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

IEC 61800-7-301:2007 specifies profiles for Power Drive Systems (PDS) and their mapping to existing communication systems by use of a generic interface model. It also specifies the mapping of the profile type 1 (CiA 402) specified in IEC 61800-7-201 onto different network technologies: CANopen, EtherCAT, ETHERNET Powerlink.

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

La CEI 61800-7-301:2007 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. Il spécifie aussi la mise en correspondance du profil de type 1 (CiA 402), décrit dans la CEI 61800-7-201, avec les différentes technologies de réseau: CANopen, EtherCAT, ETHERNET Powerlink.

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 61800-7-301:2015 - 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
• Effective Date: 05-Sep-2023

Standards Content (Sample)

IEC 61800-7-301
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
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
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IEC 61800-7-301
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
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
PRICE CODE
XF
ICS 29.200; 35.100.05 ISBN 2-8318-9380-1

– 2 – 61800-7-301 © IEC:2007(E)
CONTENTS
FOREWORD.8
INTRODUCTION.10

1 Scope.13
2 Normative references .13
3 Terms, definitions and abbreviated terms .14
3.1 Terms and definitions .14
3.2 Abbreviated terms .17
4 General .17
5 Mapping to CANopen .17
5.1 Overview .17
5.2 Mapping of communication objects .17
5.3 Communication parameter objects.17
5.3.1 General .17
5.3.2 Object 1000 : Device type.18
h
5.3.3 Object 1029 : Error behaviour .19
h
5.3.4 Object 67FF : Single device type .20
h
5.4 Emergency message .20
5.5 Communication fault events .20
5.6 Sets of pre-defined PDOs.20
5.6.1 General .20
5.6.2 PDO set for generic drive device .21
5.6.3 PDO set for frequency converter.57
5.6.4 PDO set for servo drive .72
5.6.5 PDO set for stepper motor .91
5.7 PDO mapping attributes .110
6 Mapping to EtherCAT .114
6.1 Overview .114
6.2 Mapping of communication objects .114
6.3 Communication parameter objects.114
6.3.1 General .114
6.3.2 Object 1000 : Device type.115
h
6.4 Sets of pre-defined PDOs.115
6.5 PDO mapping attributes .115
7 Mapping to ETHERNET Powerlink .115
7.1 Overview .115
7.2 Mapping of communication objects .115
7.3 Communication parameter objects.116
7.3.1 General .116
7.3.2 Object 1000 : Device type.116
h
7.3.3 Object 67FF : Single device type .116
h
7.4 Emergency Information . 116
7.5 Sets of pre-defined PDOs.116
7.5.1 General .116
7.5.2 PDO set for generic drive device .117
7.5.3 PDO set for frequency converter.123

61800-7-301 © IEC:2007(E) – 3 –
7.5.4 PDO set for servo drive .127
7.5.5 PDO set for stepper motor .131
7.6 PDO mapping attributes .136

Bibliography.137

Figure 1 – Structure of IEC 61800-7.12

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

– 4 – 61800-7-301 © IEC:2007(E)
Table 36 – Entry description of mapping parameters.36
Table 37 – Object description of communication parameters.38
Table 38 – Entry description of communication parameters.38
Table 39 – Object description of mapping parameters.39
Table 40 – Entry description of mapping parameters.39
Table 41 – Object description of communication parameters.40
Table 42 – Entry description of communication parameters.40
Table 43 – Object description of mapping parameters.41
Table 44 – Entry description of mapping parameters.41
Table 45 – Object description of communication parameters.42
Table 46 – Entry description of communication parameters.42
Table 47 – Object description of mapping parameters.43
Table 48 – Entry description of mapping parameters.44
Table 49 – Object description of communication parameters.45
Table 50 – Entry description of communication parameters.45
Table 51 – Object description of mapping parameters.46
Table 52 – Entry description of mapping parameters.46
Table 53 – Object description of communication parameters.47
Table 54 – Entry description of communication parameters.47
Table 55 – Object description of mapping parameters.48
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.54
Table 65 – Object description of communication parameters.55
Table 66 – Entry description of communication parameters.55
Table 67 – Object description of mapping parameters.56
Table 68 – Entry description of mapping parameters.56
Table 69 – Overview on RPDO .57
Table 70 – Overview on TPDO.58
Table 71 – Object description of communication parameters.58
Table 72 – Entry description of communication parameters.58
Table 73 – Object description of mapping parameters.59
Table 74 – Entry description of mapping parameters.59
Table 75 – Object description of communication parameters.60
Table 76 – Entry description of communication parameters.60
Table 77 – Object description of mapping parameters.61
Table 78 – Entry description of mapping parameters.61

