IEC 61800-7-301:2015

Adjustable speed electrical power drive systems - Part 7-301: Generic interface and use of profiles for power drive systems - Mapping of profile type 1 to network technologies

IEC 61800-7-301:2015 specifies the mapping of the profile type 1 (CiA 402) specified in IEC 61800-7-201 onto different network technologies. This edition includes the following significant technical changes with respect to the previous edition:
- Additional mappings to communication systems are included (Mapping to CC-Link IE Field Network and Mapping to EPA).

Entraînements électriques de puissance à vitesse variable - Partie 7-301: Interface générique et utilisation de profils pour les entraînements électriques de puissance - Mise en correspondance du profil de type 1 avec les technologies de réseaux

L'IEC 61800-7-301:2015 spécifie la mise en correspondance du type de profil 1 (CiA 402), décrit dans l'IEC 61800-7-201, avec les différentes technologies de réseau. Cette édition inclut les modifications techniques majeures suivantes par rapport à l'édition précédente:
- Inclusion de mises en correspondance supplémentaires avec les systèmes de communication (Mise en correspondance avec CC-Link IE Field Network et Mise en correspondance avec EPA).

General Information

• Status: Published
• Publication Date: 19-Nov-2015
• ICS: 01 - GENERALITIES. TERMINOLOGY. STANDARDIZATION. DOCUMENTATION
• 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: MT 16 - TC 22/SC 22G/MT 16
• Current Stage: PPUB - Publication issued
• Start Date: 20-Nov-2015
• Completion Date: 31-Oct-2015

Relations

• Revises: IEC 61800-7-301:2007 - Adjustable speed electrical power drive systems - Part 7-301: Generic interface and use of profiles for power drive systems - Mapping of profile type 1 to network technologies
• Effective Date: 05-Sep-2023

Standards Content (Sample)

IEC 61800-7-301 ®
Edition 2.0 2015-11
REDLINE VERSION
INTERNATIONAL
STANDARD
colour
inside
Adjustable speed electrical power drive systems –
Part 7-301: Generic interface and use of profiles for power drive systems –
Mapping of profile type 1 to network technologies

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.

IEC Central Office Tel.: [phone]
3, rue de Varembé Fax: [phone]
CH-1211 Geneva 20 [e-mail]
Switzerland www.iec.ch
About the IEC
The International Electrotechnical Commission (IEC) is the leading global organization that prepares and publishes
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 61800-7-301 ®
Edition 2.0 2015-11
REDLINE VERSION
INTERNATIONAL
STANDARD
colour
inside
Adjustable speed electrical power drive systems –

Part 7-301: Generic interface and use of profiles for power drive systems –

Mapping of profile type 1 to network technologies

INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
ICS 29.200; 35.100.05 ISBN 978-2-8322-3021-3

– 2 – IEC 61800-7-301:2015 RLV © IEC 2015

CONTENTS
FO R EW O RD . 10
INT R O D UCT IO N . 12
1 Sc ope . 17
2 Normative references . 17
3 Terms, definitions and abbreviated terms . 18
3.1 Terms and definitions . 18
3.2 Abbreviated terms . 22
4 General . 23
5 Mapping to CANopen . 23
5.1 O v er v ie w . 23
5.2 Mapping of communication objects . 23
5.3 Communication parameter objects . 23
5.3.1 General . 23
5.3.2 Object 1000 : Device type . 24
h
5.3.3 Object 1029 : Error behavior . 24
h
5.3.4 Object 67FF : Single device type . 25
h
5.4 Emergency message . 26
5.5 Communication fault events . 26
5.6 Sets of pre-defined PDOs . 26
5.6.1 General . 26
5.6.2 PDO set for generic drive device . 26
5.6.3 PDO set for frequency converter . 58
5.6.4 PDO set for servo drive . 71
5.6.5 PDO set for stepper motor . 87
5.7 PDO mapping attributes . 104
6 Mapping to CC-Link IE Field Network . 108
6.1 Overview. 108
6.2 Device model . 108
6.3 Mapping of communication objects . 109
6.3.1 General . 109
6.3.2 The detailed mapping of communication objects . 109
6.3.3 FAL syntax description . 109
6.3.4 FAL transfer syntax . 111
6.4 Communication parameter objects . 115
6.4.1 General . 115
6.4.2 Object 1000 : Device type . 116
h
6.5 Sets of pre-defined PDOs . 116
6.5.1 General . 116
6.5.2 PDO set for generic drive device . 116
6.6 PDO mapping attributes . 119
7 Mapping to EPA . 119
7.1 Overview. 119
7.2 Device module . 119
7.2.1 Overview . 119
7.2.2 Additional definition for mapping to CiA 402. 121

