EN 61800-7-302:2016
(Main)Adjustable speed electrical power drive systems - Part 7-302: Generic interface and use of profiles for power drive systems - Mapping of profile type 2 to network technologies
Adjustable speed electrical power drive systems - Part 7-302: Generic interface and use of profiles for power drive systems - Mapping of profile type 2 to network technologies
IEC 61800-7-302:2015 specifies the mapping of the profile type 2 (CIP MotionTM) specified in IEC 61800-7-202 onto different network technologies. This edition includes the following significant technical changes with respect to the previous edition: - update of patent information; - updates to the Connection Format and connection points; - support of an additional object.
Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl - Teil 7-302: Generisches Interface und Nutzung von Profilen für Leistungsantriebssysteme (PDS) - Abbildung von Profil-Typ 2 auf Netzwerktechnologien
Entraînements électriques de puissance à vitesse variable - Partie 7-302: Interface générique et utilisation de profils pour les entraînements électriques de puissance - Mise en correspondance du profil de type 2 avec les technologies de réseaux
L'IEC 61800-7-302:2015 spécifie la mise en correspondance du profil de type 2 (CIP MotionTM) décrit dans l'IEC 61800-7-202 avec les différentes technologies de réseaux. Cette édition inclut les modifications techniques majeures suivantes par rapport à l'édition précédente: - mise à jour des informations sur les droits de propriété; - mises à jour du Format de connexion et des points de connexion; - prise en charge d'un objet supplémentaire.
Električni pogonski sistemi z nastavljivo hitrostjo - 7-302. del: Generični vmesnik in uporaba profilov za električne pogonske sisteme - Preslikava profila tipa 2 na omrežne tehnologije
Ta del standarda IEC 61800 določa mapiranje profila tipa 2 (CIP MotionTM), ki ga določa standard IEC 61800-7-202, na različne omrežne tehnologije.
– DeviceNet™ (CP 2/3), glej točko 5,
– ControlNet™ (CP 2/1), glej točko 6,
– EtherNet/IP™ (CP 2/2), glej točko 7.
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
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Standards Content (Sample)
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.Adjustable speed electrical power drive systems - Part 7-302: Generic interface and use of profiles for power drive systems - Mapping of profile type 2 to network technologies35.100.05UHãLWYHMultilayer applications29.200QDSDMDQMHRectifiers. Convertors. Stabilized power supplyICS:Ta slovenski standard je istoveten z:EN 61800-7-302:2016SIST EN 61800-7-302:2016en01-april-2016SIST EN 61800-7-302:2016SLOVENSKI
STANDARDSIST EN 61800-7-302:20081DGRPHãþD
EUROPEAN STANDARD NORME EUROPÉENNE EUROPÄISCHE NORM
EN 61800-7-302
February 2016 ICS 29.200; 35.100.05
Supersedes
EN 61800-7-302:2008
English Version
Adjustable speed electrical power drive systems -
Part 7-302: Generic interface and use of profiles for power drive systems - Mapping of profile type 2 to network technologies (IEC 61800-7-302:2015)
Entraînements électriques de puissance à vitesse variable - Partie 7-302: Interface générique et utilisation de profils pour les entraînements électriques de puissance - Mise en correspondance du profil de type 2 avec les technologies de réseaux (IEC 61800-7-302:2015)
Elektrische Leistungsantriebssysteme mit einstellbarer Drehzahl - Teil 7-302: Generisches Interface und Nutzung von Profilen für Leistungsantriebssysteme (PDS) - Abbildung von Profil-Typ 2 auf Netzwerktechnologien (IEC 61800-7-302:2015) 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 61800-7-302:2016 E SIST EN 61800-7-302:2016
The following dates are fixed: • latest date by which the document has to be implemented at national level by publication of an identical national standard or by endorsement (dop) 2016-09-25 • latest date by which the national standards conflicting with the document have to be withdrawn (dow) 2018-12-25
This document supersedes EN 61800-7-302:2008.