61800-7-301 © IEC:2007(E) – 5 –
Table 79 – Object description of communication parameters.62
Table 80 – Entry description of communication parameters.63
Table 81 – Object description of mapping parameters.63
Table 82 – Entry description of mapping parameters.64
Table 83 – Object description of communication parameters.65
Table 84 – Entry description of communication parameters.65
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.69
Table 91 – Object description of communication parameters.70
Table 92 – Entry description of communication parameters.70
Table 93 – Object description of mapping parameters.71
Table 94 – Entry description of mapping parameters.71
Table 95 – Overview on RPDO .72
Table 96 – Overview on TPDO.72
Table 97 – Object description of communication parameters.73
Table 98 – Entry description of communication parameters.73
Table 99 – Object description of mapping parameters.74
Table 100 – Entry description of mapping parameters.74
Table 101 – Object description of communication parameters.75
Table 102 – Entry description of communication parameters.75
Table 103 – Object description of mapping parameters.76
Table 104 – Entry description of mapping parameters.76
Table 105 – Object description of communication parameters.77
Table 106 – Entry description of communication parameters.77
Table 107 – Object description of mapping parameters.78
Table 108 – Entry description of mapping parameters.78
Table 109 – Object description of communication parameters.79
Table 110 – Entry description of communication parameters.80
Table 111 – Object description of mapping parameters.80
Table 112 – Entry description of mapping parameters.81
Table 113 – Object description of communication parameters.82
Table 114 – Entry description of communication parameters.82
Table 115 – Object description of mapping parameters.83
Table 116 – Entry description of mapping parameters.83
Table 117 – Object description of communication parameters.84
Table 118 – Entry description of communication parameters.84
Table 119 – Object description of mapping parameters.85
Table 120 – Entry description of mapping parameters.85
Table 121 – Object description of communication parameters.86

– 6 – 61800-7-301 © IEC:2007(E)
Table 122 – Entry description of communication parameters.86
Table 123 – Object description of mapping parameters.88
Table 124 – Entry description of mapping parameters.88
Table 125 – Object description of communication parameters.89
Table 126 – Entry description of communication parameters.89
Table 127 – Object description of mapping parameters.90
Table 128 – Entry description of mapping parameters.90
Table 129 – Overview on RPDO .91
Table 130 – Overview on TPDO.92
Table 131 – Object description of communication parameters.92
Table 132 – Entry description of communication parameters.92
Table 133 – Object description of mapping parameters.93
Table 134 – Entry description of mapping parameters.93
Table 135 – Object description of communication parameters.94
Table 136 – Entry description of communication parameters.94
Table 137 – Object description of mapping parameters.95
Table 138 – Entry description of mapping parameters.95
Table 139 – Object description of communication parameters.96
Table 140 – Entry description of communication parameters.97
Table 141 – Object description of mapping parameters.97
Table 142 – Entry description of mapping parameters.98
Table 143 – Object description of communication parameters.99
Table 144 – Entry description of communication parameters.99
Table 145 – Object description of mapping parameters. 100
Table 146 – Entry description of mapping parameters. 100
Table 147 – Object description of communication parameters. 101
Table 148 – Entry description of communication parameters. 101
Table 149 – Object description of mapping parameters. 102
Table 150 – Entry description of mapping parameters. 102
Table 151 – Object description of communication parameters. 103
Table 152 – Entry description of communication parameters. 103
Table 153 – Object description of mapping parameters. 104
Table 154 – Entry description of mapping parameters. 104
Table 155 – Object description of communication parameters. 106
Table 156 – Entry description of communication parameters. 106
Table 157 – Object description of mapping parameters. 107
Table 158 – Entry description of mapping parameters. 107
Table 159 – Object description of communication parameters. 108
Table 160 – Entry description of communication parameters. 108
Table 161 – Object description of mapping parameters. 109
Table 162 – Entry description of mapping parameters. 110
Table 163 – PDO mapping attributes of CiA 402 objects .110
Table 164 – List of used data types .114

