IEC 61800-7-201:2007

Adjustable speed electrical power drive systems - Part 7-201: Generic interface and use of profiles for power drive systems - Profile type 1 specification

IEC 61800-7-201:2007 specifies profiles for Power Drive Systems (PDS) and their mapping to existing communication systems by use of a generic interface model as well as profile type 1 for Power Drive Systems (PDS). Profile type 1 can be mapped onto different communication network technologies.

Entraînements électriques de puissance à vitesse variable - Partie 7-201: Interface générique et utilisation de profils pour les entraînements électriques de puissance - Spécification de profil de type 1

La CEI 61800-7-201:2007 spécifie les profils dédiés aux entraînements électriques de puissance (PDS) et leur mise en correspondance avec les systèmes de communication existants grâce à un modèle d'interface générique ainsi que le type de profil 1 pour les entraînements électriques de puissance (PDS). Le type de profil 1 peut être mis en correspondance avec différentes technologies de réseau de communication.

General Information

• Status: Published
• Publication Date: 26-Nov-2007
• ICS: 29.200 - Rectifiers. Convertors. Stabilized power supply
• ICS: 35.100.05 - Multilayer applications
• Technical Committee: SC 22G - Adjustable speed electric power drive systems (PDS)
• Drafting Committee: WG 10 - TC 22/SC 22G/WG 10
• Current Stage: DELPUB - Deleted Publication
• Start Date: 20-Nov-2015
• Completion Date: 26-Oct-2025

Relations

• Revised: IEC 61800-7-201:2015 - Adjustable speed electrical power drive systems - Part 7-201: Generic interface and use of profiles for power drive systems - Profile type 1 specification
• Effective Date: 05-Sep-2023

Standards Content (Sample)

IEC 61800-7-201
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
Adjustable speed electrical power drive systems –
Part 7-201: Generic interface and use of profiles for power drive systems –
Profile type 1 specification
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form
or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from
either IEC or IEC's member National Committee in the country of the requester.
If you have any questions about IEC copyright or have an enquiry about obtaining additional rights to this publication,
please contact the address below or your local IEC member National Committee for further information.

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IEC 61800-7-201
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
Adjustable speed electrical power drive systems –
Part 7-201: Generic interface and use of profiles for power drive systems –
Profile type 1 specification
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
PRICE CODE
XG
ICS 29.200; 35.100.05 ISBN 2-8318-9375-5

