EN 61800-7-202:2016

Adjustable speed electrical power drive systems - Part 7-202: Generic interface and use of profiles for power drive systems - Profile type 2 specification

IEC 61800-7-202:2015 specifies profile type 2 (CIP MotionTM) for Power Drive Systems (PDS). Profile type 2 can be mapped onto different communication network technologies. This edition includes the following significant technical changes with respect to the previous edition: a) update of patent information; b) new revision of the Drive Profile and Drive Axis specifications, with multiple clarifications and enhancements.

Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl - Teil 7-202: Generisches Interface und Nutzung von Profilen für Leistungsantriebssysteme (PDS) - Spezifikation von Profil-Typ 2

Entraînements électriques de puissance à vitesse variable - Partie 7-202: Interface générique et utilisation de profils pour les entraînements électriques de puissance - Spécification de profil de type 2

L'IEC 61800-7-202:2015 spécifie le type de profil 2 (CIP MotionTM) pour les entraînements électriques de puissance (PDS). Le type de profil 2 peut être mis en correspondance avec différentes technologies de réseau de communication. Cette édition inclut les modifications techniques majeures suivantes par rapport à l'édition précédente: a) mise à jour de l'information sur les brevets; b) nouvelle révision des spécifications de Profil d'Entraînement et d'Axe d'Entraînement avec multiples clarifications et améliorations.

Električni pogonski sistemi z nastavljivo hitrostjo - 7-202. del: Generični vmesnik in uporaba profilov za električne pogonske sisteme - Specifikacija za profil tipa 2

Ta del standarda IEC 61800 določa profil tipa 2 (CIP Motion™) za električne pogonske sisteme (PDS). Profil tipa 2 je mogoče mapirati na različne tehnologije komunikacijskega omrežja. Funkcije, določene v tem delu standarda IEC 61800-7, niso namenjene za zagotavljanje funkcionalne varnosti. Za to so potrebni dodatni ukrepi v skladu z ustreznimi standardi, sporazumi in zakoni.

General Information

• Status: Published
• Publication Date: 11-Feb-2016
• Withdrawal Date: 24-Dec-2018
• ICS: 29.200 - Rectifiers. Convertors. Stabilized power supply
• ICS: 35.100.05 - Multilayer applications
• Technical Committee: CLC/TC 22X - Power electronics
• Drafting Committee: IEC/SC 22G - IEC_SC_22G
• Current Stage: 6060 - Document made available - Publishing
• Start Date: 12-Feb-2016
• Completion Date: 12-Feb-2016
• Ref Project: SIST EN 61800-7-202:2016 - Adjustable speed electrical power drive systems - Part 7-202: Generic interface and use of profiles for power drive systems - Profile type 2 specification

Relations

• Replaces: EN 61800-7-202:2008 - Adjustable speed electrical power drive systems - Part 7-202: Generic interface and use of profiles for power drive systems - Profile type 2 specification
• Effective Date: 28-Jan-2023

Standards Content (Sample)

SLOVENSKI STANDARD
01-april-2016
1DGRPHãþD
SIST EN 61800-7-202:2008
(OHNWULþQLSRJRQVNLVLVWHPL]QDVWDYOMLYRKLWURVWMRGHO*HQHULþQLYPHVQLN
LQXSRUDEDSURILORY]DHOHNWULþQHSRJRQVNHVLVWHPH6SHFLILNDFLMD]DSURILOWLSD
Adjustable speed electrical power drive systems - Part 7-202: Generic interface and use
of profiles for power drive systems - Profile type 2 specification
Ta slovenski standard je istoveten z: EN 61800-7-202:2016
ICS:
29.200 8VPHUQLNL3UHWYRUQLNL Rectifiers. Convertors.
6WDELOL]LUDQRHOHNWULþQR Stabilized power supply
QDSDMDQMH
35.100.05 9HþVORMQHXSRUDEQLãNH Multilayer applications
UHãLWYH
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

