IEC 61800-7-1:2007

Adjustable speed electrical power drive systems - Part 7-1: Generic interface and use of profiles for power drive systems - Interface definition

IEC 61800-7-1:2007 specifies a generic interface between power drive system(s) (PDS) and the application control program in a controller. The generic PDS interface is not specific to any particular communication network technology. Annexes of this part of IEC 61800-7 specify the mapping of the different drive profiles types onto the generic PDS interface.

Entraînements électriques de puissance à vitesse variable - Partie 7-1: Interface générique et utilisation de profils pour les entraînements électriques de puissance - Définition de l'interface

La CEI 61800-7-1:2007 spécifie une interface générique entre le ou les entraînements électriques de puissance (PDS) et le programme de contrôle d'application dans un contrôleur. L'interface PDS générique n'est pas spécifique à une technologie de réseaux de communication particulière. Les annexes de la présente partie de la CEI 61800-7 spécifient la mise en correspondance des différents types de profils d'entraînement avec l'interface PDS générique.

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 61800-7-1:2015 - Adjustable speed electrical power drive systems - Part 7-1: Generic interface and use of profiles for power drive systems - Interface definition
• Effective Date: 05-Sep-2023

Standards Content (Sample)

IEC 61800-7-1
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
Adjustable speed electrical power drive systems –
Part 7-1: Generic interface and use of profiles for power drive systems –
Interface definition
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IEC 61800-7-1
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
Adjustable speed electrical power drive systems –
Part 7-1: Generic interface and use of profiles for power drive systems –
Interface definition
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
PRICE CODE
XD
ICS 29.200; 35.100.05 ISBN 2-8318-9365-8

– 2 – 61800-7-1 © IEC:2007(E)
CONTENTS
FOREWORD.7
INTRODUCTION.9

1 Scope.12
2 Normative references .12
3 Terms, definitions and abbreviated terms .13
3.1 Preamble.13
3.2 General definitions .13
3.3 Specific definitions .17
3.3.1 Common definitions .17
3.3.2 Definitions for Annex A .17
3.3.3 Definitions for Annex B .18
3.3.4 Definitions for Annex C.19
3.3.5 Definitions for Annex D.20
3.4 Abbreviated terms .22
3.4.1 Common abbreviations .22
3.4.2 Abbreviations for Annex A .22
3.4.3 Abbreviations for Annex B .22
3.4.4 Abbreviations for Annex C .22
3.4.5 Abbreviations for Annex D .22
3.5 Conventions .23
4 General architecture.23
4.1 Generic PDS interface.23
4.2 Typical structure of automation systems.27
4.3 Structure of the logical PDS .28
4.4 Use cases of the PDS .30
4.4.1 General .30
4.4.2 Use case engineering .31
4.4.3 Use case operation-control.31
5 Functional elements .32
5.1 Device identification FE.32
5.1.1 General .32
5.1.2 Parameters.32
5.2 Device Control FE .33
5.2.1 General .33
5.2.2 I/O data .33
5.2.3 States.34
5.2.4 Parameters.35
5.3 Communication FE .35
5.3.1 General .35
5.3.2 I/O data .36
5.3.3 States.36
5.3.4 Parameters.38
5.4 Basic drive FE.38
5.4.1 General .38
5.4.2 I/O data .39

61800-7-1 © IEC:2007(E) – 3 –
5.4.3 States.40
5.4.4 Parameters.41
5.5 Optional application FE .42
6 Application modes .42
6.1 General .42
6.2 Torque control.43
6.3 Velocity control.44
6.4 Position control .45
7 Profile specific extensions .46
8 Structure for annexes .46
8.1 General .46
8.2 Structure of the annexes .47

Annex A (normative) Mapping to Profile CiA 402 drive and motion control .50
Annex B (normative) Mapping to profile CIP Motion™.62
Annex C (normative) Mapping to profile PROFIdrive .74
Annex D (normative) Mapping to Profile SERCOS .87