– 2 – 61800-7-201 © IEC:2007(E)
CONTENTS
FOREWORD.14
INTRODUCTION.16

1 Scope.19
2 Normative references .19
3 Terms, definitions and abbreviated terms .19
3.1 Terms and definitions .19
3.2 Abbreviated terms .23
4 General .24
4.1 General considerations.24
4.2 Communication interface .24
4.3 Object dictionary .25
5 Data types.25
5.1 Standard data types .25
5.2 Record definitions .26
6 General object definitions .27
6.1 General .27
6.2 Communication parameter objects.27
6.3 Additional identification and information objects .28
6.3.1 Object 6402 : Motor type .28
h
6.3.2 Object 6403 : Motor catalogue number .29
h
6.3.3 Object 6404 : Motor manufacturer.29
h
6.3.4 Object 6405 : http motor catalogue address.30
h
6.3.5 Object 6406 : Motor calibration date .30
h
6.3.6 Object 6407 : Motor service period .31
h
6.3.7 Object 6503 : Drive catalogue number .31
h
6.3.8 Object 6505 : http drive catalogue address .32
h
7 Error codes and error behaviour .32
7.1 Error codes .32
7.2 Error behavior .36
8 Controlling the power drive system .37
8.1 General .37
8.2 Finite state automaton.37
8.3 Modes of operation.40
8.4 Detailed object specifications .41
8.4.1 Object 6040 : Controlword .41
h
8.4.2 Object 6041 : Statusword.42
h
8.4.3 Object 603F : Error code .43
h
8.4.4 Object 6007 : Abort connection option code.44
h
8.4.5 Object 605A : Quick stop option code .45
h
8.4.6 Object 605B : Shutdown option code .46
h
8.4.7 Object 605C : Disable operation option code .46
h
8.4.8 Object 605D : Halt option code .47
h
8.4.9 Object 605E : Fault reaction option code .48
h
8.4.10 Object 6060 : Modes of operation .49
h
8.4.11 Object 6061 : Modes of operation display .50
h
61800-7-201 © IEC:2007(E) – 3 –
8.4.12 Object 6502 : Supported drive modes .50
h
9 Factor group.51
9.1 General .51
9.2 Detailed object definitions .51
9.2.1 Object 608F : Position encoder resolution.51
h
9.2.2 Object 6090 : Velocity encoder resolution .52
h
9.2.3 Object 6091 : Gear ratio .53
h
9.2.4 Object 6092 : Feed constant .54
h
9.2.5 Object 607E : Polarity.55
h
10 Profile position mode.56
10.1 General information.56
10.2 Functional description .57
10.2.1 General .57
10.2.2 Single set-point .58
10.2.3 Set of set-points .59
10.3 General definitions .60
10.4 Use of controlword and statusword.60
10.5 Detailed object definitions .61
10.5.1 Object 607A : Target position .61
h
10.5.2 Object 607B : Position range limit.62
h
10.5.3 Object 607D : Software position limit .62
h
10.5.4 Object 607F : Max profile velocity.64
h
10.5.5 Object 6080 : Max motor speed .64
h
10.5.6 Object 6081 : Profile velocity.65
h
10.5.7 Object 6082 : End velocity.65
h
10.5.8 Object 6083 : Profile acceleration.66
h
10.5.9 Object 6084 : Profile deceleration.66
h
10.5.10 Object 6085 : Quick stop deceleration .67
h
10.5.11 Object 6086 : Motion profile type .67
h
10.5.12 Object 60A3 : Profile jerk use .68
h
10.5.13 Object 60A4 : Profile jerk.69
h
10.5.14 Object 60C5 : Max acceleration.70
h
10.5.15 Object 60C6 : Max deceleration.71
h
11 Homing mode .72
11.1 General information.72
11.2 Functional description .72
11.3 General definitions .73
11.3.1 Method 1: Homing on negative limit switch and index pulse.73
11.3.2 Method 2: Homing on positive limit switch and index pulse.73
11.3.3 Method 3 and 4: Homing on positive home switch and index pulse .73
11.3.4 Method 5 and 6: Homing on negative home switch and index pulse.74
11.3.5 Method 7 to 14: Homing on home switch and index pulse.74
11.3.6 Method 15 and 16: Reserved.75
11.3.7 Method 17 to 30: Homing without index pulse.75
11.3.8 Method 31 and 32: Reserved.76
11.3.9 Method 33 and 34: Homing on index pulse .76
11.3.10 Method 35: Homing on index pulse.76
11.3.11 Method 36: Homing with touch-probe .76
11.4 Use of controlword and statusword.76