7.2.3 CiA 402 mapping module . 123
7.2.4 FAL management object for CiA 402 mapping . 124
7.3 PDOs mapping on cyclic PDU transmission . 128
7.3.1 Overview . 128
7.3.2 Configuration . 129
7.3.3 Procedure of sending PDOs. 131
7.3.4 Procedure of receiving PDOs . 131
7.4 PDOs mapping on acyclic PDU transmission. 132
7.4.1 General . 132
7.4.2 FRTRead service . 132
7.4.3 FRTWrite service . 133
7.4.4 FRTRead service process . 133
7.4.5 FRTWrite service process . 134
7.5 Alarm mechanism . 134
7.5.1 Overview . 134
7.5.2 EventReport service . 134
7.5.3 EventReportAcknowledge service . 135
7.5.4 Event object . 135
7.5.5 Alarm process . 136
7.5.6 Error code . 136
8 Mapping to EtherCAT . 136
8.1 Over view . 136
8.2 Mapping of communication objects . 137
8.3 Communication parameter objects . 137
8.3.1 General . 137
8.3.2 Object 1000 : Device type . 137
h
8.4 Sets of pre-defined PDOs . 138
8.5 PDO mapping attributes . 138
9 Mapping to ETHERNET Powerlink . 138
9.1 Over view . 138
9.2 Mapping of communication objects . 138
9.3 Communication parameter objects . 138
9.3.1 General . 138
9.3.2 Object 1000 : Device type . 139
h
9.3.3 Object 67FF : Single device type . 139
h
9.4 Emergency information . 139
9.5 Sets of pre-defined PDOs . 139
9.5.1 General . 139
9.5.2 PDO set for generic drive device . 139
9.5.3 PDO set for frequency converter . 146
9.5.4 PDO set for servo drive . 150
9.5.5 PDO set for stepper motor . 154
9.6 PDO mapping attributes . 158
B i b l i o gr a p h y . 159

Figure 1 – Structure of IEC 61800-7 . 16
Figure 2 – Structure of EPA drive system . 120
Figure 3 – CiA 402 mapping structure . 123

– 4 – IEC 61800-7-301:2015 RLV © IEC 2015

Figure 4 – Format of Type 14 PDU for FRT application . 129

Table 1 – List of used data types . 23
Table 2 – Additional information field for generic PDO mapping . 24
Table 3 – Additional information field for type-specific PDO mapping . 24
Table 4 – Value definition . 25
Table 5 – Object description . 25
Table 6 – Entry description . 25
Table 7 – Overview on RPDO . 27
Table 8 – Overview on TPDO . 27
Table 9 – Object description of communication parameters . 27
Table 10 – Entry description of communication parameters . 28
Table 11 – Object description of mapping parameters . 28
Table 12 – Entry description of mapping parameters . 29
Table 13 – Object description of communication parameters . 29
Table 14 – Entry description of communication parameters . 30
Table 15 – Object description of mapping parameters . 30
Table 16 – Entry description of mapping parameters . 31
Table 17 – Object description of communication parameters . 32
Table 18 – Entry description of communication parameters . 32
Table 19 – Object description of mapping parameters . 33
Table 20 – Entry description of mapping parameters . 33
Table 21 – Object description of communication parameters . 34
Table 22 – Entry description of communication parameters . 34
Table 23 – Object description of mapping parameters . 35
Table 24 – Entry description of mapping parameters . 35
Table 25 – Object description of communication parameters . 36
Table 26 – Entry description of communication parameters . 36
Table 27 – Object description of mapping parameters . 37
Table 28 – Entry description of mapping parameters . 37
Table 29 – Object description of communication parameters . 38
Table 30 – Entry description of communication parameters . 38
Table 31 – Object description of mapping parameters . 39
Table 32 – Entry description of mapping parameters . 39
Table 33 – Object description of communication parameters . 40
Table 34 – Entry description of communication parameters . 40
Table 35 – Object description of mapping parameters . 41
Table 36 – Entry description of mapping parameters . 41
Table 37 – Object description of communication parameters . 42
Table 38 – Entry description of communication parameters . 42
Table 39 – Object description of mapping parameters . 43
Table 40 – Entry description of mapping parameters . 43
Table 41 – Object description of communication parameters . 44