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 61800-7-302:2015 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 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). IEC 61499-1:2005 NOTE Harmonized as EN 61499-1:2005 1) (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 61800-7-1:2015 NOTE Harmonized as EN 61800-7-1:2016 (not modified). 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 61800-7-303 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). SIST EN 61800-7-302:2016
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 61158-4-2 2014
Industrial communication networks - Fieldbus specifications -
Part 4-2: Data-link layer protocol specification - Type 2 elements EN 61158-4-2 2014
IEC 61158-5-2 2014
Industrial communication networks - Fieldbus specifications -
Part 5-2: Application layer service definition - Type 2 elements EN 61158-5-2 2014
IEC 61158-6-2 2014
Industrial communication networks - Fieldbus specifications -
Part 6-2: Application layer protocol specification - Type 2 elements EN 61158-6-2 2014
IEC 61588 2009
Precision clock synchronization protocol
for networked measurement and control systems - -
IEC 61800-7-202 -
Adjustable speed electrical power drive systems -
Part 7-202: Generic interface and use of profiles for power drive systems - Profile type 2 specification EN 61800-7-202 -
IEC 61800-7-302 Edition 2.0 2015-11 INTERNATIONAL STANDARD NORME INTERNATIONALE Adjustable speed electrical power drive systems –
Part 7-302: Generic interface and use of profiles for power drive systems – Mapping of profile type 2 to network technologies
Entraînements électriques de puissance à vitesse variable –
Partie 7-302: Interface générique et utilisation de profils pour les entraînements électriques de puissance – Mise en correspondance du profil de type 2 avec les technologies de réseaux
INTERNATIONAL ELECTROTECHNICAL COMMISSION COMMISSION ELECTROTECHNIQUE INTERNATIONALE
ICS 29.200; 35.100.05
ISBN 978-2-8322-2927-9
– 2 – IEC 61800-7-302:2015 © IEC 2015 CONTENTS FOREWORD . 4 INTRODUCTION . 6 0.1 General . 6 0.2 Patent declaration . 9 1 Scope . 11 2 Normative references . 11 3 Terms, definitions and abbreviated terms . 11 3.1 Terms and definitions . 11 3.2 Abbreviated terms . 18 4 Principles for mapping CIP Motion™ . 19 4.1 General principles for mapping CIP Motion™ . 19 4.2 Mapping CIP Motion™ . 20 4.3 Data types . 20 4.4 I/O connection interface . 21 4.4.1 General . 21 4.4.2 I/O Connection Formats . 21 4.4.3 Fixed I/O Connection Format . 22 4.4.4 Variable I/O Connection Format . 23 5 Mapping to DeviceNet™ . 26 5.1 Adaptation of the device model . 26 5.2 Use of I/O data formats . 27 6 Mapping to ControlNet™ . 27 6.1 Adaptation of the device model . 27 6.2 Use of I/O data formats . 29 7 Mapping to EtherNet/IP™ . 29 7.1 Adaptation of the device model . 29 7.2 Use of I/O data formats . 30 Bibliography . 31
Figure 1 – Structure of IEC 61800-7 . 9 Figure 2 – Overview of CIP-based networks . 19 Figure 3 – Connection Header . 21 Figure 4 – Connection Format . 21 Figure 5 – Fixed Controller to Device I/O Connection Format (fixed size = 16 bytes). 23 Figure 6 – Fixed Device to Controller I/O Connection Format (fixed size = 16 bytes). 23 Figure 7 – Controller-to-Device I/O Connection Format (variable size) . 24 Figure 8 – Device-to-Controller I/O Connection Format (variable size) . 25 Figure 9 – Object Model for a CIP Motion device on DeviceNet . 26 Figure 10 – Object Model for a CIP Motion device on ControlNet . 28 Figure 11 – Object Model for a CIP Motion device on EtherNet/IP . 29
Table 1 – Data types . 21 Table 2 – Object classes for a CIP Motion device type on DeviceNet . 27 SIST EN 61800-7-302:2016
IEC 61800-7-302:2015 © IEC 2015 – 3 – Table 3 – Object classes for a CIP Motion device type on ControlNet . 28 Table 4 – Object classes for a CIP Motion device type on EtherNet/IP . 30
– 4 – IEC 61800-7-302:2015 © IEC 2015 INTERNATIONAL ELECTROTECHNICAL COMMISSION ____________
ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –
Part 7-302: Generic interface and use of profiles for power
drive systems – Mapping of profile type 2 to network technologies
FOREWORD 1) The International Electrotechnical Commission (IEC) is a worldwide organization for standardization comprising all national electrotechnical committees (IEC National Committees). The object of IEC is to promote international co-operation on all questions concerning standardization in the electrical and electronic fields. To this end and in addition to other activities, IEC publishes International Standards, Technical Specifications, Technical Reports, Publicly Available Specifications (PAS) and Guides (hereafter referred to as “IEC Publication(s)”). Their preparation is entrusted to technical committees; any IEC National Committee interested in the subject dealt with may participate in this preparatory work. International, governmental and non-governmental organizations liaising with the IEC also participate in this preparation. IEC collaborates closely with the International Organization for Standardization (ISO) in accordance with conditions determined by agreement between the two organizations. 2) The formal decisions or agreements of IEC on technical matters express, as nearly as possible, an international consensus of opinion on the relevant subjects since each technical committee has representation from all interested IEC National Committees.