Bibliography.100

Figure 1 – Structure of IEC 61800-7.11
Figure 2 – Definition of power drive system.23
Figure 3 – Example of system structures for position-control applications .24
Figure 4 – Examples of system structures for velocity-control applications.25
Figure 5 – Examples of system structures for torque-control applications .26
Figure 6 – Typical structure of automation systems (adapted from IEC/TR 62390) .27
Figure 7 – Structure of the PDS with functional elements.29
Figure 8 – Functional Elements (FE) in the logical PDS .30
Figure 9 – Use case for the generic PDS interface.31
Figure 10 – The generic interface in the use case operation .32
Figure 11 – Device control FE state-chart diagram.34
Figure 12 – Device control FE state transition table .35
Figure 13 – Communication FE state-chart diagram.37
Figure 14 – Communication FE state transition table .37
Figure 15 – Optional communication FE state-chart diagram.38
Figure 16 – Optional communication FE state transition table .38
Figure 17 – Basic drive FE state-chart diagram.40
Figure 18 – Basic drive FE state transition table .40
Figure 19 – Optional basic drive FE state-chart diagram .41
Figure 20 – Optional basic drive FE state transition table .41
Figure 21 – Torque control application mode .43
Figure 22 – Torque control with velocity feedback application mode .43
Figure 23 – Velocity preset application mode .44
Figure 24 – Velocity control application mode .44

– 4 – 61800-7-1 © IEC:2007(E)
Figure 25 – Velocity control with position feedback application mode.45
Figure 26 – Position preset application mode.45
Figure 27 – Position control application mode.46
Figure A.1 – CiA 402 logical power drive system model .51
Figure B.1 – Object structure of the logical PDS .63
Figure B.2 – Object structure of the logical PDS .63
Figure B.3 – Motion Axis Object state machine .66
Figure C.1 – Overview of communication devices and services in PROFIdrive.75
Figure C.2 – Structure of the PROFIdrive device.76
Figure C.3 – PROFIdrive Axis type Drive Object .77
Figure C.4 – Functional block diagram of the PROFIdrive Axis type DO.78
Figure C.5 – Mapping of communication FE states.81
Figure D.1 – Topology example .88
Figure D.2 – State machine of Basic Drive FE .93

Table 1 – Structures within the scope of this part of IEC 61800-7 .27
Table 2 – Parameters in the device identification FE.33
Table 3 – Status values for the device control FE .34
Table 4 – Command values for the device control FE.34
Table 5 – Parameters in the device control FE.35
Table 6 – Status values for the communication FE (see Figure 13) .36
Table 7 – Command values for the communication FE (see Figure 13) .36
Table 8 – Status values for the optional communication FE (see Figure 15).36
Table 9 – Command values for the optional communication FE (see Figure 15) .36
Table 10 – Status values of the basic drive FE.39
Table 11 – Optional status values for the basic drive FE.39
Table 12 – Command values for basic drive FE .39
Table 13 – Optional command values for the basic drive FE .40
Table 14 – Possible generic application modes.42
Table 15 – Set-point values for generic application modes.42
Table 16 – Mapping of names to profiles.46
Table 17 – Structure of annexes .47
Table 18 – Profile specific terms .48
Table 19 – Supported application modes .48
Table 20 – I/O data for profile torque mode.48
Table 21 – I/O data for profile velocity mode.49
Table 22 – I/O data for profile position mode .49
Table A.1 – Profile specific terms.50
Table A.2 – Drive device identification parameters.52
Table A.3 – Status values for the device control FE .52
Table A.4 – Command values for the device control FE .52
Table A.5 – Parameters in the device control FE.53
Table A.6 – Status values for the communication FE .53

61800-7-1 © IEC:2007(E) – 5 –
Table A.7 – Command values for the communication FE.53
Table A.8 – Status values for the basic drive FE .54
Table A.9 – Command values for the basic drive FE .54
Table A.10 – Basic drive FE parameters .55
Table A.11 – Optional application functions FE parameters .55
Table A.12 – Supported application modes .56
Table A.13 – I/O data for profile torque mode .56
Table A.14 – Parameter for profile torque mode.56
Table A.15 – I/O data for cyclic sync torque mode .57
Table A.16 – Parameter for cyclic sync torque mode.57
Table A.17 – I/O data for velocity mode .57
Table A.18 – Parameter for velocity mode.57
Table A.19 – I/O data for profile velocity mode.58
Table A.20 – Parameter for profile velocity mode.58
Table A.21 – I/O data for cyclic sync velocity mode .58
Table A.22 – Parameter for cyclic sync velocity mode.58
Table A.23 – I/O data for profile position mode .59
Table A.24 – Parameter for profile position mode.59
Table A.25 – I/O data for interpolated position mode.60
Table A.26 – Parameter for interpolated position mode.60
Table A.27 – I/O data for cyclic sync position mode .60
Table A.28 – Parameter for cyclic sync position mode .61
Table B.1 – Profile specific terms.62
Table B.2 – Mapping of parameters for the device identification FE .65
Table B.3 – Mapping of status values for the device control FE .65
Table B.4 – Mapping of command values for the device control FE.65
Table B.5 – Mapping of parameters for the device control FE .67
Table B.6 – Mapping of status values for the communication FE.67
Table B.7 – Mapping of command values for the communication FE .68
Table B.8 – Mapping of status values for the optional communication FE.68
Table B.9 – Mapping of command values for the optional communication FE.68
Table B.10 – Status values for the basic drive FE .69
Table B.11 – Command values for the basic drive FE .69
Table B.12 – Drive Control Mode values for the basic drive FE .69
Table B.13 – Command Data Set values for the basic drive FE.70
Table B.14 – Actual Data Set values for the basic drive FE.70
Table B.15 – Status Data Set values for the basic drive FE.71
Table B.16 – Supported application modes .72
Table B.17 – Set-point values for the generic application modes.72
Table B.18 – I/O data for profile torque mode .72
Table B.19 – I/O data for profile velocity mode.73
Table B.20 – I/O data for profile position mode .73
Table C.1 – Profile specific terms .74

