” or “allowedValuesTemplate” need to be used within tools if thecorresponding element or attribute of “parameter” or “allowedValues” is not present, else the values aretaken from attribute or element of “parameter” or “allowedValues”. From “parameterTemplate” or“allowedValuesTemplate” there can be no further references to other templates. In case the parameter
does have a defaultvalue or actual value direct described as well as within a template the direct describedvalue need to be taken.

A sample is given below.
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<ApplicationProcess><templateList><parameterTemplate uniqueID="PTUID_2" access="readWrite"><USINT/><defaultValue value="0x22"/><allowedValues><range><minValue value="0x10"/><maxValue value="0x40"/></range></allowedValues></parameterTemplate><allowedValuesTemplate uniqueID="AVTUID_3"><range><minValue value="0x80"/><maxValue value="0xDD"/></range></allowedValuesTemplate></templateList><parameterList><parameter uniqueID="UID_2" templateIDRef="PTUID_2"><label lang="en">NonMapableExample_U8</label><USINT/><defaultValue value="0x35"/></parameter><parameter uniqueID="UID_3" access="readWrite"><label lang="en">Second_U16</label><UINT/><defaultValue value="0xAB"/><allowedValues templateIDRef="AVTUID_3"/></parameter></parameterList></ApplicationProcess>Fig. 18.

ApplicationProcess – paramterTemplate, allowedValuesTemplate

6.3

dataTypeList

The optional dataTypeList element is present if complex data types like arrays or data structures areneeded inside variable declarations or parameter specifications of the device profile.

If present, the dataTypeList element contains a sequence of one to many elements out of the choice of:an array element,

XML Device Description –-49Implementation Guidelines V1.0.1

a struct element,
an enum element ora derived element.

6.3.1

structThe struct element serves to describe a structured data type, which may be referenced from aninterface variable of a function type, from an array type definition, from a component variable insidethe definition of another structured data type, or from a parameter specification.

6.3.1.1

varDeclaration

In the context of the definition of a structured data type, the varDeclaration element describes a single
component variable (member) of the structure.

The varDeclaration element may contain the element group g_labels with one or more subelements. The
group g_labels supports the introduction of a label (name) and a description in the context of theparent element The data type of the component variable or interface variable is either defined by anelement describing a simple data type out of the group g_simple, or by an element dataTypeIDRef, whichreferences one of the defined complex data types within the dataTypeList element. All further propertiesof the variable are contained in the attributes of the varDeclaration element, as given in the following
table.

Attribute

Data type

Use

Description

name

xsd:string

required Name of the interface variable or structure component

uniqueID

xsd:IDrequired Unique ID of the interface variable or structure component

size

xsd:string

optional

Number of elements, if the interface variable or structurecomponent is of type anonymous ARRAY, BITSTRING, STRING
or WSTRING

initialValue xsd:string

optional

Initial value of the interface variable or structure component

XML Device Description –-50Implementation Guidelines V1.0.1

6.3.1.1.1

Signals

Signals are bits or bitgroups which are derived from a tatatype out of the g_Simple group.
Bits can either be described as a single bit or a group of bits. In case the bits does not describe thereferenced datatype completely in term of length, filling bits shall be used. These filling bits can either belocated between used data bits or at the end to fill up the data type.
Signals can be used to describe the digital channels of an I/O system. Usually, the digital I/O data aretransmitted by the device in multiple of bytes, of which the channels are represented by the single bits.
Tools are splitting up those datatypes as described and show them bit-by-bit as single datapoints

A sample is given below.
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Tab. 16<ApplicationProcess><dataTypeList><struct name="TypeStruct01" uniqueID="UID_DT_4"><varDeclaration name="Bitstring_1" uniqueID="UID_DT_4_Bitstring_1" size="184"><label lang="en">Englishdescription of Bitstring</label><BITSTRING/></varDeclaration><varDeclaration name="Byte_1" uniqueID="UID_DT_4_Byte_1" size="1"><label lang="en">English description of Bitstring</label><USINT/></varDeclaration><varDeclaration name="Bitstring_2" uniqueID="UID_DT_4_Bitstring_2" size="3"><labellang="en"> English description of U8</label><BITSTRING/></varDeclaration><varDeclaration name="Fillbts_1" uniqueID="UID_DT_4_Fillbits_1" size="5"><label lang="en">English description of Fillbits</label><BITRSTRING/></varDeclaration></struct></dataTypeList><parameterList><parameter uniqueID="UID_4" access="readWrite"><label lang="en">"Domain_with_defined_length</label><dataTypeIDRef uniqueIDRef="UID_DT_4"/></parameter></parameterList></ApplicationProcess>Application process - Signals