3) IEC Publications have the form of recommendations for international use and are accepted by IEC National Committees in that sense. While all reasonable efforts are made to ensure that the technical content of IEC Publications is accurate, IEC cannot be held responsible for the way in which they are used or for any misinterpretation by any end user. 4) In order to promote international uniformity, IEC National Committees undertake to apply IEC Publications transparently to the maximum extent possible in their national and regional publications. Any divergence between any IEC Publication and the corresponding national or regional publication shall be clearly indicated in the latter. 5) IEC itself does not provide any attestation of conformity. Independent certification bodies provide conformity assessment services and, in some areas, access to IEC marks of conformity. IEC is not responsible for any services carried out by independent certification bodies. 6) All users should ensure that they have the latest edition of this publication. 7) No liability shall attach to IEC or its directors, employees, servants or agents including individual experts and members of its technical committees and IEC National Committees for any personal injury, property damage or other damage of any nature whatsoever, whether direct or indirect, or for costs (including legal fees) and expenses arising out of the publication, use of, or reliance upon, this IEC Publication or any other IEC Publications.
8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is indispensable for the correct application of this publication. International Standard IEC 61800-7-302 has been prepared by subcommittee SC 22G: Adjustable speed electric drive systems incorporating semiconductor power converters, of IEC technical committee TC 22: Power electronic systems and equipment. This second edition cancels and replaces the first edition published in 2007. This edition constitutes a technical revision. This edition includes the following significant technical changes with respect to the previous edition: a) update of patent information; b) updates to the Connection Format and connection points; c) support of an additional object.
IEC 61800-7-302:2015 © IEC 2015 – 5 – The text of this standard is based on the following documents: FDIS Report on voting 22G/312/FDIS 22G/327/RVD
Full information on the voting for the approval of this standard can be found in the report on voting indicated in the above table. This publication has been drafted in accordance with the ISO/IEC Directives, Part 2. A list of all parts of the IEC 61800 series, under the general title Adjustable speed electrical power drive systems, can be found on the IEC website. The committee has decided that the contents of this publication will remain unchanged until the stability date indicated on the IEC website under "http://webstore.iec.ch" in the data related to the specific publication. At this date, the publication will be
• reconfirmed, • withdrawn, • replaced by a revised edition, or • amended.
IMPORTANT – The 'colour inside' logo on the cover page of this publication indicates that it contains colours which are considered to be useful for the correct understanding of its contents. Users should therefore print this document using a colour printer.
– 6 – IEC 61800-7-302:2015 © IEC 2015 INTRODUCTION 0.1 General The IEC 61800 series is intended to provide a common set of specifications for adjustable speed electrical power drive systems. IEC 61800-7 specifies profiles for Power Drive Systems (PDS) and their mapping to existing communication systems by use of a generic interface model. IEC 61800-7 describes a generic interface between control systems and power drive systems. This interface can be embedded in the control system. The control system itself can also be located in the drive (sometimes known as "smart drive" or "intelligent drive"). A variety of physical interfaces is available (analogue and digital inputs and outputs, serial and parallel interfaces, fieldbuses and networks). Profiles based on specific physical interfaces are already defined for some application areas (e.g. motion control) and some device classes (e.g. standard drives, positioner). The implementations of the associated drivers and application programmers interfaces are proprietary and vary widely. IEC 61800-7 defines a set of common drive control functions, parameters, and state machines or description of sequences of operation to be mapped to the drive profiles. IEC 61800-7 provides a way to access functions and data of a drive that is independent of the used drive profile and communication interface. The objective is a common drive model with generic functions and objects suitable to be mapped on different communication interfaces. This makes it possible to provide common implementations of motion control (or velocity control or drive control applications) in controllers without any specific knowledge of the drive implementation. There are several reasons to define a generic interface: For a drive device manufacturer – less effort to support system integrators; – less effort to describe drive functions because of common terminology; – the selection of drives does not depend on availability of specific support. For a control device manufacturer – no influence of bus technology; – easy device integration; – independent of a drive supplier. For a system integrator – less integration effort for devices;