EUROPEAN STANDARD EN 61800-7-202

NORME EUROPÉENNE
EUROPÄISCHE NORM
February 2016
ICS 29.200; 35.100.05 Supersedes EN 61800-7-202:2008
English Version
Adjustable speed electrical power drive systems -
Part 7-202: Generic interface and use of profiles for power drive
systems - Profile type 2 specification
(IEC 61800-7-202:2015)
Entraînements électriques de puissance à vitesse variable - Elektrische Leistungsantriebssysteme mit einstellbarer
Partie 7-202: Interface générique et utilisation de profils Drehzahl - Teil 7-202: Generisches Interface und Nutzung
pour les entraînements électriques de puissance - von Profilen für Leistungsantriebssysteme (PDS) -
Spécification de profil de type 2 Spezifikation von Profil-Typ 2
(IEC 61800-7-202:2015) (IEC 61800-7-202:2015)
This European Standard was approved by CENELEC on 2015-12-25. CENELEC members are bound to comply with the CEN/CENELEC
Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration.
Up-to-date lists and bibliographical references concerning such national standards may be obtained on application to the CEN-CENELEC
Management Centre or to any CENELEC member.
This European Standard exists in three official versions (English, French, German). A version in any other language made by translation
under the responsibility of a CENELEC member into its own language and notified to the CEN-CENELEC Management Centre has the
same status as the official versions.
CENELEC members are the national electrotechnical committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, the Czech Republic,
Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia,
Lithuania, Luxembourg, Malta, the Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland,
Turkey and the United Kingdom.

European Committee for Electrotechnical Standardization
Comité Européen de Normalisation Electrotechnique
Europäisches Komitee für Elektrotechnische Normung
CEN-CENELEC Management Centre: Avenue Marnix 17, B-1000 Brussels
© 2016 CENELEC All rights of exploitation in any form and by any means reserved worldwide for CENELEC Members.
Ref. No. EN 61800-7-202:2016 E

European foreword
The text of document 22G/308/FDIS, future edition 2 of IEC 61800-7-202, prepared by
SC 22G “Adjustable speed electric drive systems incorporating semiconductor power converters” of
IEC/TC 22 “Power electronic systems and equipment" was submitted to the IEC-CENELEC parallel
vote and approved by CENELEC as EN 61800-7-202:2016.

The following dates are fixed:
• latest date by which the document has to be (dop) 2016-09-25
implemented at national level by
publication of an identical national
standard or by endorsement
(dow) 2018-12-25
• latest date by which the national
standards conflicting with the
document have to be withdrawn
This document supersedes EN 61800-7-202:2008.

Attention is drawn to the possibility that some of the elements of this document may be the subject of
patent rights. CENELEC [and/or CEN] shall not be held responsible for identifying any or all such
patent rights.
Endorsement notice
The text of the International Standard IEC 61800-7-202:2015 was approved by CENELEC as a
European Standard without any modification.
In the official version, for Bibliography, the following notes have to be added for the standards indicated:

IEC 61131-3 NOTE Harmonized as EN 61131-3.
IEC 61158 Series NOTE Harmonized as EN 61158 Series.
IEC 61158-2:2014 NOTE Harmonized as EN 61158-2:2014 (not modified).
IEC 61158-3-2:2014 NOTE Harmonized as EN 61158-3-2:2014 (not modified).
1)
IEC 61499-1:2005 NOTE Harmonized as EN 61499-1:2005 (not modified).
IEC 61784-1:2014 NOTE Harmonized as EN 61784-1:2014 (not modified).
IEC 61784-2:2014 NOTE Harmonized as EN 61784-2:2014 (not modified).
IEC 61800 Series NOTE Harmonized as EN 61800 Series.
IEC 61800-7 Series NOTE Harmonized as EN 61800-7 Series.
IEC 61800-7-201 NOTE Harmonized as EN 61800-7-201.
IEC 61800-7-203 NOTE Harmonized as EN 61800-7-203.
IEC 61800-7-204 NOTE Harmonized as EN 61800-7-204.
IEC 61800-7-301 NOTE Harmonized as EN 61800-7-301.
IEC 61800-7-302 NOTE Harmonized as EN 61800-7-302.
IEC 61800-7-303 NOTE Harmonized as EN 61800-7-303.
IEC 61800-7-304 NOTE Harmonized as EN 61800-7-304.
IEC 62026-3 NOTE Harmonized as EN 62026-3.

1)
Superseded by EN 61499-1:2013 (IEC 61499-1:2012).
Annex ZA
(normative)
Normative references to international publications
with their corresponding European publications

The following documents, in whole or in part, are normatively referenced in this document and are
indispensable for its application. For dated references, only the edition cited applies. For undated
references, the latest edition of the referenced document (including any amendments) applies.