– 4 – 61800-7-201 © IEC:2007(E)
11.5 Detailed object definitions .77
11.5.1 Object 607C : Home offset .77
h
11.5.2 Object 6098 : Homing method .78
h
11.5.3 Object 6099 : Homing speeds.79
h
11.5.4 Object 609A : Homing acceleration.80
h
11.5.5 Object 60B8 : Touch probe function.80
h
11.5.6 Object 60B9 : Touch probe status.82
h
11.5.7 Object 60BA : Touch probe pos1 pos value .82
h
11.5.8 Object 60BB : Touch probe pos1 neg value .83
h
11.5.9 Object 60BC : Touch probe pos2 pos value .83
h
11.5.10 Object 60BD : Touch probe pos2 neg value.84
h
12 Position control function .84
12.1 General information.84
12.2 Functional description .85
12.3 Detailed object definitions .87
12.3.1 Object 6062 : Position demand value .87
h
12.3.2 Object 6063 : Position actual internal value .87
h
12.3.3 Object 6064 : Position actual value.88
h
12.3.4 Object 6065 : Following error window .88
h
12.3.5 Object 6066 : Following error time out .89
h
12.3.6 Object 6067 : Position window.90
h
12.3.7 Object 6068 : Position window time .90
h
12.3.8 Object 60F4 : Following error actual value.91
h
12.3.9 Object 60FA : Control effort.91
h
12.3.10 Object 60FC : Position demand internal value .92
h
12.3.11 Object 60F2 : Positioning option code .92
h
13 Interpolated position mode .94
13.1 General information.94
13.2 Functional description .95
13.2.1 General .95
13.2.2 Linear interpolated position mode with several axes .96
13.2.3 Buffer strategies for the interpolated position mode .97
13.2.4 Interpolated position mode FSA.98
13.3 General definitions .99
13.4 Use of controlword and statusword.99
13.5 Detailed object definitions .100
13.5.1 Object 60C0 : Interpolation sub mode select.100
h
13.5.2 Object 60C1 : Interpolation data record .101
h
13.5.3 Object 60C2 : Interpolation time period.102
h
13.5.4 Object 60C4 : Interpolation data configuration . 103
h
14 Profile velocity mode .105
14.1 General information.105
14.2 Functional description .106
14.3 General definitions .107
14.4 Use of controlword and statusword.107
14.5 Detailed object definitions .108
14.5.1 Object 6069 : Velocity sensor actual value . 108
h
14.5.2 Object 606A : Sensor selection code .108
h
14.5.3 Object 606B : Velocity demand value .109
h
61800-7-201 © IEC:2007(E) – 5 –
14.5.4 Object 606C : Velocity actual value .110
h
14.5.5 Object 606D : Velocity window .110
h
14.5.6 Object 606E : Velocity window time .111
h
14.5.7 Object 606F : Velocity threshold.111
h
14.5.8 Object 6070 : Velocity threshold time .112
h
14.5.9 Object 60FF : Target velocity .112
h
14.5.10 Object 60F8 : Max slippage .113
h
15 Profile torque mode .113
15.1 General information.113
15.2 Functional description .113
15.3 General definitions .114
15.4 Use of controlword and statusword.114
15.5 Detailed object definitions .115
15.5.1 Object 6071 : Target torque.115
h
15.5.2 Object 6072 : Max torque .116
h
15.5.3 Object 6073 : Max current .116
h
15.5.4 Object 6074 : Torque demand .117
h
15.5.5 Object 6075 : Motor rated current .117
h
15.5.6 Object 6076 : Motor rated torque .118
h
15.5.7 Object 6077 : Torque actual value .118
h
15.5.8 Object 6078 : Current actual value .119
h
15.5.9 Object 6079 : DC link circuit voltage.119
h
15.5.10 Object 6087 : Torque slope .120
h
15.5.11 Object 6088 : Torque profile type .120
h
16 Velocity mode.121
16.1 General information.121
16.2 Functional description .122
16.2.1 Velocity limit function.122
16.2.2 Ramp function .122
16.2.3 Velocity control function .122
16.2.4 Factor function .122
16.3 General definitions .123
16.4 Use of controlword and statusword.123
16.5 Detailed object definitions .124
16.5.1 Object 6042 : vl target velocity.124
h
16.5.2 Object 6043 : vl velocity demand .125
h
16.5.3 Object 6044 : vl velocity actual value .125
h
16.5.4 Object 6046 : vl velocity min max amount .126
h
16.5.5 Object 6049 : vl velocity deceleration.127
h
16.5.6 Object 6048 : vl velocity acceleration.128
h
16.5.7 Object 604A : vl velocity quick stop .130
h
16.5.8 Object 604B : vl set-point factor.131
h
16.5.9 Object 604C : vl dimension factor .132
h
17 Cyclic synchronous position mode.133
17.1 General information.133
17.2 Functional description .134
17.3 Use of controlword and statusword.135
17.4 Detailed object definitions .136
17.4.1 Object 60B0 : Position offset .136
h
– 6 – 61800-7-201 © IEC:2007(E)
17.4.2 Object 60B1 : Velocity offset.136
h
17.4.3 Object 60B2 : Torque offset .137
h
18 Cyclic synchronous velocity mode .137
18.1 General information.137
18.2 General definitions .138
18.3 Functional description .138
18.4 Use of controlword and statusword.139
19 Cyclic synchronous torque mode . 140
19.1 General information.140
19.2 General definitions .140
19.3 Functional description .140
19.4 Use of controlword and statusword.141
20 Optional application FE .141
20.1 General .141
20.2 Object 60FD : Digital inputs.141
h
20.3 Object 60FE : Digital outputs .142
h
Bibliography.144

Figure 1 – Structure of IEC 61800-7.18
Figure 2 – Value definition .27
Figure 3 – Remote and local control.37
Figure 4 – Power drive system finite state automaton .38
Figure 5 – Relation between different value parameters.41
Figure 6 – Value definition .41
Figure 7 – Value definition .42
Figure 8 – Value definition .50
Figure 9 – Value definition .56
Figure 10 – Trajectory generator and position control function .56
Figure 11 – Trajectory generator for profile position mode .57
Figure 12 – Set-point example .58
Figure 13 – Handshaking procedure for the single set-point method .58
Figure 14 – Handshaking procedure for the set of set-points method .59
Figure 15 – Set-point handling for two set-points .59
Figure 16 – Controlword for profile position (pp) mode.60
Figure 17 – Statusword for profile position (pp) mode .61
Figure 18 – Velocity/time diagram with jerk positions .69
Figure 19 – Homing mode function .72
Figure 20 – Homing on negative limit switch and index pulse .73
Figure 21 – Homing on positive limit switch and index pulse .73
Figure 22 – Homing on positive home switch and index pulse .74
Figure 23 – Homing on negative home switch and index pulse.74
Figure 24 – Homing on home switch and index pulse – positive initial motion .75
Figure 25 – Homing on home switch and index pulse – negative initial motion .75
Figure 26 – Homing on positive home switch .76