Table 42 – Entry description of communication parameters . 44
Table 43 – Object description of mapping parameters . 45
Table 44 – Entry description of mapping parameters . 45
Table 45 – Object description of communication parameters . 46
Table 46 – Entry description of communication parameters . 46
Table 47 – Object description of mapping parameters . 47
Table 48 – Entry description of mapping parameters . 47
Table 49 – Object description of communication parameters . 48
Table 50 – Entry description of communication parameters . 48
Table 51 – Object description of mapping parameters . 49
Table 52 – Entry description of mapping parameters . 49
Table 53 – Object description of communication parameters . 50
Table 54 – Entry description of communication parameters . 50
Table 55 – Object description of mapping parameters . 51
Table 56 – Entry description of mapping parameters . 51
Table 57 – Object description of communication parameters . 52
Table 58 – Entry description of communication parameters . 52
Table 59 – Object description of mapping parameters . 53
Table 60 – Entry description of mapping parameters . 53
Table 61 – Object description of communication parameters . 54
Table 62 – Entry description of communication parameters . 54
Table 63 – Object description of mapping parameters . 55
Table 64 – Entry description of mapping parameters . 55
Table 65 – Object description of communication parameters . 56
Table 66 – Entry description of communication parameters . 56
Table 67 – Object description of mapping parameters . 57
Table 68 – Entry description of mapping parameters . 57
Table 69 – Overview on RPDO . 58
Table 70 – Overview on TPDO . 58
Table 71 – Object description of communication parameters . 58
Table 72 – Entry description of communication parameters . 59
Table 73 – Object description of mapping parameters . 59
Table 74 – Entry description of mapping parameters . 60
Table 75 – Object description of communication parameters . 61
Table 76 – Entry description of communication parameters . 61
Table 77 – Object description of mapping parameters . 62
Table 78 – Entry description of mapping parameters . 62
Table 79 – Object description of communication parameters . 63
Table 80 – Entry description of communication parameters . 63
Table 81 – Object description of mapping parameters . 64
Table 82 – Entry description of mapping parameters . 64
Table 83 – Object description of communication parameters . 65
Table 84 – Entry description of communication parameters . 65

– 6 – IEC 61800-7-301:2015 RLV © IEC 2015

Table 85 – Object description of mapping parameters . 66
Table 86 – Entry description of mapping parameters . 66
Table 87 – Object description of communication parameters . 67
Table 88 – Entry description of communication parameters . 67
Table 89 – Object description of mapping parameters . 68
Table 90 – Entry description of mapping parameters . 68
Table 91 – Object description of communication parameters . 69
Table 92 – Entry description of communication parameters . 69
Table 93 – Object description of mapping parameters . 70
Table 94 – Entry description of mapping parameters . 70
Table 95 – Overview on RPDO . 71
Table 96 – Overview on TPDO . 71
Table 97 – Object description of communication parameters . 71
Table 98 – Entry description of communication parameters . 72
Table 99 – Object description of mapping parameters . 72
Table 100 – Entry description of mapping parameters . 73
Table 101 – Object description of communication parameters . 73
Table 102 – Entry description of communication parameters . 74
Table 103 – Object description of mapping parameters . 74
Table 104 – Entry description of mapping parameters . 75
Table 105 – Object description of communication parameters . 76
Table 106 – Entry description of communication parameters . 76
Table 107 – Object description of mapping parameters . 77
Table 108 – Entry description of mapping parameters . 77
Table 109 – Object description of communication parameters . 78
Table 110 – Entry description of communication parameters . 78
Table 111 – Object description of mapping parameters . 79
Table 112 – Entry description of mapping parameters . 79
Table 113 – Object description of communication parameters . 80
Table 114 – Entry description of communication parameters . 80
Table 115 – Object description of mapping parameters . 81
Table 116 – Entry description of mapping parameters . 81
Table 117 – Object description of communication parameters . 82
Table 118 – Entry description of communication parameters . 82
Table 119 – Object description of mapping parameters . 83
Table 120 – Entry description of mapping parameters . 83
Table 121 – Object description of communication parameters . 84
Table 122 – Entry description of communication parameters . 84
Table 123 – Object description of mapping parameters . 85
Table 124 – Entry description of mapping parameters . 85
Table 125 – Object description of communication parameters . 86
Table 126 – Entry description of communication parameters . 86
Table 127 – Object description of mapping parameters . 87