61800-7-301 © IEC:2007(E) – 7 –
Table 165 – Additional information field for generic PDO mapping .115
Table 166 – List of used data types .116
Table 167 – Overview on objects in RPDO.117
Table 168 – Overview on objects in TPDO .117
Table 169 – Object description of communication parameters. 117
Table 170 – Entry description of communication parameters. 118
Table 171 – Object description of mapping parameters. 118
Table 172 – Entry description of mapping parameters. 118
Table 173 – Object description of communication parameters. 120
Table 174 – Entry description of communication parameters. 120
Table 175 – Object description of mapping parameters. 121
Table 176 – Entry description of mapping parameters. 121
Table 177 – Overview on objects in RPDO.123
Table 178 – Overview on objects in TPDO .123
Table 179 – Object description of communication parameters. 123
Table 180 – Entry description of communication parameters. 123
Table 181 – Object description of mapping parameters. 124
Table 182 – Entry description of mapping parameters. 124
Table 183 – Object description of communication parameters. 125
Table 184 – Entry description of communication parameters. 125
Table 185 – Object description of mapping parameters. 126
Table 186 – Entry description of mapping parameters. 126
Table 187 – Overview on objects in RPDO.127
Table 188 – Overview on objects in TPDO .127
Table 189 – Object description of communication parameters. 128
Table 190 – Entry description of communication parameters. 128
Table 191 – Object description of mapping parameters. 128
Table 192 – Entry description of mapping parameters. 129
Table 193 – Object description of communication parameters. 129
Table 194 – Entry description of communication parameters. 130
Table 195 – Object description of mapping parameters. 130
Table 196 – Entry description of mapping parameters. 130
Table 197 – Overview on objects in RPDO.131
Table 198 – Overview on objects in TPDO .132
Table 199 – Object description of communication parameters. 132
Table 200 – Entry description of communication parameters. 132
Table 201 – Object description of mapping parameters. 133
Table 202 – Entry description of mapping parameters. 133
Table 203 – Object description of communication parameters. 134
Table 204 – Entry description of communication parameters. 134
Table 205 – Object description of mapping parameters. 135
Table 206 – Entry description of mapping parameters. 135

– 8 – 61800-7-301 © IEC:2007(E)
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
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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 61800-7-301 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/185/FDIS 22G/193/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.

61800-7-301 © IEC:2007(E) – 9 –
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.

– 10 – 61800-7-301 © IEC:2007(E)
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.
61800-7-301 © IEC:2007(E) – 11 –
IEC 61800-7-1 is divided into a generic part and several annexes as shown in Figure 1. The
TM TM
1 2 3 4
drive profile types for CiA 402 , CIP Motion , PROFIdrive and SERCOS 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, 4 are specified in IEC 61800-7-201, IEC 61800-7-202,
IEC 61800-7-203 and IEC 61800-7-204.
This part of IEC 61800-7 specifies how the profile type 1 (CiA 402) is mapped to the network
TM TM
5 6 7
technologies CANopen , EtherCAT and Ethernet Powerlink .
IEC 61800-7-302, IEC 61800-7-303 and IEC 61800-7-304 specify how the profile types 2, 3
TM TM
8 9
and 4 are mapped to different network technologies (such as DeviceNet , ControlNet ,
TM
10 11 12
EtherNet/IP , 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 name 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 b
...