XML Device Description –-51Implementation Guidelines V1.0.1

Domains

6.3.2

The ObjectList does not offer an attribute to describe the length of a domain. In case of PDO mapping thelength is an important issue. This length can be achieved by defining a parameter in the application
process. The functionalities described above can be used to describe a domain. The length of the domain
is the sum of the length of the described parameters of the parameterList. This is important in case ofmapable objexts.

A sample is given below
ObjectList
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396<Object index="2004" name="MOD_InImg" objectType="7" PDOmapping="no"uniqueIDRef="UID_5" />ApplicationProcess
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Fig. 19.

<ApplicationProcess><parameterList><parameter uniqueID="UID_5" access="readWrite"><label lang="en">"Domain_with_defined_length</label><USINT/></parameter></parameterList></ApplicationProcess>Application Process - Domains

XML Device Description –-52Implementation Guidelines V1.0.1

App. 1
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XDC Sample<?xml version="1.0" encoding="UTF-8" ?><ISO15745ProfileContainer
xmlns="http://www.ethernet-powerlink.org"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xsi:schemaLocation="http://www.ethernet-powerlink.org Powerlink_Main.xsd"><!-- Device Profile POWERLINK--><ISO15745Profile><ProfileHeader><ProfileIdentification>EPL_Device_Profile_name</ProfileIdentification><ProfileRevision>1</ProfileRevision><ProfileName>Ethernet POWERLINK MyName device profile</ProfileName><ProfileSource/><ProfileClassID>Device</ProfileClassID><ISO15745Reference><ISO15745Part>4</ISO15745Part><ISO15745Edition>1</ISO15745Edition><ProfileTechnology>Powerlink</ProfileTechnology></ISO15745Reference></ProfileHeader><ProfileBody
xsi:type="ProfileBody_Device_Powerlink"
fileName="filename"
fileCreator="creator_name"
fileCreationDate="2006-07-10"
fileCreationTime="15:00:00+01:00"
fileModificationDate="2007-06-18"
fileModificationTime="15:20:00+01:00"
fileModifiedBy="modifier_name"fileVersion="00.01"
supportedLanguages="en"><DeviceIdentity><vendorName>vendor_name</vendorName><vendorID>0x12345678</vendorID><vendorText><label lang="en">Experiencing problems - contact our support : +1</label></vendorText><deviceFamily><label lang="en">Modular I/O system</label></deviceFamily><productName>MyName</productName><productID>1234</productID><productText><label lang="en">POWERLINK Dummy I/O device</label></productText><orderNumber>order_text</orderNumber><version versionType="HW">1</version><version versionType="FW">1</version><version versionType="SW">1</version></DeviceIdentity><DeviceFunction><capabilities><characteristicsList><characteristic><characteristicName><label lang="en">Operational voltages</label></characteristicName><characteristicContent><label lang="en">12 V</label></characteristicContent><characteristicContent><label lang="en">24 V</label></characteristicContent></characteristic>