NOTE 1 When an International Publication has been modified by common modifications, indicated by (mod), the relevant
EN/HD applies.
NOTE 2 Up-to-date information on the latest versions of the European Standards listed in this annex is available here:
www.cenelec.eu
Publication Year Title EN/HD Year
IEC 60204-1 -  Safety of machinery - Electrical equipment EN 60204-1 -
of machines -
Part 1: General requirements
IEC 61158-4-2 2014 Industrial communication networks - EN 61158-4-2 2014
Fieldbus specifications -
Part 4-2: Data-link layer protocol
specification - Type 2 elements
IEC 61158-5-2 2014 Industrial communication networks - EN 61158-5-2 2014
Fieldbus specifications -
Part 5-2: Application layer service definition -
Type 2 elements
IEC 61158-6-2 2014 Industrial communication networks - EN 61158-6-2 2014
Fieldbus specifications -
Part 6-2: Application layer protocol
specification - Type 2 elements
IEC 61588 2009 Precision clock synchronization protocol - -
for networked measurement and control
systems
IEC 61800-7-1 2015 Adjustable speed electrical power drive EN 61800-7-1 2016
systems -
Part 7-1: Generic interface and use of
profiles for power drive systems - Interface
definition
IEEE Std 112 2004 IEEE Standard Test Procedure for - -
Polyphase Induction Motors and Generators

IEC 61800-7-202 ®
Edition 2.0 2015-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –

Part 7-202: Generic interface and use of profiles for power drive systems –

Profile type 2 specification
Entraînements électriques de puissance à vitesse variable –

Partie 7-202: Interface générique et utilisation de profils pour les entraînements

électriques de puissance – Spécification de profil de type 2

INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
INTERNATIONALE
ICS 29.200; 35.100.05 ISBN 978-2-8322-2943-9

– 2 – IEC 61800-7-202:2015 © IEC 2015
CONTENTS
FOREWORD . 10
INTRODUCTION . 12
0.1 General . 12
0.2 Patent declaration . 15
1 Scope . 17
2 Normative references . 17
3 Terms, definitions and abbreviated terms . 17
3.1 Terms and definitions . 17
3.2 Abbreviated terms . 25
4 Overview . 25
4.1 General . 25
4.2 Control modes . 26
4.2.1 General . 26
4.2.2 Control methods . 26
4.2.3 Control nomenclature . 27
4.2.4 Position control . 27
4.2.5 Velocity control . 28
4.2.6 Acceleration control . 30
4.2.7 Torque control . 30
4.2.8 No Control . 31
5 Data types . 32
5.1 Data type overview . 32
5.2 Conventions . 32
6 CIP Motion drive profile . 32
6.1 Object model . 32
6.1.1 Object overview . 32
6.1.2 Object description . 33
6.2 How objects affect behavior . 34
6.3 Defining object interfaces . 34
6.4 I/O connection messages . 35
6.4.1 General . 35
6.4.2 CIP Motion I/O Connection . 35
6.4.3 Controller-to-Device Connection . 39
6.4.4 Device-to-Controller Connection . 59
6.4.5 Fixed Motion I/O connection format . 68
6.4.6 CIP Motion I/O Connection timing model . 69
6.5 Device startup procedure . 85
6.5.1 General . 85
6.5.2 Motion I/O Connection creation . 85
6.5.3 Motion Device Axis Object configuration . 88
6.5.4 Time Synchronization . 90
6.6 Device visualisation . 92
6.7 Ethernet/IP Quality of Service (QoS) . 93
7 Motion Device Axis Object . 93
7.1 General considerations . 93