IEC 61800-7-301 ®
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
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
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IEC 61800-7-301 ®
Edition 1.0 2007-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
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
PRICE CODE
INTERNATIONALE
CODE PRIX XF
ICS 29.200; 35.100.05 ISBN 978-2-83220-711-6

– 2 – 61800-7-301  IEC:2007
CONTENTS
FOREWORD . 8
INTRODUCTION . 10

1 Scope . 13
2 Normative references . 13
3 Terms, definitions and abbreviated terms . 14
3.1 Terms and definitions . 14
3.2 Abbreviated terms . 17
4 General . 17
5 Mapping to CANopen . 17
5.1 Overview . 17
5.2 Mapping of communication objects . 17
5.3 Communication parameter objects. 17
5.3.1 General . 17
5.3.2 Object 1000 : Device type . 18
h
5.3.3 Object 1029 : Error behaviour . 19
h
5.3.4 Object 67FF : Single device type . 20
h
5.4 Emergency message . 20
5.5 Communication fault events . 20
5.6 Sets of pre-defined PDOs . 20
5.6.1 General . 20
5.6.2 PDO set for generic drive device . 21
5.6.3 PDO set for frequency converter . 57
5.6.4 PDO set for servo drive . 72
5.6.5 PDO set for stepper motor . 91
5.7 PDO mapping attributes . 110
6 Mapping to EtherCAT . 114
6.1 Overview . 114
6.2 Mapping of communication objects . 114
6.3 Communication parameter objects. 114
6.3.1 General . 114
6.3.2 Object 1000 : Device type . 115
h
6.4 Sets of pre-defined PDOs . 115
6.5 PDO mapping attributes . 115
7 Mapping to ETHERNET Powerlink . 115
7.1 Overview . 115
7.2 Mapping of communication objects . 115
7.3 Communication parameter objects. 116
7.3.1 General . 116
7.3.2 Object 1000 : Device type . 116
h
7.3.3 Object 67FF : Single device type . 116
h
7.4 Emergency Information . 116
7.5 Sets of pre-defined PDOs . 116
7.5.1 General . 116
7.5.2 PDO set for generic drive device . 117
7.5.3 PDO set for frequency converter . 123

61800-7-301  IEC:2007 – 3 –
7.5.4 PDO set for servo drive . 127
7.5.5 PDO set for stepper motor . 131
7.6 PDO mapping attributes . 136

Bibliography . 137

Figure 1 – Structure of IEC 61800-7. 12

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

– 4 – 61800-7-301  IEC:2007
Table 36 – Entry description of mapping parameters . 36
Table 37 – Object description of communication parameters . 38
Table 38 – Entry description of communication parameters . 38
Table 39 – Object description of mapping parameters . 39
Table 40 – Entry description of mapping parameters . 39
Table 41 – Object description of communication parameters . 40
Table 42 – Entry description of communication parameters . 40
Table 43 – Object description of mapping parameters . 41
Table 44 – Entry description of mapping parameters . 41
Table 45 – Object description of communication parameters . 42
Table 46 – Entry description of communication parameters . 42
Table 47 – Object description of mapping parameters . 43
Table 48 – Entry description of mapping parameters . 44
Table 49 – Object description of communication parameters . 45
Table 50 – Entry description of communication parameters . 45
Table 51 – Object description of mapping parameters . 46
Table 52 – Entry description of mapping parameters . 46
Table 53 – Object description of communication parameters . 47
Table 54 – Entry description of communication parameters . 47
Table 55 – Object description of mapping parameters . 48
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 . 54
Table 65 – Object description of communication parameters . 55
Table 66 – Entry description of communication parameters . 55
Table 67 – Object description of mapping parameters . 56
Table 68 – Entry description of mapping parameters . 56
Table 69 – Overview on RPDO . 57
Table 70 – Overview on TPDO . 58
Table 71 – Object description of communication parameters . 58
Table 72 – Entry description of communication parameters . 58
Table 73 – Object description of mapping parameters . 59
Table 74 – Entry description of mapping parameters . 59
Table 75 – Object description of communication parameters . 60
Table 76 – Entry description of communication parameters . 60
Table 77 – Object description of mapping parameters . 61
Table 78 – Entry description of mapping parameters . 61

