GB/Z 26157.10-2010Digital data communication for measurement and control -- Fieldbus for use in industrial control systems -- Type 2: ControlNet and EtherNet/IP specification -- Part 10: Object library (English PDF)

1 Logo object (class code = 0x01) 1

1.1 Scope 1

1.2 attributes 1

1.3 Public Services 5

1.4 Get_Attribute_Al response 6

1.5 Object Specific Services 7

1.6 Behavior 7

2 Message Router (Class Code = 0x02) 11

2.1 Scope 11

2.2 Properties 11

2.3 Public Services 12

2.4 Get_Attribute_Al Response 12

2.5 Object Specific Services 13

2.6 Behavior 13

2.7 Service Requests 13

2.8 Service Response 14

3 DeviceNet object (class code = 0x03) 14 4 collection object (class code = 0x04) 14

4.1 Scope 14

4.2 Version History 14

4.3 Properties 14

4.4 Public Services 16

4.5 Object Specific Services 16

4.6 Behavior 16

4.7 static collection 17 4.8 dynamic collection 19

4.9 Connection point 21 5 connection object (class code = 0x05) 21

6 Connection Manager object (class code = 0x06) 21

6.1 Scope 21

6.2 Properties 21

6.3 Public Services 22

6.4 Object Specific Services 23 7 register object (class code = 0x07) 23

7.1 Scope 23

7.2 Properties 23

7.3 Public Services 24

7.4 Object Specific Services 24

7.5 Behavior 24

8 discrete input point object (class code = 0x08) 25

8.1 Scope 25

8.2 Version history 25

8.3 Properties 25

8.4 Public Services 26

8.5 Get_Attribute_Al Response 26

8.6 Set_Attribute_Al Request 27

8.7 Object Specific Services 27

8.8 Behavior 27

8.9 Property Access Rules 30 9 discrete output point object (class code = 0x09) 30

9.1 Scope 30

9.2 Properties 30

9.3 Public Services 34

9.4 Get_Attribute_Al Response 34

9.5 Set_Attribute_Al Request 35

9.6 Object Specific Services 35

9.7 Behavior 35

9.8 Attributes Access Rules 39

10 Analog Input Point Object (Class Code = 0x0A) 39

13 Reserved (class code = 0x0D) 54

Object Sensing Object (Class Code = 0x0E) 54

14.1 Scope 54

43 Check the processing target (class code = 0x2B) 143

Overloaded object (class code = 0x2C)