IEC 61800-7-202:2015 © IEC 2015 – 3 –
7.1.1 General . 93
7.1.2 Revision history . 93
7.1.3 Object overview . 93
7.1.4 Motion Device Axis Object abstraction . 94
7.1.5 Motion Control Axis Object . 95
7.1.6 Device control classification . 95
7.1.7 Required vs. Optional in implementation . 96
7.2 Class attributes . 107
7.2.1 General . 107
7.2.2 Semantics. 111
7.3 Instance attributes . 114
7.3.1 General . 114
7.3.2 Motion Control configuration attributes . 116
7.3.3 Motion Scaling attributes . 117
7.3.4 Connection Data attributes . 123
7.3.5 Motor attributes . 129
7.3.6 Feedback attributes . 140
7.3.7 Event Capture attributes . 149
7.3.8 Command reference generation attributes . 155
7.3.9 Control mode attributes . 158
7.3.10 Stopping & Braking attributes . 176
7.3.11 DC Bus Control attributes . 186
7.3.12 Power and thermal management attributes . 190
7.3.13 Axis Status attributes . 193
7.3.14 Exception, fault, and alarm attributes . 199
7.3.15 Fault and alarm Log attributes . 205
7.3.16 Exception limit attributes . 210
7.3.17 Axis exception action configuration attribute . 213
7.3.18 Initialization fault attributes . 215
7.3.19 Start inhibit attributes . 216
7.3.20 APR fault attributes . 217
7.3.21 Axis statistical attributes . 219
7.3.22 Axis info attributes . 219
7.3.23 General purpose I/O attributes . 220
7.3.24 Local Mode attributes . 222
7.3.25 Axis Safety attributes . 222
7.4 Common services . 223
7.4.1 Supported services . 223
7.4.2 Service specific data . 224
7.5 Object specific services . 226
7.5.1 Supported services . 226
7.5.2 Service specific data . 226
7.6 Behavior . 241
7.6.1 State model . 241
7.6.2 State behavior . 252
7.6.3 Fault and alarm behavior . 259
7.6.4 Start Inhibit behavior . 261
7.6.5 Visualization behavior . 261
7.6.6 Command generation behavior . 266

– 4 – IEC 61800-7-202:2015 © IEC 2015
7.6.7 Feedback interface behavior . 271
7.6.8 Event Capture Behavior . 273
7.6.9 Control Mode behavior. 274
Bibliography . 288

Figure 1 – Structure of IEC 61800-7 . 15
Figure 2 – Open loop position control. 27
Figure 3 – Closed loop position control . 28
Figure 4 – Open loop velocity control . 29
Figure 5 – Closed loop velocity control . 29
Figure 6 – Acceleration control . 30
Figure 7 – Torque control . 31
Figure 8 – No Control (Feedback Only) . 31
Figure 9 – Object Model for a CIP Motion device . 33
Figure 10 – CIP Motion I/O Connection model . 35
Figure 11 – CIP Motion I/O Connection channels . 36
Figure 12 – Controller-to-Device Connection format (Connection Point 2) . 37
Figure 13 – Device-to-Controller Connection format (Connection Point 2) . 38
Figure 14 – CIP Motion Controller-to-Device Connection format . 39
Figure 15 – Connection Header . 39
Figure 16 – Connection Format . 39
Figure 17 – Connection Header . 40
Figure 18 – Instance Data Block . 43
Figure 19 – Instance Data Header . 43
Figure 20 – Cyclic Data Block . 44
Figure 21 – Control Mode . 44
Figure 22 – Feedback Mode. 44
Figure 23 – Cyclic Write Data Block . 50
Figure 24 – Cyclic Write Data Block example . 50
Figure 25 – Event Data Block. 51
Figure 26 – Service Data Block . 58
Figure 27 – CIP Motion Device-to-Controller Connection format . 59
Figure 28 – Connection Header . 59
Figure 29 – Connection Header . 60
Figure 30 – Node Fault/Alarm . 61
Figure 31 – Adjustment of actual position data based on Device Time Stamp . 62
Figure 32 – Instance Data Block . 63
Figure 33 – Instance Data Header . 63
Figure 34 – Cyclic Data Block . 63
Figure 35 – Cyclic Read Data Block . 65
Figure 36 – Cyclic Read Data Block example . 65
Figure 37 – Event Data Block. 66
Figure 38 – Service Data Block . 68