– 6 – 61800-7-1 © IEC:2007(E)
Table C.2 – Parameters for device identification .79
Table C.3 – Status values for the device control FE .80
Table C.4 – Command values for the device control FE .80
Table C.5 – Device control parameters .80
Table C.6 – Status values of the basic drive FE .82
Table C.7 – Command values of the basic drive FE .82
Table C.8 – Status values for the optional basic drive FE .83
Table C.9 – Command values for the optional basic drive FE.83
Table C.10 – Device control parameters .83
Table C.11 – Supported application modes .84
Table C.12 – I/O data for profile velocity mode .85
Table C.13 – I/O data for profile velocity control mode with position feedback .85
Table C.14 – I/O data for profile velocity control mode (process technology) .86
Table C.15 – I/O data for profile position preset.86
Table C.16 – I/O data for profile position mode .86
Table D.1 – Profile specific terms .87
Table D.2 – Device identification parameters .90
Table D.3 – Status values for the device control FE .90
Table D.4 – Command values for the device control FE .91
Table D.5 – Parameters for the device control FE .91
Table D.6 – Status values for the basic drive and communication FE.93
Table D.7 – Command values for the basic drive and communication FE .94
Table D.8 – IDN for operation modes .94
Table D.9 – Supported application modes.95
Table D.10 – Additional application modes .96
Table D.11 – I/O data for profile torque mode .96
Table D.12 – Configuration data for torque control.96
Table D.13 – I/O data for profile velocity mode .97
Table D.14 – Configuration data for velocity control .97
Table D.15 – I/O data for profile position mode .98
Table D.16 – Configuration data for position control.98

61800-7-1 © IEC:2007(E) – 7 –
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –

Part 7-1: Generic interface and use of profiles
for power drive systems –
Interface definition
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
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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.
9) Attention is drawn to the possibility that some of the elements of this IEC Publication may be the subject of
patent rights. IEC shall not be held responsible for identifying any or all such patent rights.
The International Standard IEC 61800-7-1 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.
The text of this standard is based on the following documents:
FDIS Report on voting
22G/183/FDIS 22G/191/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.

– 8 – 61800-7-1 © IEC:2007(E)
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 maintenance result date indicated on the IEC web site 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.
A bilingual version of this publication may be issued at a later date.