Table 128 – Entry description of mapping parameters . 87
Table 129 – Overview on RPDO . 88
Table 130 – Overview on TPDO . 88
Table 131 – Object description of communication parameters . 88
Table 132 – Entry description of communication parameters . 89
Table 133 – Object description of mapping parameters . 89
Table 134 – Entry description of mapping parameters . 90
Table 135 – Object description of communication parameters . 90
Table 136 – Entry description of communication parameters . 91
Table 137 – Object description of mapping parameters . 91
Table 138 – Entry description of mapping parameters . 92
Table 139 – Object description of communication parameters . 93
Table 140 – Entry description of communication parameters . 93
Table 141 – Object description of mapping parameters . 94
Table 142 – Entry description of mapping parameters . 94
Table 143 – Object description of communication parameters . 95
Table 144 – Entry description of communication parameters . 95
Table 145 – Object description of mapping parameters . 96
Table 146 – Entry description of mapping parameters . 96
Table 147 – Object description of communication parameters . 97
Table 148 – Entry description of communication parameters . 97
Table 149 – Object description of mapping parameters . 98
Table 150 – Entry description of mapping parameters . 98
Table 151 – Object description of communication parameters . 99
Table 152 – Entry description of communication parameters . 99
Table 153 – Object description of mapping parameters . 100
Table 154 – Entry description of mapping parameters . 100
Table 155 – Object description of communication parameters . 101
Table 156 – Entry description of communication parameters . 101
Table 157 – Object description of mapping parameters . 102
Table 158 – Entry description of mapping parameters . 102
Table 159 – Object description of communication parameters . 103
Table 160 – Entry description of communication parameters . 103
Table 161 – Object description of mapping parameters . 104
Table 162 – Entry description of mapping parameters . 104
Table 163 – PDO mapping attributes of CiA 402 objects . 105
Table 164 – Object dictionary structure . 109
Table 165 – FieldMotionSpecificTr a n s i en t . 111
Table 166 – command (dataType: 08 , dataSubType: 0002 ) . 112
h h
Table 167 – subCommand type for each command type . 112
Table 168 – Structure of setCycleTimeRequest . 112
Table 169 – ctCycle . 112
Table 170 – syCycle . 113

– 8 – IEC 61800-7-301:2015 RLV © IEC 2015

Table 171 – Structure of setCycleTimeResponse . 114
Table 172 – Result . 114
Table 173 – Structure of readObjectRequest. 114
Table 174 – Structure of readObjectResponse . 115
Table 175 – Structure of writeObjectRequest . 115
Table 176 – Structure of writeObjectResponse . 115
Table 177 – List of used data types . 115
Table 178 – Overview on object in RPDO . 116
Table 179 – Overview on object in TPDO . 116
Table 180 – Object description of mapping parameters . 116
Table 181 – Entry description of mapping parameters . 117
Table 182 – Object description of mapping parameters . 118
Table 183 – Entry description of mapping parameters . 118
Table 184 – List of used data types . 119
Table 185 – Overview on RPDO . 120
Table 186 – Overview on TPDO . 120
Table 187 – Management object base . 122
Table 188 – Definition of Type 14 FRT link object . 129
Table 189 – Encoding of FRTRead request parameters . 132
Table 190 – Encoding of FRTRead positive response parameters . 132
Table 191 – Encoding of FRTRead negative response parameters . 133
Table 192 – Encoding of FRTWrite request parameters . 133
Table 193 – Encoding of FRTWrite positive response parameters . 133
Table 194 – Encoding of FRTWrite negative response parameters . 133
Table 195 – Encoding of EventReport parameters . 135
Table 196 – Format of EventReport service for alarm . 135
Table 197 – Encoding of EventReportAcknowledge parameters . 135
Table 198 – Format of EventReportAcknowledge sevice for alarm . 135
Table 199 – Event object assignment . 136
Table 200 – Example of Event object header . 136
Table 201 – Example of Event object . 136
Table 202 – List of used data types . 137
Table 203 – Additional information field for generic PDO mapping . 138
Table 204 – List of used data types . 139
Table 205 – Overview on objects in RPDO . 140
Table 206 – Overview on objects in TPDO . 140
Table 207 – Object description of communication parameters . 140
Table 208 – Entry description of communication parameters . 141
Table 209 – Object description of mapping parameters . 141
Table 210 – Entry description of mapping parameters . 142
Table 211 – Object description of communication parameters . 143
Table 212 – Entry description of communication parameters . 144
Table 213 – Object description of mapping parameters . 144