IEC 61800-7-202:2015 © IEC 2015 – 5 –
Figure 39 – Fixed Controller-to-Device Connection format (fixed size = 16 bytes) . 69
Figure 40 – Fixed Device-to-Controller Connection format (fixed size = 16 bytes) . 69
Figure 41 – CIP Motion 1-Cycle timing model . 70
Figure 42 – CIP Motion 2-Cycle timing model . 72
Figure 43 – CIP Motion 3-Cycle timing model . 73
Figure 44 – Controller-to-Device Connection timing with fine interpolation . 74
Figure 45 – Controller-to-Device Connection timing with extrapolation . 76
Figure 46 – Use of Time Stamp to adjust actual position to the controller’s timebase . 77
Figure 47 – Coordination of two drives with different Update Periods . 79
Figure 48 – Coordination of multiple drive axes in case of delayed Controller-to-
Device Connection packets . 80
Figure 49 – Propagation of a step change in time . 81
Figure 50 – Configuration Block Format Revision 1 (Connection Point 81) . 86
Figure 51 – Configuration Block Format Revision 2 (Connection Point 82) . 87
Figure 52 – Typical initial C-to-D connection data block . 88
Figure 53 – Typical initial D-to-C connection data block . 88
Figure 54 – Typical contents of first C-to-D class attribute configuration packet . 88
Figure 55 – Typical response to first C-to-D class configuration packet . 89
Figure 56 – Typical contents of first C-to-D axis instance configuration packet. 89
Figure 57 – Typical response to first C-to-D axis configuration packet . 90
Figure 58 – Typical contents of C-to-D Time Sync service request packet . 90
Figure 59 – Group Sync of CIP Motion devices . 91
Figure 60 – Object components for CIP Motion control architecture . 94
Figure 61 – Command Control Word field . 127
Figure 62 – IEEE Std 112 per phase motor model . 130
Figure 63 – Event Checking Control Word field . 152
Figure 64 – Event Checking Status word field . 153
Figure 65 – Brake Control Sequence (Category 0 Stop) . 182
Figure 66 – Brake Control Sequence (Category 1 Stop) . 183
Figure 67 – Brake Control Sequence (Category 2 Stop) . 184
Figure 68 – Drive Enable sequence with Proving feature . 185
Figure 69 – Drive Disable sequence with Proving feature . 186
Figure 70 – Get_Axis_Attributes_List Request rormat . 227
Figure 71 – Get_Axis_Attributes_List Response format . 228
Figure 72 – Get_Axis_Attributes_List Response – Single 4-byte attribute . 228
Figure 73 – Get_Axis_Attributes_List Response – Single 2-byte attribute . 228
Figure 74 – Get_Axis_Attributes_List Response – Byte attribute array . 229
Figure 75 – Get_Axis_Attributes_List Response – Two Dimensional attribute array . 229
Figure 76 – Get_Axis_Attributes_List Response – Error example . 229
Figure 77 – Set_Axis_Attributes_List Request format . 230
Figure 78 – Set_Axis_Attributes_List Request – Single 4-byte attribute . 230
Figure 79 – Set_Axis_Attributes_List Request – Single 2-byte attribute . 231
Figure 80 – Set_Axis_Attributes_List Request – 2-byte attribute array . 231

– 6 – IEC 61800-7-202:2015 © IEC 2015
Figure 81 – Set_Axis_Attributes_List Request – Two dimensional attribute array . 231
Figure 82 – Set_Axis_Attributes_List Response format . 231
Figure 83 – Set_Cyclic_Write_List Request format . 232
Figure 84 – Set_Cyclic_Write_List Response format . 232
Figure 85 – Set_Cyclic_Read_List Request format . 233
Figure 86 – Set_Cyclic_Read_List Response format . 233
Figure 87 – Motion Device Axis Object State Model . 241
Figure 88 – Motion Device Axis Object State Model for Feedback Only . 243
Figure 89 – Motion Device Axis Object State Model for Converter . 244
Figure 90 – Command Generator . 267
Figure 91 – Feedback Channels 1 and 2 . 272
Figure 92 – Event Capture Functionality . 273
Figure 93 – No Control (Feedback Only) . 275
Figure 94 – Closed Loop Position Control . 276
Figure 95 – Closed Loop Velocity Control . 278
Figure 96 – Open Loop Frequency Control . 280
Figure 97 – Acceleration Control . 282
Figure 98 – Torque Control . 282
Figure 99 – Closed Loop Current Vector Control . 286

Table 1 – Data types . 32
Table 2 – Objects present in a CIP Motion device . 33
Table 3 – Motion Device Axis Object content by Device Type . 34
Table 4 – Object effect on behavior . 34
Table 5 – Object interfaces . 35
Table 6 – Time Data Set . 41
Table 7 – Axis Control . 45
Table 8 – Control Status . 45
Table 9 – Command Data Set . 46
Table 10 – Command Data Element to Motion Device Axis Object attribute mapping . 46
Table 11 – Actual Data Set . 47
Table 12 – Actual Data Element to Motion Device Axis Object attribute Mapping . 47
Table 13 – Status Data Set . 48
Table 14 – Command Control . 48
Table 15 – Command Target Update vs. Update Period Ratio . 49
Table 16 – Basic Event Cycle . 51
Table 17 – Extended Event Cycle . 53
Table 18 – Basic Event Cycle with Auto-rearm . 55
Table 19 – Registration Data Set . 57
Table 20 – Home Data Set . 58
Table 21 – Watch Data Set . 58
Table 22 – Axis Response . 64
Table 23 – Event Type . 67