44.1 Scope 143

44.2 Properties 143

44.3 Public Services 145

44.4 Specific Services 145

44.5 Behavior 145

44.6 Error and Alarm Codes 145 45 soft-start object (class code = 0x2D) 147

45.1 Scope 147

45.2 Properties 147

45.3 Public Services 148

45.4 Specific Services 149

45.5 Behavior 149

45.6 Error and Alarm Codes 151

46 Select object (class code = 0x2E) 153

47 to 239 Reserved 153

240 ControlNet object (class code = 0xf0) 153

240.1 Scope 153

240.2 Properties 153

240.3 Service 160

240.4 Conduct 161

240.5 Module Status Indicator Modulestatusindicator 162 241 holder object (class code = 0xF1) 162

241.1 Scope 162

241.2 Properties 162

241.3 Public Services 170

241.4 Class-Specific Services 171

241.5 Service Error Code 178

241.6 Behavior 178

241.7 Other 179

241.8 holder power-on sequence 179 241.9 operating status 180

241.10 Web Resources 183

241.11 Error Hold 183

241.12 MACID The main holder 183 is selected

241.13 Main Holder Verification 183

241.14 Free Node 184

241.15 Synchronize Network Change Processing 184

242 Dispatch Object (Class Code = 0xF2) 185

242.1 Scope 185

242.2 Properties 185

242.3 Services 186

242.4 Typical Dispatch Session 193

243 Connection Configuration Object (Class Code = 0xF3) 194

243.1 Scope 194

243.2 Attributes 194

243.3 Service 197

243.4 State Diagram 207 244 port object (class code = 0xF4) 207

244.1 Scope 207

244.2 Properties 208

244.3 Services 209

Figure 1 ISO -OSI relationship XVI

Figure 2 identifies the object state transition Figure 8

Figure 3 static collection state transition Figure 17

Figure 4 set object state transition Figure 19

Figure 5 Register Object State Transition Figure 24

Figure 6 State transitions for discrete input objects Figure 28

Figure 7 Typical Input Object State Machine Concept Figure 29

Figure 8 discrete input value behavior 30

Figure 9 Logic OR 30

Figure 10 Discrete Output Point Value Behavior 32

Figure 11 Logic or 33

Figure 12 discrete output point object state transition Figure 36

Figure 13 Analog Input Point Object State Transition Figure 43

Figure 14 Typical Input Object State Machine Concept Figure 44

Figure 15 Logic OR 45

Figure 16 analog output point object state transition diagram 51

Figure 17 Typical Output Object State Machine Concept Figure 52

Figure 18 Logic OR 53

Figure 19 Object-aware object behavior 57

Figure 20 Example Example 58

Figure 21 Engineering value 63 from the actual value

Figure 22 Calculating the actual value from engineering value 63

Figure 23 shows the engineering value 63 from the actual value with extended accuracy

Figure 24 shows the actual value 63 from the engineering value with extended accuracy

Figure 25 Parameter Object State Transition Figure 67

Figure 26 Group Summary of Objects 69

Figure 27 Status Transition Figure 72

Figure 28 Logical OR 72

Figure 29 Discrete Input Group Overview 73

Figure 30 Status Transition Figure 76

Figure 31 Status Property Behavior 76

Figure 32 Discrete Output Group Overview 77

Figure 33 Status Transition Figure 80

Figure 34 DG Object Overview 81

Figure 35 Status Transition Diagram 83

Figure 36 Status Property Behavior 84

Figure 37 Analog Input Group Object Overview 84

Figure 38 Status Transition Figure 87

Figure 39 Status Attributes Behavior 88

Figure 40 Analog Output Group Object Overview 88

Figure 41 Status Transition Figure 92

Figure 42 Status Attributes Behavior 92

Figure 43 AG Object Overview 93

Figure 44 State Transition Diagram 96

Figure 45 Status Attributes Behavior 96

Figure 46 Position Sensor Object Status Transition Figure 99

47 Figure, State Machine for Typical Input Objects Concept Description 99

48 Figure, Graduation Input Behavior 105

49 Figure, Pointer Input Behavior 106

50 Figure, Register Input Behavior 106

51 Figure, Position Controller Object Motion Track Generator State Diagram 113

52 Figure, Servo System Command Output Generator 114

53 Figure, Direct Torque Mode Function 114

54 Figure, Module Sequencer 116

55 Figure, Control Monitoring Status Transmission Status Figure 128

56 Figure, AC/DC Drive Object Signal Flow 140

57 Figure, AD/DC Torque/Current Signal Flow 141

58 Figure, Drive Acceleration 141

59 Figure, Torque Reference 142

60 Figure, soft starter output voltage behavior description 151

61 Figure, Holder CRC Algorithm 168

62 Figure, cage object power state diagram (start - start in the figure) 180

63 Figure, Figure 61 Cage Object Operation Status Figure 181

64 Figure, Synchronize network change operation 184

65 Figure, Connection Configuration Object Edit Flowchart 207

Table 1 identifies the object class attribute 1

Table 2 identifies the object instance attributes 2

Table 3 identifies the object semantics 3

Table 4 identifies the status of the instance attribute object bit definition 4

Table 5 Status Attributes 4 ~ 7 4

Table 6 fault bit 5

Table 7 identifies the object fault (example - non-normative) 5

Table 8 identifies the object public service 5

Table 9 Reset object-specific parameters 6

Table 10 Type Bits Specification 6

Table 11 Get_Attribute_Al Class-level object/service specific response data 6

Table 12 Get_Attribute_Al instance level object/service specific response data 7

Table 13 Modified Get_Attribute_Al instance level object/service specific response data 7