Table 214 – Entry description of mapping parameters . 145
Table 215 – Overview on objects in RPDO . 146
Table 216 – Overview on objects in TPDO . 146
Table 217 – Object description of communication parameters . 146
Table 218 – Entry description of communication parameters . 147
Table 219 – Object description of mapping parameters . 147
Table 220 – Entry description of mapping parameters . 148
Table 221 – Object description of communication parameters . 148
Table 222 – Entry description of communication parameters . 149
Table 223 – Object description of mapping parameters . 149
Table 224 – Entry description of mapping parameters . 150
Table 225 – Overview on objects in RPDO . 150
Table 226 – Overview on objects in TPDO . 151
Table 227 – Object description of communication parameters . 151
Table 228 – Entry description of communication parameters . 151
Table 229 – Object description of mapping parameters . 152
Table 230 – Entry description of mapping parameters . 152
Table 231 – Object description of communication parameters . 153
Table 232 – Entry description of communication parameters . 153
Table 233 – Object description of mapping parameters . 153
Table 234 – Entry description of mapping parameters . 154
Table 235 – Overview on objects in RPDO . 154
Table 236 – Overview on objects in TPDO . 155
Table 237 – Object description of communication parameters . 155
Table 238 – Entry description of communication parameters . 155
Table 239 – Object description of mapping parameters . 156
Table 240 – Entry description of mapping parameters . 156
Table 241 – Object description of communication parameters . 157
Table 242 – Entry description of communication parameters . 157
Table 243 – Object description of mapping parameters . 157
Table 244 – Entry description of mapping parameters . 158

– 10 – IEC 61800-7-301:2015 RLV © IEC 2015

INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –

Part 7-301: Generic interface and use of profiles for power
drive systems – Mapping of profile type 1 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, governmen
...

IEC 61800-7-301 ®
Edition 2.0 2015-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –
Part 7-301: Generic interface and use of profiles for power drive systems –
Mapping of profile type 1 to network technologies

Entraînements électriques de puissance à vitesse variable –
Partie 7-301: Interface générique et utilisation de profils pour les entraînements
électriques de puissance – Mise en correspondance du profil de type 1 avec les
technologies de réseaux
All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form
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About the IEC
The International Electrotechnical Commission (IEC) is the leading global organization that prepares and publishes
International Standards for all electrical, electronic and related technologies.

About IEC publications
The technical content of IEC publications is kept under constant review by the IEC. Please make sure that you have the
latest edition, a corrigenda or an amendment might have been published.

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Technical Specifications, Technical Reports and other definitions in English and French, with equivalent terms in 15
documents. Available for PC, Mac OS, Android Tablets and additional languages. Also known as the International
iPad. Electrotechnical Vocabulary (IEV) online.

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The advanced search enables to find IEC publications by a More than 60 000 electrotechnical terminology entries in
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committee,…). It also gives information on projects, replaced clause of IEC publications issued since 2002. Some entries
and withdrawn publications. have been collected from earlier publications of IEC TC 37,

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IEC 61800-7-301 ®
Edition 2.0 2015-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –

Part 7-301: Generic interface and use of profiles for power drive systems –

Mapping of profile type 1 to network technologies

Entraînements électriques de puissance à vitesse variable –

Partie 7-301: Interface générique et utilisation de profils pour les entraînements

électriques de puissance – Mise en correspondance du profil de type 1 avec les

technologies de réseaux
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
INTERNATIONALE
ICS 29.200; 35.100.05 ISBN 978-2-8322-2930-9

– 2 – IEC 61800-7-301:2015 © IEC 2015
CONTENTS
FOREWORD . 10
INTRODUCTION . 12
1 Scope . 16
2 Normative references . 16
3 Terms, definitions and abbreviated terms . 17
3.1 Terms and definitions . 17
3.2 Abbreviated terms . 20
4 General . 21
5 Mapping to CANopen . 21
5.1 Overview. 21
5.2 Mapping of communication objects . 21
5.3 Communication parameter objects . 22
5.3.1 General . 22
5.3.2 Object 1000 : Device type . 22
h
5.3.3 Object 1029 : Error behavior . 23
h
5.3.4 Object 67FF : Single device type . 24
h
5.4 Emergency message . 24
5.5 Communication fault events . 24
5.6 Sets of pre-defined PDOs . 24
5.6.1 General . 24
5.6.2 PDO set for generic drive device . 25
5.6.3 PDO set for frequency converter . 56
5.6.4 PDO set for servo drive . 69
5.6.5 PDO set for stepper motor . 85
5.7 PDO mapping attributes . 102
6 Mapping to CC-Link IE Field Network . 106
6.1 Overview. 106
6.2 Device model . 106
6.3 Mapping of communication objects . 106
6.3.1 General . 106
6.3.2 The detailed mapping of communication objects . 106
6.3.3 FAL syntax description . 107
6.3.4 FAL transfer syntax . 108
6.4 Communication parameter objects . 112
6.4.1 General . 112
6.4.2 Object 1000 : Device type . 113
h
6.5 Sets of pre-defined PDOs . 113
6.5.1 General . 113
6.5.2 PDO set for generic drive device . 113
6.6 PDO mapping attributes . 116
7 Mapping to EPA . 116
7.1 Overview. 116
7.2 Device module . 116
7.2.1 Overview . 116
7.2.2 Additional definition for mapping to CiA 402. 117