61800-7-201 © IEC:2007(E) – 7 –
Figure 27 – Homing on index pulse.76
Figure 28 – Controlword for homing mode .76
Figure 29 – Statusword for homing mode.77
Figure 30 – Home offset definition .77
Figure 31 – Position control function .85
Figure 32 – Following error (functional overview) .85
Figure 33 – Position reached (functional overview) .86
Figure 34 – Position reached (definitions) .86
Figure 35 – Following error (definitions).87
Figure 36 – Object structure .92
Figure 37 – Interpolation controller .95
Figure 38 – Interpolated position mode for two axes .96
Figure 39 – Linear interpolation for one axis .97
Figure 40 – Input buffer organisation .98
Figure 41 – Input buffer examples.98
Figure 42 – Interpolated position mode FSA .99
Figure 43 – Controlword for interpolated position mode .99
Figure 44 – Statusword for interpolated position mode.100
Figure 45 – Profile velocity mode.107
Figure 46 – Controlword for profile velocity mode . 107
Figure 47 – Statusword for profile velocity mode.108
Figure 48 – Structure of the profile torque mode .114
Figure 49 – Controlword for profile torque mode .114
Figure 50 – Statusword for profile torque mode. 115
Figure 51 – Velocity mode with all objects .121
Figure 52 – Velocity mode with mandatory objects only .121
Figure 53 – Velocity profile .122
Figure 54 – Factor function .122
Figure 55 – Reverse factor function .123
Figure 56 – Controlword for profile velocity mode . 123
Figure 57 – Usage of controlword bits in velocity mode.124
Figure 58 – Statusword for profile velocity mode.124
Figure 59 – Transfer characteristic of vl velocity min max amount.126
Figure 60 – Transfer characteristic of the velocity deceleration . 127
Figure 61 – Transfer characteristic of the velocity acceleration .129
Figure 62 – Transfer characteristic of the quick stop deceleration . 130
Figure 63 – Cyclic synchronous position mode overview .134
Figure 64 – Cyclic synchronous position control function . 135
Figure 65 – Statusword for profile cyclic synchronous position mode . 135
Figure 66 – Cyclic synchronous velocity mode overview .138
Figure 67 – Cyclic synchronous velocity control function.139
Figure 68 – Statusword for profile cyclic synchronous velocity mode. 139
Figure 69 – Cyclic synchronous torque mode overview .140

– 8 – 61800-7-201 © IEC:2007(E)
Figure 70 – Cyclic synchronous torque control function.141
Figure 71 – Statusword for profile cyclic synchronous torque mode . 141
Figure 72 – Object structure .142
Figure 73 – Object structure .142

Table 1 – List of used data types .26
Table 2 – Interpolated time period .26
Table 3 – Interpolated data configuration .26
Table 4 – vl velocity acceleration/deceleration .26
Table 5 – Object description .27
Table 6 – Entry description .28
Table 7 – Value definition .28
Table 8 – Object description .29
Table 9 – Entry description .29
Table 10 – Object description .29
Table 11 – Entry description .29
Table 12 – Object description .30
Table 13 – Entry description .30
Table 14 – Object description .30
Table 15 – Entry description .30
Table 16 – Object description .31
Table 17 – Entry description .31
Table 18 – Object description .31
Table 19 – Entry description .31
Table 20 – Object description .32
Table 21 – Entry description .32
Table 22 – Object description .32
Table 23 – Entry description .32
Table 24 – Error codes .33
Table 25 – FSA states and supported functions .38
Table 26 – Transition events and actions .39
Table 27 – Command coding .41
Table 28 – Object description .42
Table 29 – Entry description .42
Table 30 – State coding .42
Table 31 – Object description .43
Table 32 – Entry description .43
Table 33 – Object description .44
Table 34 – Entry description .44
Table 35 – Value definition .44
Table 36 – Object description .44
Table 37 – Entry description .45
Table 38 – Value definition .45