– only one understandable way of modeling; – independent of bus technology. Much effort is needed to design a motion control application with several different drives and a specific control system. The tasks to implement the system software and to understand the functional description of the individual components may exhaust the project resources. In some cases, the drives do not share the same physical interface. Some control devices just support a single interface which will not be supported by a specific drive. On the other hand, the functions and data structures are often specified with incompatibilities. This requires the SIST EN 61800-7-302:2016
IEC 61800-7-302:2015 © IEC 2015 – 7 – system integrator to write special interfaces for the application software and this should not be his responsibility. Some applications need device exchangeability or integration of new devices in an existing configuration. They are faced with different incompatible solutions. The efforts to adapt a solution to a drive profile and to manufacturer specific extensions may be unacceptable. This will reduce the degree of freedom to select a device best suited for this application to the selection of the unit which will be available for a specific physical interface and supported by the controller. IEC 61800-7-1 is divided into a generic part and several annexes as shown in Figure 1. The drive profiles types for CiA® 4021, CIP MotionTM2, PROFIdrive3 and SERCOS®4 are mapped to the generic interface in the corresponding annex. The annexes have been submitted by open international network or fieldbus organizations which are responsible for the content of the related annex and use of the related trademarks. The different profile types 1, 2, 3 and 4 are specified in IEC 61800-7-201, IEC 61800-7-202, IEC 61800-7-203 and IEC 61800-7-204. This part of IEC 61800-7 specifies how the profile type 2 (CIP MotionTM) is mapped to the network technologies DeviceNetTM5, ControlNetTM6 and EtherNet/IPTM7. IEC 61800-7-301, IEC 61800-7-303 and IEC 61800-7-304 specify how the profile types 1, 3 and 4 are mapped to different network technologies (such as CANopen®8, ————————— 1
CiA® 402 is a registered trade mark of CAN in Automation e.V. (CiA). This information is given for the convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its products. Compliance to this profile does not require use of the registered trade mark CiA® 402. Use of the registered trade mark CiA® 402 requires permission of CAN in Automation e.V. (CiA). 2
CIP Motion™ is a trade mark of ODVA, Inc. This information is given for the convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its products. Compliance to this profile does not require use of the trade mark CIP Motion™. Use of the trade mark CIP Motion™ requires permission of ODVA, Inc. 3
PROFIdrive is a trade name of PROFIBUS & PROFINET International. This information is given for the convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade name holder or any of its products. Compliance to this profile does not require use of the trade name PROFIdrive. Use of the trade name PROFIdrive requires permission of PROFIBUS & PROFINET International. 4
SERCOS® is a registered trade mark of SERCOS International e.V. This information is given for the convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its products. Compliance to this profile does not require use of the registered trade mark SERCOS®. Use of the registered trade mark SERCOS® requires permission of the trade mark holder. 5
DeviceNet™ is a trade mark of ODVA, Inc. This information is given for the convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its products. Compliance to this profile does not require use of the trade mark DeviceNet™. Use of the trade mark DeviceNet™ requires permission of ODVA, Inc. 6
ControlNet™ is a trade mark of ODVA, Inc. This information is given for the convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its products. Compliance to this profile does not require use of the trade mark ControlNet™. Use of the trade mark ControlNet™ requires permission of ODVA, Inc. 7
EtherNet/IP™ is a trade mark of ODVA, Inc. This information is given for the convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its products. Compliance to this profile does not require use of the trade mark EtherNet/IP™. Use of the trade mark EtherNet/IP™ requires permission of ODVA, Inc. 8