XML Device Description –-53Implementation Guidelines V1.0.1

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<characteristic><characteristicName><label lang="en">Transfer rate</label></characteristicName><characteristicContent><label lang="en">100 MBit/s</label></characteristicContent></characteristic><characteristic><characteristicName><label lang="en">Mounting orientation</label></characteristicName><characteristicContent><label lang="en">Horizontal</label></characteristicContent><characteristicContent><label lang="en">Vertical</label></characteristicContent></characteristic></characteristicsList></capabilities></DeviceFunction><ApplicationProcess><dataTypeList><struct name="TypeStruct01" uniqueID="UID_DT_4"><varDeclaration name="Bitstring_1" uniqueID="UID_DT_4_Bitstring_1" size="184"><label lang="en">Englishdescription of Bitstring</label><BITSTRING/></varDeclaration><varDeclaration name="Byte_1" uniqueID="UID_DT_4_Byte_1" size="1"><label lang="en">English description of Bitstring</label><USINT/></varDeclaration><varDeclaration name="Bitstring_2" uniqueID="UID_DT_4_Bitstring_2" size="3"><labellang="en"> English description of U8</label><BITSTRING/></varDeclaration><varDeclaration name="Fillbts_1" uniqueID="UID_DT_4_Fillbits_1" size="5"><label lang="en">English description of Fillbits</label><BITRSTRING/></varDeclaration></struct></dataTypeList><templateList><parameterTemplate uniqueID="PTUID_2" access="readWrite"><USINT/><defaultValue value="0x22"/><allowedValues><range><minValue value="0x10"/><maxValue value="0x40"/></range></allowedValues></parameterTemplate><allowedValuesTemplate uniqueID="AVTUID_3"><range><minValue value="0x80"/><maxValue value="0xDD"/></range></allowedValuesTemplate></templateList><parameterList><parameter uniqueID="UID_1" access="readWrite" multiplier="3" offset="25"><label lang="en">NonMapableExample_U8</label><USINT/><actualValue value="150"/><defaultValue value ="100"/>

XML Device Description –-54Implementation Guidelines V1.0.1

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<allowedValues><range><minValue value="0x19"/><maxValue value="0xFF"/></range><value="0x19"/><value="0x34"/><value="0x88"/><value="0xEF"/><value="0xF0"/><value="0xFF"/></allowedValues></parameter><parameter uniqueID="UID_2" templateIDRef="PTUID_2"><label lang="en">NonMapableExample_U8</label><USINT/><defaultValue value="0x35"/></parameter><parameter uniqueID="UID_3" access="readWrite"><label lang="en">Second_U16</label><UINT/><defaultValue value="0xAB"/><allowedValues templateIDRef="AVTUID_3"/></parameter><parameter uniqueID="UID_4" access="readWrite"><label lang="en">"Domain_with_defined_length</label><dataTypeIDRef uniqueIDRef="UID_DT_4"/></parameter><parameter uniqueID="UID_5" access="readWrite"><label lang="en">"Domain_with_defined_length</label><USINT/></parameter></parameterList></ApplicationProcess></ProfileBody></ISO15745Profile><!-- Communication Profile POWERLINK--><ISO15745Profile><ProfileHeader><ProfileIdentification>EPL_Device_Profile_name</ProfileIdentification><ProfileRevision>1</ProfileRevision><ProfileName>ETHERNET Powerlink name device profile</ProfileName><ProfileSource/><ProfileClassID>CommunicationNetwork</ProfileClassID><ISO15745Reference><ISO15745Part>4</ISO15745Part><ISO15745Edition>1</ISO15745Edition><ProfileTechnology>Powerlink</ProfileTechnology></ISO15745Reference></ProfileHeader><ProfileBody
xsi:type="ProfileBody_CommunicationNetwork_Powerlink"
fileName="filename"
fileCreator="creator_name"
fileCreationDate="2006-07-10"
fileCreationTime="15:00:00+01:00"
fileModificationDate="2007-06-18"
fileModificationTime="15:20:00+01:00"
fileModifiedBy="modifier_name"fileVersion="00.01"
supportedLanguages="en"><ApplicationLayers><identity><vendorID>0x12345678</vendorID><productID>1234</productID><version versionType="HW">1</version><version versionType="FW">1</version>