61800-7-201 © IEC:2007(E) – 9 –
Table 39 – Object description .45
Table 40 – Entry description .46
Table 41 – Value definition .46
Table 42 – Object description .46
Table 43 – Entry description .46
Table 44 – Value definition .47
Table 45 – Object description .47
Table 46 – Entry description .47
Table 47 – Value definition .47
Table 48 – Object description .48
Table 49 – Entry description .48
Table 50 – Value definition .48
Table 51 – Object description .48
Table 52 – Entry description .49
Table 53 – Value definition .49
Table 54 – Object description .49
Table 55 – Entry description .50
Table 56 – Object description .50
Table 57 – Entry description .50
Table 58 – Object description .51
Table 59 – Entry description .51
Table 60 – Object description .52
Table 61 – Entry description .52
Table 62 – Object description .53
Table 63 – Entry description .53
Table 64 – Object description .54
Table 65 – Entry description .54
Table 66 – Object description .55
Table 67 – Entry description .55
Table 68 – Object description .56
Table 69 – Entry description .56
Table 70 – Definition of bit 4, bit 5, and bit 9.60
Table 71 – Definition of bit 6 and bit 8.
...

IEC 61800-7-201 ®
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
Adjustable speed electrical power drive systems –
Part 7-201: Generic interface and use of profiles for power drive systems –
Profile type 1 specification
Entraînements électriques de puissance à vitesse variable –
Partie 7-201: Interface générique et utilisation de profils pour les entraînements
électriques de puissance – Spécification de profil de type 1

All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form
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International Standards for all electrical, electronic and related technologies.

About IEC publications
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latest edition, a corrigenda or an amendment might have been published.

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IEC 61800-7-201 ®
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
Adjustable speed electrical power drive systems –

Part 7-201: Generic interface and use of profiles for power drive systems –

Profile type 1 specification
Entraînements électriques de puissance à vitesse variable –

Partie 7-201: Interface générique et utilisation de profils pour les entraînements

électriques de puissance – Spécification de profil de type 1

INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
PRICE CODE
INTERNATIONALE
CODE PRIX XG
ICS 29.200; 35.100.05 ISBN 978-2-83220-709-3

– 2 – 61800-7-201  IEC:2007
CONTENTS
FOREWORD . 14
INTRODUCTION . 16

1 Scope . 19
2 Normative references . 19
3 Terms, definitions and abbreviated terms . 19
3.1 Terms and definitions . 19
3.2 Abbreviated terms . 23
4 General . 24
4.1 General considerations . 24
4.2 Communication interface . 24
4.3 Object dictionary . 25
5 Data types . 25
5.1 Standard data types . 25
5.2 Record definitions . 26
6 General object definitions . 27
6.1 General . 27
6.2 Communication parameter objects. 27
6.3 Additional identification and information objects . 28
6.3.1 Object 6402 : Motor type . 28
h
6.3.2 Object 6403 : Motor catalogue number . 29
h
6.3.3 Object 6404 : Motor manufacturer . 29
h
6.3.4 Object 6405 : http motor catalogue address . 30
h
6.3.5 Object 6406 : Motor calibration date . 30
h
6.3.6 Object 6407 : Motor service period . 31
h
6.3.7 Object 6503 : Drive catalogue number . 31
h
6.3.8 Object 6505 : http drive catalogue address . 32
h
7 Error codes and error behaviour . 32
7.1 Error codes . 32
7.2 Error behavior . 36
8 Controlling the power drive system . 37
8.1 General . 37
8.2 Finite state automaton . 37
8.3 Modes of operation . 40
8.4 Detailed object specifications . 41
8.4.1 Object 6040 : Controlword . 41
h
8.4.2 Object 6041 : Statusword . 42
h
8.4.3 Object 603F : Error code . 43
h
8.4.4 Object 6007 : Abort connection option code . 44
h
8.4.5 Object 605A : Quick stop option code . 45
h
8.4.6 Object 605B : Shutdown option code . 46
h
8.4.7 Object 605C : Disable operation option code . 46
h
8.4.8 Object 605D : Halt option code . 47
h
8.4.9 Object 605E : Fault reaction option code . 48
h
8.4.10 Object 6060 : Modes of operation . 49
h
8.4.11 Object 6061 : Modes of operation display . 50
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61800-7-201  IEC:2007 – 3 –
8.4.12 Object 6502 : Supported drive modes . 50
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9 Factor group . 51
9.1 General . 51
9.2 Detailed object definitions . 51
9.2.1 Object 608F : Position encoder resolution . 51
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9.2.2 Object 6090 : Velocity encoder resolution . 52
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9.2.3 Object 6091 : Gear ratio . 53
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9.2.4 Object 6092 : Feed constant . 54
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9.2.5 Object 607E : Polarity . 55
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10 Profile position mode . 56
10.1 General information . 56
10.2 Functional description . 57
10.2.1 General . 57
10.2.2 Single set-point . 58
10.2.3 Set of set-points . 59
10.3 General definitions . 60
10.4 Use of controlword and statusword . 60
10.5 Detailed object definitions . 61
10.5.1 Object 607A : Target position . 61
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10.5.2 Object 607B : Position range limit . 62
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10.5.3 Object 607D : Software position limit . 62
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10.5.4 Object 607F : Max profile velocity . 64
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10.5.5 Object 6080 : Max motor speed . 64
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10.5.6 Object 6081 : Profile velocity . 65
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10.5.7 Object 6082 : End velocity . 65
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10.5.8 Object 6083 : Profile acceleration . 66
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10.5.9 Object 6084 : Profile deceleration . 66
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10.5.10 Object 6085 : Quick stop deceleration . 67
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10.5.11 Object 6086 : Motion profile type . 67
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10.5.12 Object 60A3 : Profile jerk use . 68
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10.5.13 Object 60A4 : Profile jerk . 69
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10.5.14 Object 60C5 : Max acceleration . 70
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10.5.15 Object 60C6 : Max deceleration . 71
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11 Homing mode . 71
11.1 General information . 71
11.2 Functional description . 71
11.3 General definitions . 72
11.3.1 Method 1: Homing on negative limit switch and index pulse . 72
11.3.2 Method 2: Homing on positive limit switch and index pulse . 73
11.3.3 Method 3 and 4: Homing on positive home switch and index pulse . 73
11.3.4 Method 5 and 6: Homing on negative home switch and index pulse . 74
11.3.5 Method 7 to 14: Homing on home switch and index pulse . 74
11.3.6 Method 15 and 16: Reserved . 75
11.3.7 Method 17 to 30: Homing without index pulse . 75
11.3.8 Method 31 and 32: Reserved . 75
11.3.9 Method 33 and 34: Homing on index pulse . 76
11.3.10 Method 35: Homing on index pulse . 76
11.3.11 Method 36: Homing with touch-probe . 76
11.4 Use of controlword and statusword . 76