61800-7-1 © IEC:2007(E) – 9 –
INTRODUCTION
The IEC 61800 series is intended to provide a common set of specifications for adjustable
speed electrical power drive systems.
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
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 adopt 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.
– 10 – 61800-7-1 © IEC:2007(E)
This part of IEC 61800-7 is divided into a generic part and several annexes as shown in
TM
1 2 3
Figure 1. The drive profiles types for CiA 402 , CIP Motion , PROFIdrive and SERCOS
TM
interface 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.
IEC 61800-7-301, IEC 61800-7-302, IEC 61800-7-303 and IEC 61800-7-304 specify how the
profile types 1, 2, 3 and 4 are mapped to different network technologies (such as CANopen ,
TM TM TM TM TM
6 7 8 9 10
EtherCAT , Ethernet Powerlink , DeviceNet , ControlNet , EtherNet/IP ,
11 12
, PROFINET and SERCOS interface).
PROFIBUS
———————
CiA 402 is a trade name of CAN in Automation, 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 name holder or any of
its products. Compliance to this profile does not require use of the trade name CiA 402.
CIP Motion™ is a trade name of Open DeviceNet Vendor Association, Inc. This information is given for the
convenience of users of this International Standard and does not constitute an endorsement by IEC of the
trademark holder or any of its products. Compliance to this profile does not require use of the trade name CIP
Motion™. Use of the trade name CIP Motion™ requires permission of Open DeviceNet Vendor Association, Inc.
PROFIdrive is a trade name of PROFIBUS 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 International.
SERCOS™ and SERCOS interface™ are trade names 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 name holder or any of its products. Compliance to this profile does not require use of the trade names
SERCOS or SERCOS interface. Use of the trade names SERCOS and SERCOS interface requires permission
of the trade name holder.
CANopen is an acronym for Controller Area Network open and is used to refer to EN 50325-4.
EtherCAT™ is a trade name 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 trademark holder or any of its
products. Compliance to this profile does not require use of the trade name EtherCAT™. Use of the trade name
EtherCAT™ requires permission of the trade name holder.
Ethernet Powerlink™ is a trade name of B&R, control of trade name 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 trademark holder or any of its products. Compliance to this profile
does not require use of the trade name Ethernet Powerlink™. Use of the trade name Ethernet Powerlink™
requires permission of the trade name holder.
DeviceNet™ is a trade name of Open DeviceNet Vendor Association, Inc. This information is given for the
convenience of users of this International Standard and does not constitute an endorsement by IEC of the
trademark holder or any of its products. Compliance to this profile does not require use of the trade name
DeviceNet™. Use of the trade name DeviceNet™ requires permission of Open DeviceNet Vendor Association,
Inc.
ControlNet™ is a trade name of ControlNet International, Ltd. This information is given for the convenience of
users of this International Standard and does not constitute an endorsement by IEC of the trademark holder or
any of its products. Compliance to this profile does not require use of the trade name ControlNet™. Use of the
trade name ControlNet™ requires permission of ControlNet International, Ltd.
EtherNet/IP™ is a trade name of ControlNet International, Ltd. and Open DeviceNet Vendor Association, Inc.
This information is given for the convenience of users of this International Standard and does not constitute an
endorsement by IEC of the trademark holder or any of its products. Compliance to this profile does not require
use of the trade name EtherNet/IP™. Use of the trade name EtherNet/IP™ requires permission of either
ControlNet International, Ltd. or Open DeviceNet Vendor Association, Inc.
PROFIBUS is a trade name of PROFIBUS 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 International.
PROFINET is a trade name of PROFIBUS 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 International.

61800-7-1 © IEC:2007(E) – 11 –
IEC 61800 series IEC/TR 62390
Adjustable speed electrical power drive Device profile guideline
IEC 61800-7 Generic interface and use of profiles for power drive systems
IEC 61800-7-1 – Interface definition
Generic PDS interface specification
Annex A Annex B Annex C Annex D
Mapping of Mapping of Mapping of Mapping of
Profile type 1 Profile type 2 Profile type 3 Profile type 4
(CiA 402) (CIP Motion) (PROFIdrive) (SERCOS)
IEC 61800-7-200 – Profile specifications
IEC 61800-7-201 IEC 61800-7-202 IEC 61800-7-203 IEC 61800-7-204

Profile type 1 Profile type 2 Profile type 3 Profile type 4
(CiA 402) (CIP Motion) (PROFIdrive) (SERCOS)
IEC 61800-7-300 – Mapping of profiles to network technologies
IEC 61800-7-301 IEC 61800-7-302 IEC 61800-7-303 IEC 61800-7-304

Mapping of profile Mapping of profile Mapping of profile Mapping of profile
type 1 to: type 2 to: type 3 to: type 4 to:
• CANopen • DeviceNet • PROFIBUS • SERCOS I + II
• EtherCAT • ControlNet • PROFINET • SERCOS III
• ETHERNET • EtherNet/IP • EtherCAT
Powerlink
IEC  2106/07
Figure 1 – Structure of IEC 61800-7

– 12 – 61800-7-1 © IEC:2007(E)
ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –

Part 7-1: Generic interface and use of profiles
for power drive systems –
Interface definition
1 Scope
IEC 61800-7 specifies profiles for power drive systems (PDS) and their mapping to existing
communication systems by use of a generic interface model.
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.
This part of IEC 61800-7 specifies a generic interface between power drive system(s) (PDS)
and the application control program in a controller. The generic PDS interface is not specific
to any particular communication network technology. Annexes of this part of IEC 61800-7
specify the mapping of the different drive profiles types onto the generic PDS interface.
2 Normative references
The following referenced documents are indispensable for the application of this document.
For dated references, only the edition cited applies. For undated references, the latest edition
of the referenced document (including any amendments) applies.
IEC 61158-5-2, Industrial communication networks – Fieldbus specifications – Part 5-2:
Application layer service definition – Type 2 elements
IEC 61158-5-3, Industrial communication networks – Fieldbus specifications – Part 5-3:
Application layer service definition – Type 3 elements
IEC 61158-5-10, Industrial communication networks – Fieldbus specifications – Part 5-10:
Application layer service definition – Type 10 elements
IEC 61158-6-2, Industrial communication networks – Fieldbus specifications – Part 6-2:
Application layer protocol specification – Type 2 elements
IEC 61158-6-3, Industrial communication networks – Fieldbus specifications – Part 6-3:
Application layer protocol specification – Type 3 elements
IEC 61158-6-10, Industrial communication networks – Fieldbus specifications – Part 6-10:
Application layer protocol specification – Type 10 elements
IEC 61800-7 (all parts), Adjustable speed electrical power drive systems – Generic interface
and use of profiles for power drive systems
IEC 61800-7-1, Adjustable speed electrical power drive systems – Part 7-1: Generic interface
and use of profiles for power drive systems – Interface definition
IEC 61800-7-201, Adjustable speed electrical power drive systems – Part 7-201: Generic
interface and use of profiles for power drive systems – Profile type 1 specification

61800-7-1 © IEC:2007(E) – 13 –
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
IEC 61800-7-203, Adjustable speed electrical power drive systems – Part 7-203: Generic
interface and use of profiles for power drive systems – Profile type 3 specification
IEC 61800-7-204, Adjust
...

IEC 61800-7-1 ®
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –
Part 7-1: Generic interface and use of profiles for power drive systems –
Interface definition
Entraînements électriques de puissance à vitesse variable –
Partie 7-1: Interface générique et utilisation de profils pour les entraînements
électriques de puissance – Définition de l'interface

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IEC 61800-7-1 ®
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –

Part 7-1: Generic interface and use of profiles for power drive systems –

Interface definition
Entraînements électriques de puissance à vitesse variable –

Partie 7-1: Interface générique et utilisation de profils pour les entraînements

électriques de puissance – Définition de l'interface

INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
PRICE CODE
INTERNATIONALE
CODE PRIX XD
ICS 29.200; 35.100.05 ISBN 978-2-83220-602-7

– 2 – 61800-7-1  IEC:2007
CONTENTS
FOREWORD . 7
INTRODUCTION . 9

1 Scope . 12
2 Normative references . 12
3 Terms, definitions and abbreviated terms . 13
3.1 Preamble . 13
3.2 General definitions . 13
3.3 Specific definitions . 17
3.3.1 Common definitions . 17
3.3.2 Definitions for Annex A . 17
3.3.3 Definitions for Annex B . 18
3.3.4 Definitions for Annex C . 19
3.3.5 Definitions for Annex D . 20
3.4 Abbreviated terms . 22
3.4.1 Common abbreviations . 22
3.4.2 Abbreviations for Annex A . 22
3.4.3 Abbreviations for Annex B . 22
3.4.4 Abbreviations for Annex C . 22
3.4.5 Abbreviations for Annex D . 22
3.5 Conventions . 23
4 General architecture . 23
4.1 Generic PDS interface . 23
4.2 Typical structure of automation systems . 27
4.3 Structure of the logical PDS . 28
4.4 Use cases of the PDS . 30
4.4.1 General . 30
4.4.2 Use case engineering . 31
4.4.3 Use case operation-control . 31
5 Functional elements . 32
5.1 Device identification FE . 32
5.1.1 General . 32
5.1.2 Parameters . 32
5.2 Device Control FE . 33
5.2.1 General . 33
5.2.2 I/O data . 33
5.2.3 States . 34
5.2.4 Parameters . 35
5.3 Communication FE . 35
5.3.1 General . 35
5.3.2 I/O data . 36
5.3.3 States . 36
5.3.4 Parameters . 38
5.4 Basic drive FE . 38
5.4.1 General . 38
5.4.2 I/O data . 39

61800-7-1  IEC:2007 – 3 –
5.4.3 States . 40
5.4.4 Parameters . 41
5.5 Optional application FE . 42
6 Application modes . 42
6.1 General . 42
6.2 Torque control . 43
6.3 Velocity control . 44
6.4 Position control . 45
7 Profile specific extensions . 46
8 Structure for annexes . 46
8.1 General . 46
8.2 Structure of the annexes . 47