CANopen® is a registered trade mark of CAN in Automation e.V. (CiA). This information is given for the convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its products. Compliance to this profile does not require use of the registered trade mark CANopen®. Use of the registered trade mark CANopen® requires permission of CAN in Automation e.V. (CiA). CANopen® is an acronym for Controller Area Network open and is used to refer to EN 50325-4. SIST EN 61800-7-302:2016
– 8 – IEC 61800-7-302:2015 © IEC 2015 CC-Link IE® Field Network9, EPA™10, EtherCATTM11, Ethernet PowerlinkTM12, PROFIBUS13, PROFINET14 and SERCOS®). ————————— 9
CC-Link IE® Field Network is a registered trade mark of Mitsubishi Electric Corporation. This information is given for the convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its products. Compliance to this profile does not require use of the registered trade mark CC-Link IE® Field Network. Use of the registered trade mark CC-Link IE® Field Network requires permission of Mitsubishi Electric Corporation. 10
EPA™ is a trade mark of SUPCON Group Co. Ltd. This information is given for the convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its products. Compliance to this profile does not require use of the trade mark EPA™. Use of the trade mark EPA™ requires permission of the trade mark holder. 11
EtherCAT® is a registered trade mark of Beckhoff, Verl. This information is given for the convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its products. Compliance to this profile does not require use of the registered trade mark EtherCAT®. Use of the registered trade mark EtherCAT® requires permission of the trade mark holder. 12
Ethernet Powerlink™ is a trade mark of Bernecker & Rainer Industrieelektronik Ges.m.b.H., control of trade mark use is given to the non profit organization EPSG. This information is given for the convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its products. Compliance to this profile does not require use of the trade mark Ethernet Powerlink™. Use of the trade mark Ethernet Powerlink™ requires permission of the trade mark holder. 13
PROFIBUS is a trade name of PROFIBUS & PROFINET International. This information is given for the convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade name holder or any of its products. Compliance to this profile does not require use of the trade name PROFIBUS. Use of the trade name PROFIBUS requires permission of PROFIBUS & PROFINET International. 14
PROFINET is a trade name of PROFIBUS & PROFINET International. This information is given for the convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade name holder or any of its products. Compliance to this profile does not require use of the trade name PROFINET. Use of the trade name PROFINET requires permission of PROFIBUS & PROFINET International. SIST EN 61800-7-302:2016
IEC 61800-7-302:2015 © IEC 2015 – 9 –
Figure 1 – Structure of IEC 61800-7 0.2 Patent declaration The International Electrotechnical Commission (IEC) draws attention to the fact that it is claimed that compliance with this document may involve the use of a patent concerning the following. This patent is held by its inventors under license to ODVA, Inc: Publication /
Application serial number Holder Title
US 7,983,769 EP 1659465 [ODVA] Time stamped motion control network protocol that enables balanced single cycle timing and utilization of dynamic data structures
IEC takes no position concerning the evidence, validity and scope of this patent right. Annex A Mapping of Profile type 1 (CiA 402) Annex B Mapping of Profile type 2 (CIP Motion) Annex C Mapping of Profile type 3 (PROFIdrive) Annex D Mapping of Profile type 4 (SERCOS) IEC 61800-7-201
Profile type 1 (CiA 402) IEC 61800-7-202
Profile type 2 (CIP Motion) IEC 61800-7-203
Profile type 3 (PROFIdrive) IEC 61800-7-204
Profile type 4 (SERCOS) IEC 61800-7-301
Mapping of profile type 1 to: •CANopen •CC-Link IE •EPA •EtherCAT •ETHERNET Powerlink IEC 61800-7-302
Mapping of profile type 2 to: •DeviceNet •ControlNet •EtherNet/IP IEC 61800-7-303
Mapping of profile type 3 to: •PROFIBUS •PROFINET IEC 61800-7-304
Mapping of profile type 4 to: •SERCOS I + II •SERCOS III •EtherCAT IEC 61800-7-200 – Profile specifications IEC 61800-7-300 – Mapping of profiles to network technologies IEC 61800-7-1 – Interface definition Generic PDS interface specification IEC 61800-7 Generic interface and use of profiles for power drive systems IEC 61800 series Adjustable speed electrical power drive systems IEC TR 62390 Device profile guideline IEC SIST EN 61800-7-302:2016
– 10 – IEC 61800-7-302:2015 © IEC 2015 ODVA and the holder of this patent right have assured the IEC that ODVA is willing to negotiate licences either free of charge or under reasonable and non-discriminatory terms and conditions with applicants throughout the world.