IEC 61800-7-202:2015 © IEC 2015 – 7 –
Table 24 – Propagation of a step change in time (example 1) . 81
Table 25 – Propagation of a step change in time (example 2) . 83
Table 26 – CIP Motion visualisation components . 92
Table 27 – Motion Device Axis Object revision history . 93
Table 28 – Example for instance attribute implementation vs. Device Function Code . 96
Table 29 – Instance attribute implementation vs. Device Function Code . 98
Table 30 – Class attributes for the Motion Device Axis Object . 108
Table 31 – Node Control bit definitions . 111
Table 32 – Node Status bit definitions . 112
Table 33 – Node Fault Code definitions . 113
Table 34 – Node Alarm Code definitions . 114
Table 35 – Dynamic Units vs. Feedback Mode . 116
Table 36 – Motion Control configuration attributes . 116
Table 37 –Control Mode enumeration definitions. 117
Table 38 – Control Method enumeration definitions . 117
Table 39 – Motion Scaling attributes . 118
Table 40 – Motion Unit selection rules . 120
Table 41 – Signal attributes affected by Motion Polarity . 121
Table 42 – Directional Limit attributes affected by Motion Polarity . 123
Table 43 – Connection Data attributes . 124
Table 44 – Actual Data Set value determination . 126
Table 45 – Command Data Set value determination . 127
Table 46 – Command Target Update enumeration definition . 127
Table 47 – Command Position Data Type enumeration definition . 128
Table 48 – Status Data Set bit definitions . 128
Table 49 – Registration Event Data format . 129
Table 50 – Home Event Data format . 129
Table 51 – Watch Event Data format . 129
Table 52 – General Motor Info attributes . 130
Table 53 – General Motor Configuration attributes . 131
Table 54 – General PM Motor Configuration attributes . 134
Table 55 – General Rotary Motor Configuration attributes . 135
Table 56 – General Linear Motor Configuration attributes . 136
Table 57 – Rotary PM Motor Configuration attributes . 137
Table 58 – Linear PM Motor Configuration attributes. 137
Table 59 – Induction Motor Configuration attributes . 138
Table 60 – Load Transmission and Actuator Configuration attributes . 139
Table 61 – Feedback Types abbreviations . 140
Table 62 – Logical Feedback Channel Control functions . 140
Table 63 – Logical Feedback Channel rules . 141
Table 64 – General Feedback Info attributes . 142
Table 65 – General Feedback Signal attributes . 142
Table 66 – Feedback Configuration attributes . 143

– 8 – IEC 61800-7-202:2015 © IEC 2015
Table 67 – Feedback Mode enumeration definitions . 149
Table 68 – Event attributes . 150
Table 69 – Event Checking Control bit definitions . 152
Table 70 – Event Checking Status bit definitions . 154
Table 71 – Command Generator Signal attributes . 155
Table 72 – Command Generator Configuration attributes . 157
Table 73 – Position Loop Signal attributes . 159
Table 74 – Position Loop Configuration attributes . 160
Table 75 – Velocity Loop Signal attributes . 162
Table 76 – Velocity Loop Configuration attributes . 163
Table 77 – Acceleration Signal attributes . 165
Table 78 – Acceleration Configuration attributes . 165
Table 79 – Torque/Force Control Signal attributes . 166
Table 80 – Torque/Force Control Configuration attributes . 167
Table 81 – Current Control Signal attributes . 169
Table 82 – Current Control Configuration attributes . 171
Table 83 – Frequency Control Signal attributes . 175
Table 84 – Frequency Control Configuration attributes . 175
Table 85 – Drive Output attributes . 176
Table 86 – Stopping/Braking attributes . 177
Table 87 – Stopping Action enumeration definitions . 180
Table 88 – Proving sub-feature attribute dependencies . 184
Table 89 – DC Bus Control attributes . 187
Table 90 – Power and Thermal Management Status attributes . 190
Table 91 – Power and Thermal Management Configuration attributes . 192
Table 92 – Axis Status attributes . 194
Table 93 – Axis Status bit definitions . 195
Table 94 – Axis Status bit vs. Axis State . 198
Table 95 – Stopping Action vs. Stop Category . 199
Table 96 – Axis I/O Status bit definitions . 199
Table 97 – Exception, Fault and Alarm attributes . 200
Table 98 – Standard Exception Table . 202
Table 99 – Fault and Alarm Log attributes .
...