61800-7-301  IEC:2007 – 5 –
Table 79 – Object description of communication parameters . 62
Table 80 – Entry description of communication parameters . 63
Table 81 – Object description of mapping parameters . 63
Table 82 – Entry description of mapping parameters . 64
Table 83 – Object description of communication parameters . 65
Table 84 – Entry description of communication parameters . 65
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 . 69
Table 91 – Object description of communication parameters . 70
Table 92 – Entry description of communication parameters . 70
Table 93 – Object description of mapping parameters . 71
Table 94 – Entry description of mapping parameters . 71
Table 95 – Overview on RPDO . 72
Table 96 – Overview on TPDO . 72
Table 97 – Object description of communication parameters . 73
Table 98 – Entry description of communication parameters . 73
Table 99 – Object description of mapping parameters . 74
Table 100 – Entry description of mapping parameters . 74
Table 101 – Object description of communication parameters . 75
Table 102 – Entry description of communication parameters . 75
Table 103 – Object description of mapping parameters . 76
Table 104 – Entry description of mapping parameters . 76
Table 105 – Object description of communication parameters . 77
Table 106 – Entry description of communication parameters . 77
Table 107 – Object description of mapping parameters . 78
Table 108 – Entry description of mapping parameters . 78
Table 109 – Object description of communication parameters . 79
Table 110 – Entry description of communication parameters . 80
Table 111 – Object description of mapping parameters . 80
Table 112 – Entry description of mapping parameters . 81
Table 113 – Object description of communication parameters . 82
Table 114 – Entry description of communication parameters . 82
Table 115 – Object description of mapping parameters . 83
Table 116 – Entry description of mapping parameters . 83
Table 117 – Object description of communication parameters . 84
Table 118 – Entry description of communication parameters . 84
Table 119 – Object description of mapping parameters . 85
Table 120 – Entry description of mapping parameters . 85
Table 121 – Object description of communication parameters . 86

– 6 – 61800-7-301  IEC:2007
Table 122 – Entry description of communication parameters . 86
Table 123 – Object description of mapping parameters . 88
Table 124 – Entry description of mapping parameters . 88
Table 125 – Object description of communication parameters . 89
Table 126 – Entry description of communication parameters . 89
Table 127 – Object description of mapping parameters . 90
Table 128 – Entry description of mapping parameters . 90
Table 129 – Overview on RPDO . 91
Table 130 – Overview on TPDO . 92
Table 131 – Object description of communication parameters . 92
Table 132 – Entry description of communication parameters . 92
Table 133 – Object description of mapping parameters . 93
Table 134 – Entry description of mapping parameters . 93
Table 135 – Object description of communication parameters . 94
Table 136 – Entry description of communication parameters . 94
Table 137 – Object description of mapping parameters . 95
Table 138 – Entry description of mapping parameters . 95
Table 139 – Object description of communication parameters . 96
Table 140 – Entry description of communication parameters . 97
Table 141 – Object description of mapping parameters . 97
Table 142 – Entry description of mapping parameters . 98
Table 143 – Object description of communication parameters . 99
Table 144 – Entry description of communication parameters . 99
Table 145 – Object description of mapping parameters . 100
Table 146 – Entry description of mapping parameters . 100
Table 147 – Object description of communication parameters . 101
Table 148 – Entry description of communication parameters . 101
Table 149 – Object description of mapping parameters . 102
Table 150 – Entry description of mapping parameters . 102
Table 151 – Object description of communication parameters . 103
Table 152 – Entry description of communication parameters . 103
Table 153 – Object description of mapping parameters . 104
Table 154 – Entry description of mapping parameters . 104
Table 155 – Object description of communication parameters . 106
Table 156 – Entry description of communication parameters . 106
Table 157 – Object description of mapping parameters . 107
Table 158 – Entry description of mapping parameters . 107
Table 159 – Object description of communication parameters . 108
Table 160 – Entry description of communication parameters . 108
Table 161 – Object description of mapping parameters . 109
Table 162 – Entry description of mapping parameters . 110
Table 163 – PDO mapping attributes of CiA 402 objects . 110
Table 164 – List of used data types . 114

