  We introduce a new definition of discrete-time port-Hamiltonian systems
(PHS), which results from structure-preserving discretization of explicit PHS
in time. We discretize the underlying continuous-time Dirac structure with the
collocation method and add discrete-time dynamics by the use of symplectic
numerical integration schemes. The conservation of a discrete-time energy
balance - expressed in terms of the discrete-time Dirac structure - extends the
notion of symplecticity of geometric integration schemes to open systems. We
discuss the energy approximation errors in the context of the presented
definition and show that their order is consistent with the order of the
numerical integration scheme. Implicit Gauss-Legendre methods and Lobatto
IIIA/IIIB pairs for partitioned systems are examples for integration schemes
that are covered by our definition. The statements on the numerical energy
errors are illustrated by elementary numerical experiments.
