IEC 61800-7-1:2015
(Main)Adjustable speed electrical power drive systems - Part 7-1: Generic interface and use of profiles for power drive systems - Interface definition
Adjustable speed electrical power drive systems - Part 7-1: Generic interface and use of profiles for power drive systems - Interface definition
IEC 61800-7-1:2015 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 specify the mapping of the different drive profiles types onto the generic PDS interface. The functions specified in this part of IEC 61800 are not intended to ensure functional safety. This requires additional measures according to the relevant standards, agreements and laws. This edition includes the following significant technical changes with respect to the previous edition:
a) mapping of drive profile type 1 onto additional network technologies;
b) minor updates in the subclauses for profile types 1, 2 and 4, in relation with corresponding changes in the dedicated IEC 61800-7-20x parts.
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
L'IEC 61800-7-1:2015 spécifie une interface générique entre le ou les entraînements électriques de puissance (PDS) et le programme de commande 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 l'IEC 61800 spécifient la correspondance des différents types de profils d'entraînement avec l'interface PDS générique. Les fonctions spécifiées dans la présente partie de l'IEC 61800 ne sont pas destinées à assurer la sécurité fonctionnelle. Ceci exige l'application de mesures supplémentaires conformes aux normes, conventions et lois pertinentes. Cette édition inclut les modifications techniques majeures suivantes par rapport à l'édition précédente:
a) mise en correspondance du profil de dispositif d'entraînement de type 1 avec les technologies de réseau supplémentaires;
b) mises à jour mineures des paragraphes concernant les profils de types 1, 2 et 4 pour correspondre aux modifications correspondantes apportées dans les parties dédiées de l'IEC 61800-7-20x.
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IEC 61800-7-1 ®
Edition 2.0 2015-11
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 2.0 2015-11
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
INTERNATIONALE
ICS 29.200; 35.100.05 ISBN 978-2-8322-2932-3
– 2 – IEC 61800-7-1:2015 © IEC 2015
CONTENTS
FOREWORD . 8
INTRODUCTION . 10
1 Scope . 14
2 Normative references . 14
3 Terms, definitions and abbreviated terms . 15
3.1 System definitions . 15
3.2 General definitions . 15
3.3 Specific definitions . 18
3.3.1 Common definitions . 18
3.3.2 Definitions for Annex A . 19
3.3.3 Definitions for Annex B . 19
3.3.4 Definitions for Annex C . 21
3.3.5 Definitions for Annex D . 22
3.4 Abbreviated terms . 23
3.4.1 Common abbreviations . 23
3.4.2 Abbreviations for Annex A . 24
3.4.3 Abbreviations for Annex B . 24
3.4.4 Abbreviations for Annex C . 24
3.4.5 Abbreviations for Annex D . 24
3.5 Conventions . 24
4 General architecture . 24
4.1 Generic PDS interface . 24
4.2 Typical structure of automation systems . 29
4.3 Structure of the logical PDS . 30
4.4 Use cases of the PDS . 33
4.4.1 General . 33
4.4.2 Use case Engineering . 33
4.4.3 Use case Operation-control . 34
5 Functional elements . 35
5.1 Device identification FE . 35
5.1.1 General . 35
5.1.2 Parameters . 35
5.2 Device control FE . 35
5.2.1 General . 35
5.2.2 I/O data . 36
5.2.3 States . 36
5.2.4 Parameters . 38
5.3 Communication FE . 38
5.3.1 General . 38
5.3.2 I/O data . 38
5.3.3 States . 39
5.3.4 Parameters . 41
5.4 Basic drive FE . 41
5.4.1 General . 41
5.4.2 I/O data . 42
5.4.3 States . 43
5.4.4 Parameters . 44
5.5 Optional application FE . 45
6 Application modes . 45
6.1 General . 45
6.2 Torque control . 46
6.3 Velocity control . 47
6.4 Position control . 48
7 Profile specific extensions . 49
8 Structure for annexes . 50
8.1 General . 50
8.2 Structure of the annexes . 50
Annex A (normative) Mapping to profile CiA 402 drive and motion control . 54
A.1 Overview. 54
A.2 Mapping of general architecture . 54