Table 14 identifies the object STD event 8

Table 15 Status Event Matrix (SEM) for identifying objects 9

Table 16 identifies the object SEM status 10

Table 17 Packet Router Object Class Attributes 11

Table 18 Message Router Object Instance Attributes 12

Table 19 Message Router Object Public Service 12

Table 20 Get_Attribute_Al Class-level object/service specific reply data 12

Table 21 Get_Attribute_Al instance level object/service specific reply data 13

Table 22 Packet Router Object Forward_Open Parameter 13

Table 23 Collection Object Version History 14

Table 24 Collection Object Class Properties 14

Table 25 Collection Object Instance Attributes 15

Table 26 Collection object member list, instance attribute 2, data type 15

Table 27 Collection objects Public service 16

Table 28 Collection Object Member List Rule 17

Table 29 Static Collection Behavior for SEM Events 18

Table 30 Static Collection Object Attributes Access Rules 18

Table 31 Status Event Matrix (SEM) for Dynamic Aggregation Behavior 19

Table 32 Dynamic Collection Object Attributes Access Rule 20

Table 33 Connection Manager Object Class Properties 21

Table 34 Connection Manager Object Instance Attributes

Table 35 Connection Manager Object Public Services 23

Table 36 Register Object Class Attributes 23

Table 37 Register Object Instance Attributes 23

Table 38 30-bit queue coding example --- informative 24

Table 39 Register Objects Public Service 24

Table 40 Register Object Status Event Matrix 24

Table 41 Discrete Input Point Object Version History 25

Table 42 Discrete Input Point Object Class Attributes 25

Table 43 Discrete Input Point Object Instance Attributes 25

Table 44 Discrete Input Point Object Public Services 26

Table 45 Get_Attribute_Al Class Object/Service Specific Response Data 26

Table 46 Get_Attribute_Al instance level object/service specific response data 27

Table 47 Example level order 27

Table 48 Discrete Input Object SEM Status 28

Table 49 Discrete Input Point Object STD Events 28

Table 50 Discrete Input Point Objects SEM Events 29

Table 51 Discrete output point object class attributes 31

Table 52 Discrete Output Point Object Instance Attributes 31

Table 53 Optional Instance Attributes for Discrete Output Point Objects 32

Table 54 Security Status Values 33

Table 55 Attribute Dependencies 33

Table 56 DOP behavior 33

Table 57 Discrete Output Point Object Public Services 34

Table 58 Get_Attribute_Al Class-level object/service-specific reply data 34

Table 59 Get_Attribute_Al instance-level/service-specific data 34

Table 60 Set_Attribute_Al Instance Level passed Property Order 35

Table 61 Discrete output point object SEM status 36

Table 62 Discrete output point object SEM events 37

Table 63 Status Event Matrix 37

Table 64 Analog Input Object Version History 40

Table 65 Analog Input Point Object Class Attributes 40

66 Table, Analog Input Point Object Instance Attributes 40

67 Table, Analog Input Point Object Public Service 41

68 Table, Get_Attribute_Al Class-level object/service-specific reply data 42

69 Table, Get_Attribute_Al instance level object/service specific reply data 42

70 Table, Attributes passed on Set_Attribute_Al request Sequence 43

71 Table, Simulated Input Point Object SEM Status 43

72 Table, Object SEM Events 44

73 Table, SEM 44 for Analog Input Point Objects

74 Table, Analog Output Point Class Properties 46

75 Table, Analog Output Point Instance Attributes 46

76 Table, Default Property Values 48

77 Table, Analog Output Point Object Public Service 48

78 Table, Response Data for Object/Service Features 49

79 Table, Instance level object/service specific response data for Get_Attribute_Al 49

80 Table, shows the order of 50 at the instance level

81 Table, Simulated output point object SEM status 51

82 Table, Simulated Output Point Object SEM Events 51

83 Table, SEM 52 for simulating output point objects

84 Table, Security Status Optional Attributes 53

85 Table, Attribute Dependencies 53

86 Table, Exists Object Class Attributes 54

87 Table, Object Aware Object Instance Attributes 54

88 Table, Common Object Sensing Device Output Values 56

89 Table, Usage of Methods of Operation 56

90 Table, Existing Public Services 56

91 Table, Attributes of the accessibility 57

92 Table, Object-Aware Object Attributes Access 57

93 Table, Parameter Object Class Properties 58

94 Table, Parameter Object Class Descriptor Value of bit 59

95 Table, Parameter Object Instance Attributes 59

96 Table, Bit Definition for Instance Attribute 4, Descriptor Instance Attribute 61

97 Table, Data Types Supported by Parameter Objects 62

98 Table, Scale Conversion Formula Properties 62

99 Table, Scale Transform Link Instance Attributes 63

Table 100 Parameter Object Public Service 64

Table 101 Class-level object/service-specific reply data for Get_Attribute_Al 64

Table 102 compares the basic and all attributes select 65

Table 103 Get_Attribute_Al instance-level object/service-specific reply data --- basic parameters 65

Table 104 Get_Attribute_Al instance level, object/service specific reply data --- all parameters 65