In this respect, the statement of ODVA and the holder of this patent right is registered with IEC. Information may be obtained from: [ODVA] ODVA, Inc. 2370 East Stadium Boulevard #1000 Ann Arbor, Michigan 48104 USA Attention: Office of the Executive Director email: odva@odva.org
Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights other than those identified above. IEC shall not be held responsible for identifying any or all such patent rights. ISO (www.iso.org/patents) and IEC (http://patents.iec.ch) maintain on-line data bases of patents relevant to their standards. Users are encouraged to consult the data bases for the most up to date information concerning patents. SIST EN 61800-7-302:2016
IEC 61800-7-302:2015 © IEC 2015 – 11 – ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –
Part 7-302: Generic interface and use of profiles for power
drive systems – Mapping of profile type 2 to network technologies
1 Scope This part of IEC 61800 specifies the mapping of the profile type 2 (CIP MotionTM) specified in IEC 61800-7-202 onto different network technologies. – DeviceNet™ (CP 2/3), see Clause 5, – ControlNet™ (CP 2/1), see Clause 6, – EtherNet/IP™ (CP 2/2), see Clause 7. The functions specified in this part of IEC 61800-7 are not intended to ensure functional safety. This requires additional measures according to the relevant standards, agreements and laws. 2 Normative references 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. IEC 61158-4-2:2014, Industrial communication networks – Fieldbus specifications – Part 4-2: Data-link layer protocol specification – Type 2 elements IEC 61158-5-2:2014, Industrial communication networks – Fieldbus specifications – Part 5-2: Application layer service definition – Type 2 elements IEC 61158-6-2:2014, Industrial communication networks – 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 61800-7-202, Adjustable speed electrical power drive systems – Part 7-202: Generic interface and use of profiles for power drive systems – Profile type 2 specification 3 Terms, definitions and abbreviated terms 3.1 Terms and definitions For the purposes of this document, the following terms and definitions apply. 3.1.1
actual value value of a variable quantity at a given instant Note 1 to entry: Actual value is used in this document as input data of the application control program to monitor variables of the PDS (e.g. feedback variables). SIST EN 61800-7-302:2016
– 12 – IEC 61800-7-302:2015 © IEC 2015 [SOURCE: IEC 61800-7-1:2015, 3.3.1.1] 3.1.2
application software functional element specific to the solution of a problem in industrial-process measurement and control Note 1 to entry: An application may be distributed among resources, and may communicate with other applications. [SOURCE: IEC 61800-7-1:2015, 3.2.2] 3.1.3
attribute property or characteristic of an entity [SOURCE: IEC 61800-7-1:2015, 3.2.3] 3.1.4
axis logical element inside an automation system (e.g. a motion control system) that represents some form of movement Note 1 to entry: Axes can be rotary or linear, physical or virtual, controlled or simply observed. [SOURCE: IEC 61800-7-1:2015, 3.2.4] 3.1.5
CIP Motion™15 extensions to the CIP services and protocol to support motion control over CIP networks [SOURCE: IEC 61800-7-1:2015, 3.3.3.1] 3.1.6
CIP Motion™ controller CIP compliant controller containing a Motion Control Axis Object that can interface to a CIP Motion device via a CIP Motion I/O Connection Note 1 to entry:
A description of the Motion Control Axis Object is beyond the scope of IEC 61800-7. [SOURCE: IEC 61800-7-1:2015, 3.3.3.2] 3.1.7
CIP Motion™ device CIP compliant device containing one or more Motion Device Axis Object instances that can communicate to a CIP Motion controller via a CIP Motion I/O Connection EXAMPLE: A CIP Motion drive is a particular case of a CIP Motion device. [SOURCE: IEC 61800-7-1:2015, 3.3.3.3] ————————— 15
CIP Motion™ and CIP Sync™ are trade names of ODVA, Inc. This information is given for the convenience of users of this International Standard and does not constitute an endorsement by IEC of the trade mark holder or any of its products. Compliance to this profile does not require use of the trade names CIP Motion™ or CIP Sync™. Use of the trade names CIP Motion™ or CIP Sync™ requires permission of ODVA, Inc. SIST EN 61800-7-302:2016
IEC 61800-7-302:2015 © IEC 2015 – 13 – 3.1.8
CIP Motion™ drive profile collection of objects used to implement a CIP Motion drive device that includes the Motion Device Axis Object, as well as standard support objects like the Identity Object and the Time Sync Object Note 1 to entry: The Device Type assigned to the CIP Motion drive profile is 25hex. [SOURCE: IEC 61800-7-202:2015, 3.1.10] 3.1.9
CIP Motion™ I/O Connection CIP Motion™ Connection periodic bi-directional, class 1, CIP connection between a controller and a drive that is defined as part of the CIP Motion specification [SOURCE: IEC 61800-7-1:2015, 3.3.3.4] 3.1.10
CIP Sync™15 extensions to the CIP services and protocol to encapsulate IEC 61588:2009 time synchronization functionality over a CIP Network Note 1 to entry: See Time Sync Object in IEC 61158-5-2 and IEC 61158-6-2.