Annex A (normative) Mapping to Profile CiA 402 drive and motion control . 50
Annex B (normative) Mapping to profile CIP Motion™ . 62
Annex C (normative) Mapping to profile PROFIdrive . 74
Annex D (normative) Mapping to Profile SERCOS . 87

Bibliography . 100

Figure 1 – Structure of IEC 61800-7. 11
Figure 2 – Definition of power drive system. 23
Figure 3 – Example of system structures for position-control applications . 24
Figure 4 – Examples of system structures for velocity-control applications . 25
Figure 5 – Examples of system structures for torque-control applications . 26
Figure 6 – Typical structure of automation systems (adapted from IEC/TR 62390) . 27
Figure 7 – Structure of the PDS with functional elements . 29
Figure 8 – Functional Elements (FE) in the logical PDS . 30
Figure 9 – Use case for the generic PDS interface . 31
Figure 10 – The generic interface in the use case operation . 32
Figure 11 – Device control FE state-chart diagram . 34
Figure 12 – Device control FE state transition table . 35
Figure 13 – Communication FE state-chart diagram . 37
Figure 14 – Communication FE state transition table . 37
Figure 15 – Optional communication FE state-chart diagram. 38
Figure 16 – Optional communication FE state transition table . 38
Figure 17 – Basic drive FE state-chart diagram . 40
Figure 18 – Basic drive FE state transition table . 40
Figure 19 – Optional basic drive FE state-chart diagram . 41
Figure 20 – Optional basic drive FE state transition table . 41
Figure 21 – Torque control application mode . 43
Figure 22 – Torque control with velocity feedback application mode . 43
Figure 23 – Velocity preset application mode . 44
Figure 24 – Velocity control application mode . 44

– 4 – 61800-7-1  IEC:2007
Figure 25 – Velocity control with position feedback application mode . 45
Figure 26 – Position preset application mode . 45
Figure 27 – Position control application mode . 46
Figure A.1 – CiA 402 logical power drive system model . 51
Figure B.1 – Object structure of the logical PDS . 63
Figure B.2 – Object structure of the logical PDS . 63
Figure B.3 – Motion Axis Object state machine . 66
Figure C.1 – Overview of communication devices and services in PROFIdrive . 75
Figure C.2 – Structure of the PROFIdrive device . 76
Figure C.3 – PROFIdrive Axis type Drive Object . 77
Figure C.4 – Functional block diagram of the PROFIdrive Axis type DO . 78
Figure C.5 – Mapping of communication FE states. 81
Figure D.1 – Topology example . 88
Figure D.2 – State machine of Basic Drive FE . 93

Table 1 – Structures within the scope of this part of IEC 61800-7 . 27
Table 2 – Parameters in the device identification FE . 33
Table 3 – Status values for the device control FE . 34
Table 4 – Command values for the device control FE . 34
Table 5 – Parameters in the device control FE . 35
Table 6 – Status values for the communication FE (see Figure 13) . 36
Table 7 – Command values for the communication FE (see Figure 13) . 36
Table 8 – Status values for the optional communication FE (see Figure 15) . 36
Table 9 – Command values for the optional communication FE (see Figure 15) . 36
Table 10 – Status values of the basic drive FE. 39
Table 11 – Optional status values for the basic drive FE . 39
Table 12 – Command values for basic drive FE . 39
Table 13 – Optional command values for the basic drive FE . 40
Table 14 – Possible generic application modes . 42
Table 15 – Set-point values for generic application modes . 42
Table 16 – Mapping of names to profiles . 46
Table 17 – Structure of annexes . 47
Table 18 – Profile specific terms . 48
Table 19 – Supported application modes . 48
Table 20 – I/O data for profile torque mode . 48
Table 21 – I/O data for profile velocity mode . 49
Table 22 – I/O data for profile position mode . 49
Table A.1 – Profile specific terms . 50
Table A.2 – Drive device identification parameters . 52
Table A.3 – Status values for the device control FE . 52
Table A.4 – Command values for the device control FE . 52
Table A.5 – Parameters in the device control FE. 53
Table A.6 – Status values for the communication FE . 53