7.2.3 CiA 402 mapping module . 119
7.2.4 FAL management object for CiA 402 mapping . 120
7.3 PDOs mapping on cyclic PDU transmission . 124
7.3.1 Overview . 124
7.3.2 Configuration . 125
7.3.3 Procedure of sending PDOs. 127
7.3.4 Procedure of receiving PDOs . 127
7.4 PDOs mapping on acyclic PDU transmission. 128
7.4.1 General . 128
7.4.2 FRTRead service . 128
7.4.3 FRTWrite service . 129
7.4.4 FRTRead service process . 129
7.4.5 FRTWrite service process . 130
7.5 Alarm mechanism . 130
7.5.1 Overview . 130
7.5.2 EventReport service . 130
7.5.3 EventReportAcknowledge service . 131
7.5.4 Event object . 131
7.5.5 Alarm process . 132
7.5.6 Error code . 132
8 Mapping to EtherCAT . 132
8.1 Overview. 132
8.2 Mapping of communication objects . 133
8.3 Communication parameter objects . 133
8.3.1 General . 133
8.3.2 Object 1000 : Device type . 133
h
8.4 Sets of pre-defined PDOs . 134
8.5 PDO mapping attributes . 134
9 Mapping to ETHERNET Powerlink . 134
9.1 Overview. 134
9.2 Mapping of communication objects . 134
9.3 Communication parameter objects . 134
9.3.1 General . 134
9.3.2 Object 1000 : Device type . 135
h
9.3.3 Object 67FF : Single device type . 135
h
9.4 Emergency information . 135
9.5 Sets of pre-defined PDOs . 135
9.5.1 General . 135
9.5.2 PDO set for generic drive device . 135
9.5.3 PDO set for frequency converter . 142
9.5.4 PDO set for servo drive . 146
9.5.5 PDO set for stepper motor . 150
9.6 PDO mapping attributes . 154
Bibliography . 155

Figure 1 – Structure of IEC 61800-7 . 15
Figure 2 – Structure of EPA drive system . 116
Figure 3 – CiA 402 mapping structure . 119

– 4 – IEC 61800-7-301:2015 © IEC 2015
Figure 4 – Format of Type 14 PDU for FRT application . 125

Table 1 – List of used data types . 22
Table 2 – Additional information field for generic PDO mapping . 23
Table 3 – Additional information field for type-specific PDO mapping . 23
Table 4 – Value definition . 23
Table 5 – Object description . 23
Table 6 – Entry description . 24
Table 7 – Overview on RPDO . 25
Table 8 – Overview on TPDO . 25
Table 9 – Object description of communication parameters . 26
Table 10 – Entry description of communication parameters . 26
Table 11 – Object description of mapping parameters . 27
Table 12 – Entry description of mapping parameters . 27
Table 13 – Object description of communication parameters . 28
Table 14 – Entry description of communication parameters . 28
Table 15 – Object description of mapping parameters . 29
Table 16 – Entry description of mapping parameters . 29
Table 17 – Object description of communication parameters . 30
Table 18 – Entry description of communication parameters . 30
Table 19 – Object description of mapping parameters . 31
Table 20 – Entry description of mapping parameters . 31
Table 21 – Object description of communication parameters . 32
Table 22 – Entry description of communication parameters . 32
Table 23 – Object description of mapping parameters . 33
Table 24 – Entry description of mapping parameters . 33
Table 25 – Object description of communication parameters . 34
Table 26 – Entry description of communication parameters . 34
Table 27 – Object description of mapping parameters . 35
Table 28 – Entry description of mapping parameters . 35
Table 29 – Object description of communication parameters . 36
Table 30 – Entry description of communication parameters . 36
Table 31 – Object description of mapping parameters . 37
Table 32 – Entry description of mapping parameters . 37
Table 33 – Object description of communication parameters . 38
Table 34 – Entry description of communication parameters . 38
Table 35 – Object description of mapping parameters . 39
Table 36 – Entry description of mapping parameters . 39
Table 37 – Object description of communication parameters . 40
Table 38 – Entry description of communication parameters . 40
Table 39 – Object description of mapping parameters . 41
Table 40 – Entry description of mapping parameters . 41
Table 41 – Object description of communication parameters . 42