A.2.1 Typical structure of automation system . 54
A.2.2 Structure of the logical PDS . 54
A.2.3 Use cases of the PDS . 55
A.3 Functional elements . 55
A.3.1 Device identification FE . 55
A.3.2 Device control FE . 56
A.3.3 Communication FE . 57
A.3.4 Basic drive FE . 58
A.3.5 Optional application functions FE. 59
A.4 Application modes. 60
A.4.1 General . 60
A.4.2 Torque control . 60
A.4.3 Velocity control . 61
A.4.4 Position control . 64
Annex B (normative) Mapping to profile CIP Motion™ . 67
B.1 Overview. 67
B.2 Mapping of general architecture . 67
B.2.1 Typical structure of automation systems . 67
B.2.2 Structure of the logical PDS . 68
B.2.3 Use cases of the PDS . 69
B.3 Functional elements . 70
B.3.1 Device identification FE . 70
B.3.2 Device control FE . 70
B.3.3 Communication FE . 72
B.3.4 Basic drive FE . 74
B.4 Application modes. 77
B.4.1 General . 77
B.4.2 Torque control . 78
B.4.3 Velocity control . 79
B.4.4 Position control . 79
B.5 Profile specific extensions . 79
Annex C (normative) Mapping to profile PROFIdrive . 80
C.1 Overview. 80
C.2 Mapping of general architecture . 80
– 4 – IEC 61800-7-1:2015 © IEC 2015
C.2.1 Typical structure of automation systems . 80
C.2.2 Structure of the logical PDS . 82
C.2.3 Use cases of the PDS . 83
C.3 Functional elements . 85
C.3.1 Device identification FE . 85
C.3.2 Device control FE . 85
C.3.3 Communication FE . 87
C.3.4 Basic drive FE . 88
C.3.5 Optional application functions FE. 89
C.4 Application modes. 90
C.4.1 General . 90
C.4.2 Torque control . 90
C.4.3 Velocity control . 90
C.4.4 Position control . 92
C.5 Profile specific extensions . 92
Annex D (normative) Mapping to profile SERCOS . 93
D.1 Overview. 93
D.2 Mapping of general architecture . 93
D.2.1 Typical structure of automation systems . 93
D.2.2 Structure of the logical PDS . 95
D.2.3 Use cases of the PDS . 95
D.3 Functional elements . 95
D.3.1 Device identification FE . 95
D.3.2 Device control FE . 96
D.3.3 Communication FE . 97
D.3.4 Basic drive FE . 98
D.3.5 Optional application functions FE. 100
D.4 Application modes. 100
D.4.1 General . 100
D.4.2 Torque control . 102
D.4.3 Velocity control . 103
D.4.4 Position control . 104
D.5 Profile specific extensions . 105
Bibliography . 107
Figure 1 – Structure of IEC 61800-7 . 13
Figure 2 – Definition of power drive system . 25
Figure 3 – Example of system structures for position-control applications . 26
Figure 4 – Examples of system structures for velocity-control applications . 27
Figure 5 – Examples of system structures for torque-control applications . 28
Figure 6 – Typical structure of automation systems (adapted from IEC TR 62390) . 29
Figure 7 – Structure of the PDS with functional elements . 31
Figure 8 – Functional elements (FE) in the logical PDS . 32
Figure 9 – Use case for the generic PDS interface . 33
Figure 10 – The generic interface in the use case Operation . 34
Figure 11 – Device control FE state-chart diagram . 37
Figure 12 – Device control FE state transition table . 37
Figure 13 – Communication FE state-chart diagram . 40
Figure 14 – Communication FE state transition table . 40
Figure 15 – Optional Communication FE state-chart diagram . 41
Figure 16 – Optional Communication FE state transition table . 41
Figure 17 – Basic drive FE state-chart diagram . 43
Figure 18 – Basic drive FE state transition table . 43
Figure 19 – Optional Basic drive FE state-chart diagram . 44
Figure 20 – Optional Basic drive FE state transition table . 44
Figure 21 – Torque control application mode . 46
Figure 22 – Torque control with velocity feedback application mode . 47
Figure 23 – Velocity preset application mode . 47
Figure 24 – Velocity control application mode . 48
Figure 25 – Velocity control with position feedback application mode . 48
Figure 26 – Position preset application mode . 49
Figure 27 – Position control application mode . 49
Figure A.1 – CiA 402 logical power drive system model . 55
Figure B.1 – CIP Motion I/O Connection data structure . 68
Figure B.2 – Object structure of the logical PDS . 68