61800-7-1  IEC:2007 – 5 –
Table A.7 – Command values for the communication FE . 53
Table A.8 – Status values for the basic drive FE . 54
Table A.9 – Command values for the basic drive FE . 54
Table A.10 – Basic drive FE parameters . 55
Table A.11 – Optional application functions FE parameters . 55
Table A.12 – Supported application modes . 56
Table A.13 – I/O data for profile torque mode . 56
Table A.14 – Parameter for profile torque mode . 56
Table A.15 – I/O data for cyclic sync torque mode . 57
Table A.16 – Parameter for cyclic sync torque mode . 57
Table A.17 – I/O data for velocity mode . 57
Table A.18 – Parameter for velocity mode. 57
Table A.19 – I/O data for profile velocity mode . 58
Table A.20 – Parameter for profile velocity mode . 58
Table A.21 – I/O data for cyclic sync velocity mode . 58
Table A.22 – Parameter for cyclic sync velocity mode . 58
Table A.23 – I/O data for profile position mode . 59
Table A.24 – Parameter for profile position mode. 59
Table A.25 – I/O data for interpolated position mode. 60
Table A.26 – Parameter for interpolated position mode . 60
Table A.27 – I/O data for cyclic sync position mode . 60
Table A.28 – Parameter for cyclic sync position mode . 61
Table B.1 – Profile specific terms . 62
Table B.2 – Mapping of parameters for the device identification FE . 65
Table B.3 – Mapping of status values for the device control FE . 65
Table B.4 – Mapping of command values for the device control FE . 65
Table B.5 – Mapping of parameters for the device control FE . 67
Table B.6 – Mapping of status values for the communication FE . 67
Table B.7 – Mapping of command values for the communication FE . 68
Table B.8 – Mapping of status values for the optional communication FE. 68
Table B.9 – Mapping of command values for the optional communication FE . 68
Table B.10 – Status values for the basic drive FE . 69
Table B.11 – Command values for the basic drive FE . 69
Table B.12 – Drive Control Mode values for the basic drive FE . 69
Table B.13 – Command Data Set values for the basic drive FE . 70
Table B.14 – Actual Data Set values for the basic drive FE . 70
Table B.15 – Status Data Set values for the basic drive FE. 71
Table B.16 – Supported application modes . 72
Table B.17 – Set-point values for the generic application modes. 72
Table B.18 – I/O data for profile torque mode . 72
Table B.19 – I/O data for profile velocity mode . 73
Table B.20 – I/O data for profile position mode . 73
Table C.1 – Profile specific terms . 74

– 6 – 61800-7-1  IEC:2007
Table C.2 – Parameters for device identification . 79
Table C.3 – Status values for the device control FE . 80
Table C.4 – Command values for the device control FE . 80
Table C.5 – Device control parameters . 80
Table C.6 – Status values of the basic drive FE . 82
Table C.7 – Command values of the basic drive FE . 82
Table C.8 – Status values for the optional basic drive FE . 83
Table C.9 – Command values for the optional basic drive FE . 83
Table C.10 – Device control parameters . 83
Table C.11 – Supported application modes . 84
Table C.12 – I/O data for profile velocity mode . 85
Table C.13 – I/O data for profile velocity control mode with position feedback . 85
Table C.14 – I/O data for profile velocity control mode (process technology) . 86
Table C.15 – I/O data for profile position preset . 86
Table C.16 – I/O data for profile position mode . 86
Table D.1 – Profile specific terms . 87
Table D.2 – Device identification parameters . 90
Table D.3 – Status values for the device control FE . 90
Table D.4 – Command values for the device control FE . 91
Table D.5 – Parameters for the device control FE . 91
Table D.6 – Status values for the basic drive and communication FE . 93
Table D.7 – Command values for the basic drive and communication FE . 94
Table D.8 – IDN for operation modes . 94
Table D.9 – Supported application modes . 95
Table D.10 – Additional application modes . 96
Table D.11 – I/O data for profile torque mode . 96
Table D.12 – Configuration data for torque control . 96
Table D.13 – I/O data for profile velocity mode . 97
Table D.14 – Configuration data for velocity control . 97
Table D.15 – I/O data for profile position mode . 98
Table D.16 – Configuration data for position control . 98

61800-7-1  IEC:2007 – 7 –
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
ADJUSTABLE SPEED ELECTRICAL POWER DRIVE SYSTEMS –

Part 7-1: Generic interface and use of profiles
for power drive systems –
Interface definition
FOREWORD
1) The International Electrotechnical Commission (IEC) is a worldwide organization for standardization comprising
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8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is
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9) Attention is drawn to the possibility that some of the elements of this IEC Publication may be the subject of
patent rights. IEC shall not be held responsible for identifying any or all such patent rights.
The International Standard IEC 61800-7-1 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 bilingual version (2013-01) corresponds to the monolingual English version, published in
2007-11.
The text of this standard is based on the following documents:
FDIS Report on voting
22G/183/FDIS 22G/191/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.