Table 42 – Entry description of communication parameters . 42
Table 43 – Object description of mapping parameters . 43
Table 44 – Entry description of mapping parameters . 43
Table 45 – Object description of communication parameters . 44
Table 46 – Entry description of communication parameters . 44
Table 47 – Object description of mapping parameters . 45
Table 48 – Entry description of mapping parameters . 45
Table 49 – Object description of communication parameters . 46
Table 50 – Entry description of communication parameters . 46
Table 51 – Object description of mapping parameters . 47
Table 52 – Entry description of mapping parameters . 47
Table 53 – Object description of communication parameters . 48
Table 54 – Entry description of communication parameters . 48
Table 55 – Object description of mapping parameters . 49
Table 56 – Entry description of mapping parameters . 49
Table 57 – Object description of communication parameters . 50
Table 58 – Entry description of communication parameters . 50
Table 59 – Object description of mapping parameters . 51
Table 60 – Entry description of mapping parameters . 51
Table 61 – Object description of communication parameters . 52
Table 62 – Entry description of communication parameters . 52
Table 63 – Object description of mapping parameters . 53
Table 64 – Entry description of mapping parameters . 53
Table 65 – Object description of communication parameters . 54
Table 66 – Entry description of communication parameters . 54
Table 67 – Object description of mapping parameters . 55
Table 68 – Entry description of mapping parameters . 55
Table 69 – Overview on RPDO . 56
Table 70 – Overview on TPDO . 56
Table 71 – Object description of communication parameters . 56
Table 72 – Entry description of communication parameters . 57
Table 73 – Object description of mapping parameters . 57
Table 74 – Entry description of mapping parameters . 58
Table 75 – Object description of communication parameters . 59
Table 76 – Entry description of communication parameters . 59
Table 77 – Object description of mapping parameters . 60
Table 78 – Entry description of mapping parameters . 60
Table 79 – Object description of communication parameters . 61
Table 80 – Entry description of communication parameters . 61
Table 81 – Object description of mapping parameters . 62
Table 82 – Entry description of mapping parameters . 62
Table 83 – Object description of communication parameters . 63
Table 84 – Entry description of communication parameters . 63

– 6 – IEC 61800-7-301:2015 © IEC 2015
Table 85 – Object description of mapping parameters . 64
Table 86 – Entry description of mapping parameters . 64
Table 87 – Object description of communication parameters . 65
Table 88 – Entry description of communication parameters . 65
Table 89 – Object description of mapping parameters . 66
Table 90 – Entry description of mapping parameters . 66
Table 91 – Object description of communication parameters . 67
Table 92 – Entry description of communication parameters . 67
Table 93 – Object description of mapping parameters . 68
Table 94 – Entry description of mapping parameters . 68
Table 95 – Overview on RPDO . 69
Table 96 – Overview on TPDO . 69
Table 97 – Object description of communication parameters . 69
Table 98 – Entry description of communication parameters . 70
Table 99 – Object description of mapping parameters . 70
Table 100 – Entry description of mapping parameters . 71
Table 101 – Object description of communication parameters . 71
Table 102 – Entry description of communication parameters . 72
Table 103 – Object description of mapping parameters . 72
Table 104 – Entry description of mapping parameters . 73
Table 105 – Object description of communication parameters . 74
Table 106 – Entry description of communication parameters . 74
Table 107 – Object description of mapping parameters . 75
Table 108 – Entry description of mapping parameters . 75
Table 109 – Object description of communication parameters . 76
Table 110 – Entry description of communication parameters . 76
Table 111 – Object description of mapping parameters . 77
Table 112 – Entry description of mapping parameters . 77
Table 113 – Object description of communication parameters . 78
Table 114 – Entry description of communication parameters . 78
Table 115 – Object description of mapping parameters . 79
Table 116 – Entry description of mapping parameters . 79
Table 117 – Object description of communication parameters . 80
Table 118 – Entry description of communication parameters . 80
Table 119 – Object description of mapping parameters . 81
Table 120 – Entry description of mapping parameters . 81
Table 121 – Object description of communication parameters . 82
Table 122 – Entry description of communication parameters . 82
Table 123 – Object description of mapping parameters . 83
Table 124 – Entry description of mapping parameters . 83
Table 125 – Object description of communication parameters . 84
Table 126 – Entry description of communication parameters . 84
Table 127 – Object description of mapping parameters . 85