Figure B.3 – Motion Device Axis Object state machine . 71
Figure C.1 – Overview of communication devices and services in PROFIdrive . 81
Figure C.2 – Structure of the PROFIdrive device . 82
Figure C.3 – PROFIdrive Axis type Drive Object . 83
Figure C.4 – Functional block diagram of the PROFIdrive Axis type DO . 84
Figure C.5 – Mapping of Communication FE states . 87
Figure D.1 – Topology example . 94
Figure D.2 – State machine of Basic drive FE . 99
Table 1 – Structures within the scope of this part of IEC 61800-7 . 29
Table 2 – Parameters in the Device identification FE . 35
Table 3 – Status values for the Device control FE . 36
Table 4 – Command values for the Device control FE . 36
Table 5 – Parameters in the Device control FE . 38
Table 6 – Status values for the Communication FE (see Figure 13) . 39
Table 7 – Command values for the Communication FE (see Figure 13) . 39
Table 8 – Status values for the optional Communication FE (see Figure 15) . 39
Table 9 – Command values for the optional Communication FE (see Figure 15) . 39
Table 10 – Status values of the Basic drive FE . 42
Table 11 – Optional status values for the Basic drive FE. 42
Table 12 – Command values for Basic drive FE . 42
Table 13 – Optional command values for the Basic drive FE . 43
Table 14 – Possible generic application modes . 45
Table 15 – Set-point values for generic application modes . 46
Table 16 – Mapping of names to profiles . 50
– 6 – IEC 61800-7-1:2015 © IEC 2015
Table 17 – Structure of annexes . 51
Table 18 – Profile specific terms . 52
Table 19 – Supported application modes . 52
Table 20 – I/O data for profile torque mode . 52
Table 21 – I/O data for profile velocity mode . 53
Table 22 – I/O data for profile position mode. 53
Table A.1 – Profile specific terms . 54
Table A.2 – Drive device identification parameters . 56
Table A.3 – Status values for the Device control FE . 56
Table A.4 – Command values for the Device control FE . 57
Table A.5 – Parameters in the Device control FE . 57
Table A.6 – Status values for the Communication FE . 57
Table A.7 – Command values for the Communication FE . 58
Table A.8 – Status values for the Basic drive FE . 58
Table A.9 – Command values for the Basic drive FE . 58
Table A.10 – Basic drive FE parameters . 59
Table A.11 – Optional application functions FE parameters. 60
Table A.12 – Supported application modes . 60
Table A.13 – I/O data for profile torque mode . 60
Table A.14 – Parameter for profile torque mode . 61
Table A.15 – I/O data for cyclic sync torque mode . 61
Table A.16 – Parameter for cyclic sync torque mode . 61
Table A.17 – I/O data for velocity mode . 62
Table A.18 – Parameter for velocity mode . 62
Table A.19 – I/O data for profile velocity mode . 62
Table A.20 – Parameter for profile velocity mode . 63
Table A.21 – I/O data for cyclic sync velocity mode. 63
Table A.22 – Parameter for cyclic sync velocity mode . 64
Table A.23 – I/O data for profile position mode . 64
Table A.24 – Parameter for profile position mode . 65
Table A.25 – I/O data for interpolated position mode . 65
Table A.26 – Parameter for interpolated position mode . 65
Table A.27 – I/O data for cyclic sync position mode . 66
Table A.28 – Parameter for cyclic sync position mode . 66
Table B.1 – Profile specific terms . 67
Table B.2 – Mapping of parameters for the Device identification FE . 70
Table B.3 – Mapping of status values for the Device control FE . 71
Table B.4 – Mapping of command values for the Device control FE . 71
Table B.5 – Mapping of parameters for the Device control FE . 72
Table B.6 – Mapping of status values for the Communication FE . 73
Table B.7 – Mapping of command values for the Communication FE . 73
Table B.8 – Mapping of status values for the optional Communication FE . 73
Table B.9 – Mapping of command values for the optional Communication FE . 73
Table B.10 – Status values for the Basic drive FE . 74
Table B.11 – Command values for the Basic drive FE . 74
Table B.12 – Drive Control Mode values for the Basic drive FE . 75