– 4 – 61800-7-201  IEC:2007
11.5 Detailed object definitions . 77
11.5.1 Object 607C : Home offset . 77
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11.5.2 Object 6098 : Homing method . 78
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11.5.3 Object 6099 : Homing speeds . 78
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11.5.4 Object 609A : Homing acceleration . 80
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11.5.5 Object 60B8 : Touch probe function . 80
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11.5.6 Object 60B9 : Touch probe status. 82
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11.5.7 Object 60BA : Touch probe pos1 pos value . 82
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11.5.8 Object 60BB : Touch probe pos1 neg value . 83
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11.5.9 Object 60BC : Touch probe pos2 pos value . 83
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11.5.10 Object 60BD : Touch probe pos2 neg value . 84
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12 Position control function . 84
12.1 General information . 84
12.2 Functional description . 85
12.3 Detailed object definitions . 87
12.3.1 Object 6062 : Position demand value . 87
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12.3.2 Object 6063 : Position actual internal value . 87
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12.3.3 Object 6064 : Position actual value. 88
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12.3.4 Object 6065 : Following error window . 88
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12.3.5 Object 6066 : Following error time out . 89
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12.3.6 Object 6067 : Position window . 90
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12.3.7 Object 6068 : Position window time . 90
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12.3.8 Object 60F4 : Following error actual value . 91
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12.3.9 Object 60FA : Control effort . 91
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12.3.10 Object 60FC : Position demand internal value . 92
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12.3.11 Object 60F2 : Positioning option code . 92
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13 Interpolated position mode . 94
13.1 General information . 94
13.2 Functional description . 95
13.2.1 General . 95
13.2.2 Linear interpolated position mode with several axes . 96
13.2.3 Buffer strategies for the interpolated position mode . 97
13.2.4 Interpolated position mode FSA . 98
13.3 General definitions . 99
13.4 Use of controlword and statusword . 99
13.5 Detailed object definitions . 100
13.5.1 Object 60C0 : Interpolation sub mode select . 100
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13.5.2 Object 60C1 : Interpolation data record . 101
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13.5.3 Object 60C2 : Interpolation time period . 102
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13.5.4 Object 60C4 : Interpolation data configuration . 103
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14 Profile velocity mode . 105
14.1 General information . 105
14.2 Functional description . 106
14.3 General definitions . 107
14.4 Use of controlword and statusword . 107
14.5 Detailed object definitions . 108
14.5.1 Object 6069 : Velocity sensor actual value . 108
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14.5.2 Object 606A : Sensor selection code . 108
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14.5.3 Object 606B : Velocity demand value . 109
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61800-7-201  IEC:2007 – 5 –
14.5.4 Object 606C : Velocity actual value . 110
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14.5.5 Object 606D : Velocity window . 110
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14.5.6 Object 606E : Velocity window time . 111
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14.5.7 Object 606F : Velocity threshold . 111
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14.5.8 Object 6070 : Velocity threshold time . 112
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14.5.9 Object 60FF : Target velocity . 112
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14.5.10 Object 60F8 : Max slippage . 113
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15 Profile torque mode . 113
15.1 General information . 113
15.2 Functional description . 113
15.3 General definitions . 114
15.4 Use of controlword and statusword . 114
15.5 Detailed object definitions . 115
15.5.1 Object 6071 : Target torque . 115
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15.5.2 Object 6072 : Max torque . 116
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15.5.3 Object 6073 : Max current . 116
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15.5.4 Object 6074 : Torque demand . 117
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15.5.5 Object 6075 : Motor rated current . 117
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15.5.6 Object 6076 : Motor rated torque . 118
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15.5.7 Object 6077 : Torque actual value . 118
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15.5.8 Object 6078 : Current actual value . 119
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15.5.9 Object 6079 : DC link circuit voltage . 119
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15.5.10 Object 6087 : Torque slope . 120
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15.5.11 Object 6088 : Torque profile type . 120
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16 Velocity mode . 121
16.1 General information . 121
16.2 Functional description . 122
16.2.1 Velocity limit function . 122
16.2.2 Ramp function . 122
16.2.3 Velocity control function . 122
16.2.4 Factor function . 122
16.3 General definitions . 123
16.4 Use of controlword and statusword . 123
16.5 Detailed object definitions . 124
16.5.1 Object 6042 : vl target velocity . 124
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16.5.2 Object 6043 : vl velocity demand . 125
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16.5.3 Object 6044 : vl velocity actual value . 125
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16.5.4 Object 6046 : vl velocity min max amount . 126
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16.5.5 Object 6049 : vl velocity deceleration . 127
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16.5.6 Object 6048 : vl velocity acceleration . 128
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16.5.7 Object 604A : vl velocity quick stop . 130
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16.5.8 Object 604B : vl set-point factor . 131
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16.5.9 Object 604C : vl dimension factor . 132
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17 Cyclic synchronous position mode . 133
17.1 General information . 133
17.2 Functional description . 134
17.3 Use of controlword and statusword . 135
17.4 Detailed object definitions . 136
17.4.1 Object 60B0 : Position offset . 136
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– 6 – 61800-7-201  IEC:2007
17.4.2 Object 60B1 : Velocity offset . 136
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17.4.3 Object 60B2 : Torque offset . 137
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18 Cyclic synchronous velocity mode . 137
18.1 General information . 137
18.2 General definitions . 138
18.3 Functional description . 138
18.4 Use of controlword and statusword . 139
19 Cyclic synchronous torque mode . 140
19.1 General information . 140
19.2 General definitions . 140
19.3 Functional description . 140
19.4 Use of controlword and statusword . 141
20 Optional application FE . 141
20.1 General . 141
20.2 Object 60FD : Digital inputs . 141
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20.3 Object 60FE : Digital outputs . 142
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Bibliography . 144