– 8 – 61800-7-1  IEC:2007
The French version of this standard has not been voted upon.
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 maintenance result date indicated on the IEC web site 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.
61800-7-1  IEC:2007 – 9 –
INTRODUCTION
The IEC 61800 series is intended to provide a common set of specifications for adjustable
speed electrical power drive systems.
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
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 adopt 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.
– 10 – 61800-7-1  IEC:2007
This part of IEC 61800-7 is divided into a generic part and several annexes as shown in
1 TM2 3
Figure 1. The drive profiles types for CiA 402 , CIP Motion , PROFIdrive and SERCOS
TM
interface 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.
IEC 61800-7-301, IEC 61800-7-302, IEC 61800-7-303 and IEC 61800-7-304 specify how the
profile types 1, 2, 3 and 4 are mapped to different network technologies (such as CANopen ,
TM TM TM TM TM
6 7 8 9 10
EtherCAT , Ethernet Powerlink , DeviceNet , ControlNet , EtherNet/IP ,
11 12
PROFIBUS , PROFINET and SERCOS interface).
———————
CiA 402 is a trade name of CAN in Automation, 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 name holder or any of
its products. Compliance to this profile does not require use of the trade name CiA 402.
CIP Motion™ is a trade name of Open DeviceNet Vendor Association, Inc. This information is given for the
convenience of users of this International Standard and does not constitute an endorsement by IEC of the
trademark holder or any of its products. Compliance to this profile does not require use of the trade name CIP
Motion™. Use of the trade name CIP Motion™ requires permission of Open DeviceNet Vendor Association, Inc.
PROFIdrive is a trade name of PROFIBUS 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 International.
SERCOS™ and SERCOS interface™ are trade names 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 name holder or any of its products. Compliance to this profile does not require use of the trade names
SERCOS or SERCOS interface. Use of the trade names SERCOS and SERCOS interface requires permission
of the trade name holder.
CANopen is an acronym for Controller Area Network open and is used to refer to EN 50325-4.
EtherCAT™ is a trade name 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 trademark holder or any of its
products. Compliance to this profile does not require use of the trade name EtherCAT™. Use of the trade name
EtherCAT™ requires permission of the trade name holder.
Ethernet Powerlink™ is a trade name of B&R, control of trade name 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 trademark holder or any of its products. Compliance to this profile
does not require use of the trade name Ethernet Powerlink™. Use of the trade name Ethernet Powerlink™
requires permission of the trade name holder.
DeviceNet™ is a trade name of Open DeviceNet Vendor Association, Inc. This information is given for the
convenience of users of this International Standard and does not constitute an endorsement by IEC of the
trademark holder or any of its products. Compliance to this profile does not require use of the trade name
DeviceNet™. Use of the trade name DeviceNet™ requires permission of Open DeviceNet Vendor Association,
Inc.
ControlNet™ is a trade name of ControlNet International, Ltd. This information is given for the convenience of
users of this International Standard and does not constitute an endorsement by IEC of the trademark holder or
any of its products. Compliance to this profile does not require use of the trade name ControlNet™. Use of the
trade name ControlNet™ requires permission of ControlNet International, Ltd.
EtherNet/IP™ is a trade name of ControlNet International, Ltd. and Open DeviceNet Vendor Association, Inc.
This information is given for the convenience of users of this International Standard and does not constitute an
endorsement by IEC of the trademark holder or any of its products. Compliance to this profile does not require
use of the trade name EtherNet/IP™. Use of the trade name EtherNet/IP™ requires permission of either
ControlNet International, Ltd. or Open DeviceNet Vendor Association, Inc.
PROFIBUS is a trade name of PROFIBUS 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 International.
PROFINET is a trade name of PROFIBUS 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 International.

61800-7-1  IEC:2007 – 11 –
IEC 61800 series IEC/TR 62390
Adjustable speed electrical power drive Device profile guideline

IEC 61800-7 Generic interface and use of profiles for power drive systems
IEC 61800-7-1 – Interface definition
Generic PDS interface specification
Annex A Annex B Annex C Annex D
Mapping of Mapping of Mapping of Mapping of
Profile type 1 Profile type 2 Profile type 3 Profile type 4
(CiA 402) (CIP Motion) (PROFIdrive) (SERCOS)
IEC 61800-7-200 – Profile specifications
IEC 61800-
...