Table B.13 – Command Data Set values for the Basic drive FE . 76
Table B.14 – Actual Data Set values for the Basic drive FE . 76
Table B.15 – Status Data Set values for the Basic drive FE . 77
Table B.16 – Supported application modes . 78
Table B.17 – Set-point values for the generic application modes . 78
Table B.18 – I/O data for profile torque mode . 79
Table B.19 – I/O data for profile velocity mode . 79
Table B.20 – I/O data for profile position mode . 79
Table C.1 – Profile specific terms . 80
Table C.2 – Parameters for device identification . 85
Table C.3 – Status values for the Device control FE . 86
Table C.4 – Command values for the Device control FE . 86
Table C.5 – Device control parameters . 86
Table C.6 – Status values of the Basic drive FE . 88
Table C.7 – Command values of the Basic drive FE . 88
Table C.8 – Status values for the optional Basic drive FE . 89
Table C.9 – Command values for the optional Basic drive FE . 89
Table C.10 – Device control parameters . 89
Table C.11 – Supported application modes . 90
Table C.12 – I/O data for profile velocity mode . 91
Table C.13 – I/O data for profile velocity control mode with position feedback . 91
Table C.14 – I/O data for profile velocity control mode (process technology). 92
Table C.15 – I/O data for profile position preset . 92
Table C.16 – I/O data for profile position mode . 92
Table D.1 – Profile specific terms . 93
Table D.2 – Device identification parameters . 96
Table D.3 – Status values for the Device control FE . 96
Table D.4 – Command values for the Device control FE . 97
Table D.5 – Parameters for the Device control FE . 97
Table D.6 – Status values for the Basic drive and Communication FEs . 99
Table D.7 – Command values for the Basic drive and Communication FEs . 100
Table D.8 – IDN for operation modes . 101
Table D.9 – Supported application modes . 102
Table D.10 – Additional application modes. 102
Table D.11 – I/O data for profile torque mode . 102
Table D.12 – Configuration data for torque control . 103
Table D.13 – I/O data for profile velocity mode . 103
Table D.14 – Configuration data for velocity control . 104
Table D.15 – I/O data for profile position mode . 105
Table D.16 – Configuration data for position control . 105
– 8 – IEC 61800-7-1:2015 © IEC 2015
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
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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 second edition cancels and replaces the first edition published in 2007. This edition
constitutes a technical revision.
This edition includes the following significant technical changes with respect to the previous
edition:
a) mapping of drive profile type 1 onto additional network technologies;
b) minor updates in the subclauses for profile types 1, 2 and 4, in relation with corresponding
changes in the dedicated IEC 61800-7-20x parts.
The text of this standard is based on the following documents:
FDIS Report on voting
22G/306/FDIS 22G/321/RVD
Full information on the voting for the approval of this standard can be found in the report on
voting indicated in the above table.
This publication has been drafted in accordance with the ISO/IEC Directives, Part 2.
A list of all parts of the IEC 61800 series, under the general title Adjustable speed electrical
power drive systems, can be found on the IEC website.
The committee has decided that the contents of this publication will remain unchanged until
the stability date indicated on the IEC website under "http://webstore.iec.ch" in the data
related to the specific publication. At this date, the publication will be
• reconfirmed,
• withdrawn,
• replaced by a revised edition, or
• amended.
IMPORTANT – The 'colour inside' logo on the cover page of this publication indicates
that it contains colours which are considered to be useful for the correct
understanding of its contents. Users should therefore print this document using a
colour printer.
– 10 – IEC 61800-7-1:2015 © IEC 2015
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