Figure 1 – Structure of IEC 61800-7. 18
Figure 2 – Value definition . 27
Figure 3 – Remote and local control . 37
Figure 4 – Power drive system finite state automaton . 38
Figure 5 – Relation between different value parameters . 41
Figure 6 – Value definition . 41
Figure 7 – Value definition . 42
Figure 8 – Value definition . 50
Figure 9 – Value definition . 56
Figure 10 – Trajectory generator and position control function . 56
Figure 11 – Trajectory generator for profile position mode . 57
Figure 12 – Set-point example . 58
Figure 13 – Handshaking procedure for the single set-point method . 58
Figure 14 – Handshaking procedure for the set of set-points method . 59
Figure 15 – Set-point handling for two set-points . 59
Figure 16 – Controlword for profile position (pp) mode . 60
Figure 17 – Statusword for profile position (pp) mode . 61
Figure 18 – Velocity/time diagram with jerk positions . 69
Figure 19 – Homing mode function . 72
Figure 20 – Homing on negative limit switch and index pulse . 73
Figure 21 – Homing on positive limit switch and index pulse . 73
Figure 22 – Homing on positive home switch and index pulse . 73
Figure 23 – Homing on negative home switch and index pulse . 74
Figure 24 – Homing on home switch and index pulse – positive initial motion . 74
Figure 25 – Homing on home switch and index pulse – negative initial motion . 75
Figure 26 – Homing on positive home switch . 75