61800-7-301  IEC:2007 – 7 –
Table 165 – Additional information field for generic PDO mapping . 115
Table 166 – List of used data types . 116
Table 167 – Overview on objects in RPDO . 117
Table 168 – Overview on objects in TPDO . 117
Table 169 – Object description of communication parameters . 117
Table 170 – Entry description of communication parameters . 118
Table 171 – Object description of mapping parameters . 118
Table 172 – Entry description of mapping parameters . 118
Table 173 – Object description of communication parameters . 120
Table 174 – Entry description of communication parameters . 120
Table 175 – Object description of mapping parameters . 121
Table 176 – Entry description of mapping parameters . 121
Table 177 – Overview on objects in RPDO . 123
Table 178 – Overview on objects in TPDO . 123
Table 179 – Object description of communication parameters . 123
Table 180 – Entry description of communication parameters . 123
Table 181 – Object description of mapping parameters . 124
Table 182 – Entry description of mapping parameters . 124
Table 183 – Object description of communication parameters . 125
Table 184 – Entry description of communication parameters . 125
Table 185 – Object description of mapping parameters . 126
Table 186 – Entry description of mapping parameters . 126
Table 187 – Overview on objects in RPDO . 127
Table 188 – Overview on objects in TPDO . 127
Table 189 – Object description of communication parameters . 128
Table 190 – Entry description of communication parameters . 128
Table 191 – Object description of mapping parameters . 128
Table 192 – Entry description of mapping parameters . 129
Table 193 – Object description of communication parameters . 129
Table 194 – Entry description of communication parameters . 130
Table 195 – Object description of mapping parameters . 130
Table 196 – Entry description of mapping parameters . 130
Table 197 – Overview on objects in RPDO . 131
Table 198 – Overview on objects in TPDO . 132
Table 199 – Object description of communication parameters . 132
Table 200 – Entry description of communication parameters . 132
Table 201 – Object description of mapping parameters . 133
Table 202 – Entry description of mapping parameters . 133
Table 203 – Object description of communication parameters . 134
Table 204 – Entry description of communication parameters . 134
Table 205 – Object description of mapping parameters . 135
Table 206 – Entry description of mapping parameters . 135

– 8 – 61800-7-301  IEC:2007
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, governmental and non-
governmental organizations liaising with the IEC also participate in this preparation. IEC collaborates closely
with the International Organization for Standardization (ISO) in accordance with conditions determined by
agreement between the two organizations.
2) The formal decisions or agreements of IEC on technical matters express, as nearly as possible, an international
consensus of opinion on the relevant subjects since each technical committee has representation from all
interested IEC National Committees.
3) IEC Publications have the form of recommendations for international use and are accepted by IEC National
Committees in that sense. While all reasonable efforts are made to ensure that the technical content of IEC
Publications is accurate, IEC cannot be held responsible for the way in which they are used or for any
misinterpretation by any end user.
4) In order to promote international uniformity, IEC National Committees undertake to apply IEC Publications
transparently to the maximum extent possible in their national and regional publications. Any divergence
between any IEC Publication and the corresponding national or regional publication shall be clearly indicated in
the latter.
5) IEC provides no marking procedure to indicate its approval and cannot be rendered responsible for any
equipment declared to be in conformity with an IEC Publication.
6) All users should ensure that they have the latest edition of this publication.
7) No liability shall attach to IEC or its directors, employees, servants or agents including individual experts and
members of its technical committees and IEC National Committees for any personal injury, property damage or
other damage of any nature whatsoever, whether direct or indirect, or for costs (including legal fees) and
expenses arising out of the publication, use of, or reliance upon, this IEC Publication or any other IEC
Publications.
8) Attention is drawn to the Normative references cited in this publication. Use of the referenced publications is
indispensable for the correct application of this publication.
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 61800-7-301 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 (2013-04) 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/185/FDIS 22G/193/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.

61800-7-301  IEC:2007 – 9 –
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.
– 10 – 61800-7-301  IEC:2007
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.
61800-7-301  IEC:2007 – 11 –
IEC 61800-7-1 is divided into a generic part and several annexes as shown in Figure 1. The
1 TM2 3 TM4
drive profile types for CiA 402 , CIP Motion , PROFIdrive and SERCOS 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, 4 are specified in IEC 61800-7-201, IEC 61800-7-202,
IEC 61800-7-203 and IEC 61800-
...