XML Device Description –-55Implementation Guidelines V1.0.1

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<version versionType="SW">1</version></identity><DataTypeList><defType dataType="0001"><Boolean/></defType><defType dataType="0002"><Integer8/></defType><defType dataType="0003"><Integer16/></defType><defType dataType="0004"><Integer32/></defType><defType dataType="0005"><Unsigned8/></defType><defType dataType="0006"><Unsigned16/></defType><defType dataType="0007"><Unsigned32/></defType><defType dataType="0008"><Real32/></defType><defType dataType="0009"><Visible_String/></defType><defType dataType="0010"><Integer24/></defType><defType dataType="0011"><Real64/></defType><defType dataType="0012"><Integer40/></defType><defType dataType="0013"><Integer48/></defType><defType dataType="0014"><Integer56/></defType><defType dataType="0015"><Integer64/></defType><defType dataType="000A"><Octet_String/></defType><defType dataType="000B"><Unicode_String/></defType><defType dataType="000C"><Time_of_Day/></defType><defType dataType="000D"><Time_Diff/></defType><defType dataType="000F"><Domain/></defType><defType dataType="0016"><Unsigned24/></defType><defType dataType="0018"><Unsigned40/></defType><defType dataType="0019"><Unsigned48/></defType><defType dataType="001A"><Unsigned56/></defType><defType dataType="001B"><Unsigned64/></defType><defType dataType="0401"><MAC_ADDRESS/></defType><defType dataType="0402"><IP_ADDRESS/></defType><defType dataType="0403"><NETTIME/></defType></DataTypeList><ObjectList><!-- mandatory Objects --><Object index="1000" name="NMT_DeviceType_U32" objectType="7"/><Object index="1001" name="ERR_ErrorRegister_U8" objectType="7"/><Object index="1006" name="NMT_CycleLen_U32" objectType="7"/><Object index="1018" name="NMT_IdentityObject_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" defaultValue="4"/><SubObject subIndex="01" name="VendorId_U32" objectType="7"/><SubObject subIndex="02" name="ProductCode_U32" objectType="7"/><SubObject subIndex="03" name="RevisionNo_U32" objectType="7"/><SubObject subIndex="04" name="SerialNo_U32" objectType="7"/></Object><Object index="1020" name="CFM_VerifyConfiguration_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" defaultValue="2"/><SubObject subIndex="01" name="ConfDate_U32" objectType="7"/><SubObject subIndex="02" name="ConfTime_U32" objectType="7"/></Object><Object index="1030" name="NMT_InterfaceGroup_0h_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" defaultValue="9"/><SubObject subIndex="01" name="InterfaceIndex_U16" objectType="7"/><SubObject subIndex="02" name="InterfaceDescription_VSTR" objectType="7"/><SubObject subIndex="03" name="InterfaceType_U8" objectType="7"/><SubObject subIndex="04" name="InterfaceMtu_U16" objectType="7"/><SubObject subIndex="05" name="InterfacePhysAddress_OSTR" objectType="7"/><SubObject subIndex="06" name="InterfaceName_VSTR" objectType="7"/><SubObject subIndex="07" name="InterfaceOperStatus_U8" objectType="7"/><SubObject subIndex="08" name="InterfaceAdminState_U8" objectType="7"/><SubObject subIndex="09" name="Valid_BOOL" objectType="7" objectType="7"/></Object><Object index="1300" name="SDO_SequLayerTimeout_U32" objectType="7"/><Object index="1C0B" name="DLL_CNLossSoC_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" defaultValue="3"/><SubObject subIndex="01" name="CumulativeCnt_U32" objectType="7"/><SubObject subIndex="02" name="ThresholdCnt_U32" objectType="7"/><SubObject subIndex="03" name="Threshold_U32" objectType="7"/>XML Device Description –-56Implementation Guidelines V1.0.1