61800-7-201  IEC:2007 – 7 –
Figure 27 – Homing on index pulse . 76
Figure 28 – Controlword for homing mode . 76
Figure 29 – Statusword for homing mode . 76
Figure 30 – Home offset definition . 77
Figure 31 – Position control function . 85
Figure 32 – Following error (functional overview) . 85
Figure 33 – Position reached (functional overview) . 86
Figure 34 – Position reached (definitions) . 86
Figure 35 – Following error (definitions) . 87
Figure 36 – Object structure . 92
Figure 37 – Interpolation controller . 95
Figure 38 – Interpolated position mode for two axes . 96
Figure 39 – Linear interpolation for one axis . 97
Figure 40 – Input buffer organisation . 98
Figure 41 – Input buffer examples . 98
Figure 42 – Interpolated position mode FSA . 99
Figure 43 – Controlword for interpolated position mode . 99
Figure 44 – Statusword for interpolated position mode . 100
Figure 45 – Profile velocity mode . 107
Figure 46 – Controlword for profile velocity mode . 107
Figure 47 – Statusword for profile velocity mode . 108
Figure 48 – Structure of the profile torque mode . 114
Figure 49 – Controlword for profile torque mode . 114
Figure 50 – Statusword for profile torque mode . 115
Figure 51 – Velocity mode with all objects . 121
Figure 52 – Velocity mode with mandatory objects only . 121
Figure 53 – Velocity profile . 122
Figure 54 – Factor function . 122
Figure 55 – Reverse factor function . 123
Figure 56 – Controlword for profile velocity mode . 123
Figure 57 – Usage of controlword bits in velocity mode . 124
Figure 58 – Statusword for profile velocity mode . 124
Figure 59 – Transfer characteristic of vl velocity min max amount . 126
Figure 60 – Transfer characteristic of the velocity deceleration . 127
Figure 61 – Transfer characteristic of the velocity acceleration . 129
Figure 62 – Transfer characteristic of the quick stop deceleration . 130
Figure 63 – Cyclic synchronous position mode overview . 134
Figure 64 – Cyclic synchronous position control function . 135
Figure 65 – Statusword for profile cyclic synchronous position mode . 135
Figure 66 – Cyclic synchronous velocity mode overview . 138
Figure 67 – Cyclic synchronous velocity control function . 139
Figure 68 – Statusword for profile cyclic synchronous velocity mode. 139
Figure 69 – Cyclic synchronous torque mode overview . 140

– 8 – 61800-7-201  IEC:2007
Figure 70 – Cyclic synchronous torque control function. 141
Figure 71 – Statusword for profile cyclic synchronous torque mode . 141
Figure 72 – Object structure . 142
Figure 73 – Object structure . 142

Table 1 – List of used data types . 26
Table 2 – Interpolated time period . 26
Table 3 – Interpolated data configuration . 26
Table 4 – vl velocity acceleration/deceleration . 26
Table 5 – Object description . 27
Table 6 – Entry description . 28
Table 7 – Value definition . 28
Table 8 – Object description . 29
Table 9 – Entry description . 29
Table 10 – Object description . 29
Table 11 – Entry description . 29
Table 12 – Object description . 30
Table 13 – Entry description . 30
Table 14 – Object description . 30
Table 15 – Entry description . 30
Table 16 – Object description . 31
Table 17 – Entry description . 31
Table 18 – Object description . 31
Table 19 – Entry description . 31
Table 20 – Object description . 32
Table 21 – Entry description . 32
Table 22 – Object description . 32
Table 23 – Entry description . 32
Table 24 – Error codes . 33
Table 25 – FSA states and supported functions . 38
Table 26 – Transition events and actions . 39
Table 27 – Command coding . 41
Table 28 – Object description . 42
Table 29 – Entry description . 42
Table 30 – State coding . 42
Table 31 – Object description . 43
Table 32 – Entry description . 43
Table 33 – Object description . 44
Table 34 – Entry description . 44
Table 35 – Value definition . 44
Table 36 – Object description . 44
Table 37 – Entry description . 45
Table 38 – Value definition . 45

61800-7-201  IEC:2007 – 9 –
Table 39 – Object description . 45
Table 40 – Entry description . 46
Table 41 – Value definition . 46
Table 42 – Object description . 46
Table 43 – Entry description . 46
Table 44 – Value definition . 47
Ta
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