[SOURCE: IEC 61800-7-1:2015, 3.3.3.5] 3.1.11
class description of a set of objects that share the same attributes, operations, methods, relationships, and semantics [SOURCE: IEC 61800-7-1:2015, 3.2.5] 3.1.12
closed loop methods of control where there is a feedback signal of some kind that is used to drive the actual dynamics of the motor to match the commanded dynamics by servo action Note 1 to entry: In most cases, there is a literal feedback device to provide this signal, but in some cases, the signal is derived from the motor excitation (i.e. sensorless operation). [SOURCE: IEC 61800-7-202:2015, 3.1.14] 3.1.13
commands set of commands from the application control program to the PDS to control the behavior of the PDS or functional elements of the PDS Note 1 to entry: The behavior is reflected by states or operating modes. Note 2 to entry: The different commands may be represented by one bit each. [SOURCE: IEC 61800-7-1:2015, 3.3.1.3] 3.1.14
control purposeful action on or in a process to meet specified objectives [SOURCE: IEC 61800-7-1:2015, 3.2.6] SIST EN 61800-7-302:2016
– 14 – IEC 61800-7-302:2015 © IEC 2015 3.1.15
control device physical unit that contains – in a module/subassembly or device – an application program to control the PDS [SOURCE: IEC 61800-7-1:2015, 3.2.7] 3.1.16
Cyclic Data Block high priority real-time data block that is transferred by a CIP Motion Connection on a periodic basis [SOURCE: IEC 61800-7-202:2015, 3.1.19] 3.1.17
data type set of values together with a set of permitted operations [SOURCE: IEC 61800-7-1:2015, 3.2.8] 3.1.18
device field device networked independent physical entity of an industrial automation system capable of performing specified functions in a particular context and delimited by its interfaces [SOURCE: IEC 61800-7-1:2015, 3.2.9] 3.1.19
device field device entity that performs control, actuating and/or sensing functions and interfaces to other such entities within an automation system [SOURCE: IEC 61800-7-1:2015, 3.2.10] 3.1.20
device profile representation of a device in terms of its parameters, parameter assemblies and behaviour according to a device model that describes the data and behaviour of the device as viewed through a network, independent from any network technology [SOURCE: IEC 61800-7-1:2015, 3.2.11] 3.1.21
drive device designed to control the dynamics of a motor [SOURCE: IEC 61800-7-202:2015, 3.1.24] 3.1.22
Event Data Block medium priority real-time data block that is transferred by a CIP Motion Connection only after a specified event occurs Note 1 to entry: Registration and marker input transitions are typical drive events. SIST EN 61800-7-302:2016
IEC 61800-7-302:2015 © IEC 2015 – 15 – [SOURCE: IEC 61800-7-202:2015, 3.1.25] 3.1.23
feedback variable variable quantity, which represents the controlled variable and is returned to the comparing element [SOURCE: IEC 61800-7-1:2015, 3.2.12] 3.1.24
functional element entity of software or software combined with hardware, capable of accomplishing a specified function of a device Note 1 to entry: A functional element has an interface, associations to other functional elements and functions. Note 2 to entry: A functional element can be made out of function block(s), object(s) or parameter list(s). [SOURCE: IEC 61800-7-1:2015, 3.2.13] 3.1.25
I/O data input data and output data that would typically need to be updated on a regular basis (e.g. periodic change of state) EXAMPLE Commands, set-points, status and actual values [SOURCE: IEC 61800-7-1:2015, 3.3.1.4] 3.1.26
input data data transferred from an external source into a device, resource or functional element [SOURCE: IEC 61800-7-1:2015, 3.2.14] 3.1.27
interface shared boundary between two entities defined by functional characteristics, signal characteristics, or other characteristics as appropriate [SOURCE: IEC 61800-7-1:2015, 3.2.15] 3.1.28
model mathematical or physical representation of a system or a process, based with sufficient precision upon known laws, identification or specified suppositions [SOURCE: IEC 61800-7-1:2015, 3.2.17] 3.1.29
motion any aspect of the dynamics of an axis Note 1 to entry: In the context of this part of IEC 61800-7, it is not limited to servo drives, but encompasses all forms of drive based motor control. [SOURCE: IEC 61800-7-1:2015, 3.3.3.8] SIST EN 61800-7-302:2016
– 16 – IEC 61800-7-302:2015 © IEC 2015 3.1.30