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</Object><Object index="1C0F" name="DLL_CNCRCError_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" defaultValue="3"/><SubObject subIndex="01" name="CumulativeCnt_U32" objectType="7"/><SubObject subIndex="02" name="ThresholdCnt_U32" objectType="7"/><SubObject subIndex="03" name="Threshold_U32" objectType="7"/></Object><Object index="1C14" name="DLL_CNLossOfSocTolerance_U32" objectType="7"/><Object index="1F82" name="NMT_FeatureFlags_U32" objectType="7" value"0607"/><Object index="1F83" name="NMT_EPLVersion_U8" objectType="7"/><Object index="1F8C" name="NMT_CurrNMTState_U8" objectType="7"/><Object index="1F93" name="NMT_EPLNodeID_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" defaultValue="2"/><SubObject subIndex="01" name="NodeID_U8" objectType="7"/><SubObject subIndex="02" name="NodeIDByHW_BOOL" objectType="7"/></Object><Object index="1F98" name="NMT_CycleTiming_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" defaultValue="8"/><SubObject subIndex="01" name="IsochrTxMaxPayload_U16" objectType="7"/><SubObject subIndex="02" name="IsochrRxMaxPayload_U16" objectType="7"/><SubObject subIndex="03" name="PResMaxLatency_U32" objectType="7"/><SubObject subIndex="04" name="PReqActPayload_U16" objectType="7"/><SubObject subIndex="05" name="PResActPayload_U16" objectType="7"/><SubObject subIndex="06" name="ASndMaxLatency_U32" objectType="7"/><SubObject subIndex="07" name="MultiplCycleCnt_U8" objectType="7"/><SubObject subIndex="08" name="AsyncMTUSize_U16" objectType="7"/></Object><Object index="1F99" name="NMT_CNBasicEthernetTimeout_U32" objectType="7"/><Object index="1F9E" name="NMT_ResetCmd_U8" objectType="7"/><!-- end of mandatory Objects --><!-- Sample for object flags --><!-- "write on download not allowed" and "change of value takes effect after
reset"--><Object index="4900" name="ObjFlagsDescription" objectType="7" PDOmapping="no"accessType="rw" dataType="0006" objFlags="0001" /><!-- End Sample for object flags --><!-- Sample store configuration --><Object index="1010" name="NMT_StoreParam_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" dataType="0005"
accessType="const" defaultValue="0x1" PDOmapping="no" /><SubObject subIndex="01" name="AllParam_U32" objectType="7" dataType="0007"
accessType="rw" defaultValue="0" PDOmapping="no" /></Object><!-- End Sample store configuration --><!-- Sample static mapping --><!-- Mapping object within the communication area --><Object index="1800" name="PDO_TxCommParam_0h_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" dataType="0005"
accessType="ro" defaultValue="0x2" PDOmapping="no" /><SubObject subIndex="01" name="NodeID_U8" objectType="7" dataType="0005"
accessType="rw" defaultValue="0x0" PDOmapping="no" /><SubObject subIndex="02" name="MappingVersion_U8" objectType="7" dataType="0005"
accessType="ro" defaultValue="0x0" PDOmapping="no" /></Object><Object index="1A00" name="PDO_TxMappParam_0h_AU64" objectType="8"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" dataType="0005"
accessType="ro" defaultValue="0x0A" PDOmapping="no" /><SubObject subIndex="01" name="ObjectMapping 1" objectType="7" dataType="001B"
accessType="ro" defaultValue="0x0010000000003000" PDOmapping="no" /><SubObject subIndex="02" name="ObjectMapping 2" objectType="7" dataType="001B"
accessType="ro" defaultValue="0x0020001000016020" PDOmapping="no" /><SubObject subIndex="03" name="ObjectMapping 3" objectType="7" dataType="001B"
accessType="ro" defaultValue="0x0010003000016030" PDOmapping="no" /><SubObject subIndex="04" name="ObjectMapping 4" objectType="7" dataType="001B"
accessType="ro" defaultValue="0x0010004000016040" PDOmapping="no" /><SubObject subIndex="05" name="ObjectMapping 5" objectType="7" dataType="001B"
accessType="ro" defaultValue="0x0020005000026020" PDOmapping="no" />XML Device Description –-57Implementation Guidelines V1.0.1