Table 128 – Entry description of mapping parameters . 85
Table 129 – Overview on RPDO . 86
Table 130 – Overview on TPDO . 86
Table 131 – Object description of communication parameters . 86
Table 132 – Entry description of communication parameters . 87
Table 133 – Object description of mapping parameters . 87
Table 134 – Entry description of mapping parameters . 88
Table 135 – Object description of communication parameters . 88
Table 136 – Entry description of communication parameters . 89
Table 137 – Object description of mapping parameters . 89
Table 138 – Entry description of mapping parameters . 90
Table 139 – Object description of communication parameters . 91
Table 140 – Entry description of communication parameters . 91
Table 141 – Object description of mapping parameters . 92
Table 142 – Entry description of mapping parameters . 92
Table 143 – Object description of communication parameters . 93
Table 144 – Entry description of communication parameters . 93
Table 145 – Object description of mapping parameters . 94
Table 146 – Entry description of mapping parameters . 94
Table 147 – Object description of communication parameters . 95
Table 148 – Entry description of communication parameters . 95
Table 149 – Object description of mapping parameters . 96
Table 150 – Entry description of mapping parameters . 96
Table 151 – Object description of communication parameters . 97
Table 152 – Entry description of communication parameters . 97
Table 153 – Object description of mapping parameters . 98
Table 154 – Entry description of mapping parameters . 98
Table 155 – Object description of communication parameters . 99
Table 156 – Entry description of communication parameters . 99
Table 157 – Object description of mapping parameters . 100
Table 158 – Entry description of mapping parameters . 100
Table 159 – Object description of communication parameters . 101
Table 160 – Entry description of communication parameters . 101
Table 161 – Object description of mapping parameters . 102
Table 162 – Entry description of mapping parameters . 102
Table 163 – PDO mapping attributes of CiA 402 objects . 103
Table 164 – Object dictionary structure . 106
Table 165 – FieldMotionSpecificTransient . 109
Table 166 – command (dataType: 08 , dataSubType: 0002 ) . 109
h h
Table 167 – subCommand type for each command type . 109
Table 168 – Structure of setCycleTimeRequest . 109
Table 169 – ctCycle . 110
Table 170 – syCycle . 110

– 8 – IEC 61800-7-301:2015 © IEC 2015
Table 171 – Structure of setCycleTimeResponse . 111
Table 172 – Result . 111
Table 173 – Structure of readObjectRequest. 111
Table 174 – Structure of readObjectResponse . 112
Table 175 – Structure of writeObjectRequest . 112
Table 176 – Structure of writeObjectResponse . 112
Table 177 – List of used data types . 113
Table 178 – Overview on object in RPDO . 113
Table 179 – Overview on object in TPDO . 113
Table 180 – Object description of mapping parameters . 114
Table 181 – Entry description of mapping parameters . 114
Table 182 – Object description of mapping parameters . 115
Table 183 – Entry description of mapping parameters . 115
Table 184 – List of used data types . 116
Table 185 – Overview on RPDO . 117
Table 186 – Overview on TPDO . 117
Table 187 – Management object base . 118
Table 188 – Definition of Type 14 FRT link object . 125
Table 189 – Encoding of FRTRead request parameters . 128
Table 190 – Encoding of FRTRead positive response parameters . 128
Table 191 – Encoding of FRTRead negative response parameters . 129
Table 192 – Encoding of FRTWrite request parameters . 129
Table 193 – Encoding of FRTWrite positive response parameters . 129
Table 194 – Encoding of FRTWrite negative response parameters . 129
Table 195 – Encoding of EventReport parameters . 131
Table 196 – Format of EventReport service for alarm . 131
Table 197 – Encoding of EventReportAcknowledge parameters . 131
Table 198 – Format of EventReportAcknowledge sevice for alarm . 131
Table 199 – Event object assignment . 132
Table 200 – Example of Event object header . 132
Table 201 – Example of Event object . 132
Table 202 – List of used data types . 133
Table 203 – Additional information field for generic PDO mapping . 134
Table 204 – List of used data types . 135
Table 205 – Overview on objects in RPDO . 136
Table 206 – Overview on objects in TPDO . 136
Table 207 – Object description of communication parameters . 136
Table 208 – Entry description of communication parameters . 137
Table 209 – Object description of mapping parameters . 137
Table 210 – Entry description of mapping parameters . 138
Table 211 – Object description of communication parameters . 139
Table 212 – Entry description of communication parameters . 140
Table 213 – Object description of mapping parameters . 140

Table 214 – Entry description of mapping parameters . 141
Table 215 – Overview on objects in RPDO . 142
Table 216 – Overview on objects in TPDO . 142
Table 217 – Object description of communication parameters . 142
Table 218 – Entry description of communication parameters . 143
Table 219 – Object description of mapping parameters . 143
Table 220 – Entry description of mapping parameters . 144
Table 221 – Object description of communication parameters . 144
Table 222 – Entry description of communication parameters . 145
Table 223 – Object description of mapping parameters . 145
Table 224 – Entry description of mapping parameters . 146
Table 225 – Overview on objects in RPDO .
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