Motion Device Axis Object object that defines the attributes, services, and behavior of a motion device based axis according to the CIP Motion specification Note 1 to entry: This object includes Communications, Device control, and Basic drive FE elements as defined in IEC 61800-7. [SOURCE: IEC 61800-7-1:2015, 3.3.3.9] 3.1.31
open loop methods of control where there is no application of feedback to force the actual motor dynamics to match the commanded dynamics EXAMPLE Examples of open loop control are stepper drives and variable frequency drives. [SOURCE: IEC 61800-7-202:2015, 3.1.34] 3.1.32
operating mode characterization of the way and the extent to which the human operator intervenes in the control equipment [SOURCE: IEC 61800-7-1:2015, 3.2.18] 3.1.33
output data data originating in a device, resource or functional element and transferred from them to external systems [SOURCE: IEC 61800-7-1:2015, 3.2.19] 3.1.34
parameter data element that represents device information that can be read from or written to a device, for example through the network or a local HMI Note 1 to entry: A parameter is typically characterized by a parameter name, data type and access direction. [SOURCE: IEC 61800-7-1:2015, 3.2.20] 3.1.35
profile representation of a PDS interface in terms of its parameters, parameter assemblies and behavior according to a communication profile and a device profile [SOURCE: IEC 61800-7-1:2015, 3.2.21, modified – Note 1 to entry is deleted] 3.1.36
read get operation that involves the retrieving of an attribute value from the perspective of the controller side of the interface [SOURCE: IEC 61800-7-202:2015, 3.1.39] SIST EN 61800-7-302:2016
IEC 61800-7-302:2015 © IEC 2015 – 17 – 3.1.37
registration high speed record of motion axis position triggered by an event 3.1.38
Service Data Block lower priority real-time data block associated with a service message from the controller that is transferred by a CIP Motion Connection on a periodic basis Note 1 to entry: Service data includes service request messages to access Motion Device Axis Object attributes or perform various drive diagnostics. [SOURCE: IEC 61800-7-202:2015, 3.1.40] 3.1.39
set-point value or variable used as output data of the application control program to control the PDS Note 1 to entry: The value sent to the drive is used to directly control some aspect of the motor dynamics, which includes (but is not limited to) position, velocity, acceleration, and torque.
[SOURCE: IEC 61800-7-1:2015, 3.3.1.5, modified – Note 1 to entry is added] 3.1.40
status set of information from the PDS to the application control program reflecting the state or mode of the PDS or a functional element of the PDS Note 1 to entry: The different status information may be coded with one bit each. [SOURCE: IEC 61800-7-1:2015, 3.3.1.6] 3.1.41
synchronized condition where the local clock value on the drive is locked onto the master clock of the distributed System Time Note 1 to entry: When synchronized, the drive and controller devices may utilise time stamps associated with CIP Motion Connection data. [SOURCE: IEC 61800-7-1:2015, 3.3.3.11] 3.1.42
System Time absolute time value as defined in the CIP Sync specification in the context of a distributed time system where all devices have a local clock that is synchronized with a common master clock Note 1 to entry: In the context of CIP Motion, System Time is a 64-bit integer value in units of nanoseconds with a value of 0 corresponding to the date 1970-01-01.
[SOURCE: IEC 61800-7-1:2015, 3.3.3.12] 3.1.43
time stamp System Time stamp value associated with the CIP Motion Connection data that conveys the absolute time when the associated data was captured, or that can also be used to determine when the associated data shall be applied Note 1 to entry: CIP time stamps are always in the context of a distributed time system where all nodes on the CIP control network have clocks that are synchronized with a master clock source using CIP Sync. SIST EN 61800-7-302:2016
– 18 – IEC 61800-7-302:2015 © IEC 2015 [SOURCE: IEC 61800-7-1:2015, 3.3.3.13] 3.1.44
type hardware or software element which specifies the common attributes shared by all instances of the type [SOURCE: IEC 61800-7-1:2015, 3.2.23] 3.1.45
variable software entity that may take different values, one at a time Note 1 to entry: The values of a variable as well as of a parameter are usually restricted to a certain data type. [SOURCE: IEC 61800-7-1:2
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