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<SubObject subIndex="06" name="ObjectMapping 6" objectType="7" dataType="001B"
accessType="ro" defaultValue="0x0010007000026030" PDOmapping="no" /><SubObject subIndex="07" name="ObjectMapping 7" objectType="7" dataType="001B"
accessType="ro" defaultValue="0x0010008000026040" PDOmapping="no" /><SubObject subIndex="08" name="ObjectMapping 8" objectType="7" dataType="001B"
accessType="ro" defaultValue="0x0020009000036020" PDOmapping="no" /><SubObject subIndex="09" name="ObjectMapping 9" objectType="7" dataType="001B"
accessType="ro" defaultValue="0x001000B000036030" PDOmapping="no" /><SubObject subIndex="0A" name="ObjectMapping 10" objectType="7" dataType="001B"
accessType="ro" defaultValue="0x001000C000036040" PDOmapping="no" /></Object><!-- corresponding objects within the Object dictionary --><Object index="3000" name="Status" objectType="7" PDOmapping="default"
accessType="ro" dataType="0006" defaultValue="0x00" /><Object index="6020" name="Position_Values" objectType="8" dataType="0004"><SubObject subIndex="00" name="Number_of_Entries" objectType="7" dataType="0005"
accessType="const" defaultValue="0x3" PDOmapping="no" /><SubObject subIndex="01" name="Position_Value1" objectType="7" dataType="0004"
accessType="ro" defaultValue="0x0" PDOmapping="default" /><SubObject subIndex="02" name="Position_Value2" objectType="7" dataType="0004"
accessType="ro" defaultValue="0x0" PDOmapping="default" /><SubObject subIndex="03" name="Position_Value3" objectType="7" dataType="0004"
accessType="ro" defaultValue="0x0" PDOmapping="default" /></Object><Object index="6030" name="Speed_Values" objectType="8" dataType="0003"><SubObject subIndex="00" name="Number_of_Entries" objectType="7" dataType="0005"
accessType="const" defaultValue="0x3" PDOmapping="no" /><SubObject subIndex="01" name="Speed_Value1" objectType="7" dataType="0003"
accessType="ro" defaultValue="0x0" PDOmapping="default" /><SubObject subIndex="02" name="Speed_Value2" objectType="7" dataType="0003"
accessType="ro" defaultValue="0x0" PDOmapping="default" /><SubObject subIndex="03" name="Speed_Value3" objectType="7" dataType="0003"
accessType="ro" defaultValue="0x0" PDOmapping="default" /></Object><Object index="6040" name="Acceleration Values" objectType="8" dataType="0003"><SubObject subIndex="00" name="Number_of_Entries" objectType="7" dataType="0005"
accessType="const" defaultValue="0x3" PDOmapping="no" /><SubObject subIndex="01" name="Acceleration_Value1" objectType="7"
dataType="0003" accessType="ro" defaultValue="0x0000"
PDOmapping="default" /><SubObject subIndex="02" name="Acceleration_Value2" objectType="7"
dataType="0003" accessType="ro" defaultValue="0x0"
PDOmapping="default" /><SubObject subIndex="03" name="Acceleration_Value3" objectType="7"
dataType="0003" accessType="ro" defaultValue="0x0"
PDOmapping="default" /></Object><!-- End Sample static mapping --><!-- Samples of uniqueIDRef to application Process --><Object index="2000" name="NonMapableExample_U8" objectType="7" PDOmapping="no"uniqueIDRef="UID_1"/><Object index="2001" name="NonMapableExample2_U8" objectType="7" PDOmapping="no"uniqueIDRef="UID_2"/><Object index="2002" name="Example_REC" objectType="9"><SubObject subIndex="00" name="NumberOfEntries" objectType="7" dataType="0005"
accessType="const" defaultValue="2" PDOmapping="no"/><SubObject subIndex="01" name="Second_U16" objectType="7" uniqueIDRef="UID_3"
PDOmapping="no"/><SubObject subIndex="02" name="ApplicationParam_U8" objectType="7"
PDOmapping="no"/></Object><Object index="2003" name="BitObject_U8" objectType="7" PDOmapping="no"uniqueIDRef="UID_4"/><Object index="2004" name="MOD_InImg" objectType="7" PDOmapping="no"uniqueIDRef="UID_5" /><!-- End Samples of uniqueIDRef to application Process --></ObjectList>

XML Device Description –-58Implementation Guidelines V1.0.1

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</ApplicationLayers><TransportLayers/><NetworkManagement><GeneralFeatures
DLLFeatureMN="false"
NMTBootTimeNotActive="4000"
NMTCycleTimeMax="60000"
NMTCycleTimeMin="200"
NMTErrorEntries="2"
NWLIPSupport="false"
SDOServer="true"
SDOMaxConnections="1"
SDOMaxParallelConnections="1"/><CNFeatures
DLLCNFeatureMultiplex="true"
NMTCNSoC2PReq="0"/></NetworkManagement></ProfileBody></ISO15745Profile></ISO15745ProfileContainer>