Table 105 Parameter Objects. Object Specific Services 66

Table 106 enumerates string 66

Table 107 Parameters for Get_Enum_String request 66

Table 108 Parameter for Get_Enum_String Response 66

Table 109 SEM Events for Parameter Objects 67

Table 110 Parameter Group Object Class Attributes 67

Table 111 Parameter Group Object Instance Attributes 68

Table 112 Parameter Group Object Public Service 68

Table 113 Get_Attribute_Al Class-level object/service-specific reply data 68

Table 114 Get_Attribute_Al instance level object/service specific reply data 68

Table 115 Parameter group object SEM 69

Table 116 Group Object Class Attributes 70

Table 117 Group object instance properties 70

Table 118 Group Objects Public Services 70

Table 119 Get_Attribute_Al Class-level object/service-specific reply data 71

Table 120 Get_Attribute_Al Instance Level/Service Specific Response Data 71

Table 121 Group object behavior status 72

Table 122 Discrete Input Group Object Class Properties 73

Table 123 Discrete Input Group Instance Instance Attributes 73

Table 124 Discrete Inputs Group Object Public Service 74

Table 125 Get_Attribute_Al Class-level object/service-specific reply data 75

Table 126 Get_Attribute_Al instance level object/service specific reply data 75

Table 127 Set_Attribute_Al Instance Level/Service Specific Request Data 76

Table 128 Status Equality 76

Table 129 Discrete Output Group Object Class Properties 77

Table 130 Discrete Output Group Instance Instance Attributes 77

Table 131 Discrete Output Group Object Public Service 78

Table 132 Get_Attribute_Al Class Object/Service Specific Reply Data 79

Table 133 Get_Attribute_Al instance level object/service specific reply data 79

Table 134 Set_Attribute_Al Instance Level/Service Specific Request Data 80

Table 135 Status Equality 80

Table 136 Discrete group object class properties 81

Table 137 Discrete Group Object Instance Attributes 82

Table 138 Discrete Group Public Services 82

Table 139 Class-level object/service-specific reply data for Get_Attribute_Al 82

Table 140 Instance level object/service specific response data for Get_Attribute_Al 83

Table 141 Status Equality 83

Table 142 Analog input group object class properties 84

Table 143 Analog Input Group Object Instance Attributes 85

Table 144 Analog Input Group Objects Public Service 86

Table 145 Get_Attribute_Al Class Object/Service Specific Reply Data 86

Table 146 Get_Attribute_Al instance level object/service specific reply data 86

Table 147 Set_Attribute_Al Instance Level/Service Specific Request Data 87

Table 148 Status Equality 87

Table 149 Analog Output Group Object Class Properties

Table 150 Analog Output Group Object Instance Attributes 89

Table 151 Analog Output Group Object Public Service 90

Table 152 Get_Attribute_Al Class Object/Service Specific Reply Data 90

Table 153 Get_Attribute_Al instance level object/service specific reply data 91

Table 154 Set_Attribute_Al instance level object/service specific data 91

Table 155 Status Equality 92

Table 156 Simulation Group Object Class Attributes 93

Table 157 Simulation Group Object Instance Attributes 94

Table 158 Simulated Group Objects Public Service 94

Table 159 Class-level object/service-specific reply data for Get_Attribute_Al 95

Table 160 Instance level object/service specific reply data for Get_Attribute_Al 95

Table 161 Status Equality 96

Table 162 Position Sensor Object Class Properties 97

Table 163 Position Sensor Object Instance Attributes 97

Table 164 Position Sensor Objects Public Service 98

Table 165 SEM Events 99

Table 166 Status Sensor Object Status Event Matrix 100

Table 167 Resolution 101

Table 168 Resolution Example 101

Table 169 Resolution 101

Table 170 Cam (CAM) Attribute Features 102

Table 171 Position Controller's Monitoring Object Class Properties

Table 172 Monitoring object instance properties of the position controller 102

Table 173 Monitoring object home and index properties 103 of the position controller

Table 174 Monitoring object registration attribute 104 of the position controller

Table 175 Axis-following properties of the position controller 105

Table 176 Supported Services, Codes, and Descriptions 105

Table 177 Position Controller Object Class Properties 107

Table 178 Position Controller Object Profile Attributes 107

Table 179 Position Controller Object Feedback and Tuning Properties 109

Table 180 Position Controller object limit (limit) property 111

Table 181 Services Supported by Location Controller Objects 112

Table 182 Module Sorter Object Classes Property 115

Table 183 Instance Attributes for Module Sequencer Object 115

Table 184 Services Supported by the Module Sequencer 116

Table 185 Class attributes for command module objects 116

Table 186 Instance Attributes for Command Module Objects 117

Table 187 Modify Attributes Command --- 01 118

Table 188 Waits for Equal Order --- 02 118

Table 189 Conditional link is greater than command --- 03 119

Table 190 Conditional Links Less Than Command --- 04 119

Table 191 Delay Command --- 06 120

Table 192 Track Command --- 07 120...