IEC 61800-7-202:2015
(Main)Adjustable speed electrical power drive systems - Part 7-202: Generic interface and use of profiles for power drive systems - Profile type 2 specification
Adjustable speed electrical power drive systems - Part 7-202: Generic interface and use of profiles for power drive systems - Profile type 2 specification
IEC 61800-7-202:2015 specifies profile type 2 (CIP MotionTM) for Power Drive Systems (PDS). Profile type 2 can be mapped onto different communication network technologies. This edition includes the following significant technical changes with respect to the previous edition:
a) update of patent information;
b) new revision of the Drive Profile and Drive Axis specifications, with multiple clarifications and enhancements.
Entraînements électriques de puissance à vitesse variable - Partie 7-202: Interface générique et utilisation de profils pour les entraînements électriques de puissance - Spécification de profil de type 2
L'IEC 61800-7-202:2015 spécifie le type de profil 2 (CIP MotionTM) pour les entraînements électriques de puissance (PDS). Le type de profil 2 peut être mis en correspondance avec différentes technologies de réseau de communication. Cette édition inclut les modifications techniques majeures suivantes par rapport à l'édition précédente:
a) mise à jour de l'information sur les brevets;
b) nouvelle révision des spécifications de Profil d'Entraînement et d'Axe d'Entraînement avec multiples clarifications et améliorations.
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Standards Content (Sample)
IEC 61800-7-202 ®
Edition 2.0 2015-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –
Part 7-202: Generic interface and use of profiles for power drive systems –
Profile type 2 specification
Entraînements électriques de puissance à vitesse variable –
Partie 7-202: Interface générique et utilisation de profils pour les entraînements
électriques de puissance – Spécification de profil de type 2
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IEC 61800-7-202 ®
Edition 2.0 2015-11
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
colour
inside
Adjustable speed electrical power drive systems –
Part 7-202: Generic interface and use of profiles for power drive systems –
Profile type 2 specification
Entraînements électriques de puissance à vitesse variable –
Partie 7-202: Interface générique et utilisation de profils pour les entraînements
électriques de puissance – Spécification de profil de type 2
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
INTERNATIONALE
ICS 29.200; 35.100.05 ISBN 978-2-8322-2943-9
– 2 – IEC 61800-7-202:2015 © IEC 2015
CONTENTS
FOREWORD . 10
INTRODUCTION . 12
0.1 General . 12
0.2 Patent declaration . 15
1 Scope . 17
2 Normative references . 17
3 Terms, definitions and abbreviated terms . 17
3.1 Terms and definitions . 17
3.2 Abbreviated terms . 25
4 Overview . 25
4.1 General . 25
4.2 Control modes . 26
4.2.1 General . 26
4.2.2 Control methods . 26
4.2.3 Control nomenclature . 27
4.2.4 Position control . 27
4.2.5 Velocity control . 28
4.2.6 Acceleration control . 30
4.2.7 Torque control . 30
4.2.8 No Control . 31
5 Data types . 32
5.1 Data type overview . 32
5.2 Conventions . 32
6 CIP Motion drive profile . 32
6.1 Object model . 32
6.1.1 Object overview . 32
6.1.2 Object description . 33
6.2 How objects affect behavior . 34
6.3 Defining object interfaces . 34
6.4 I/O connection messages . 35
6.4.1 General . 35
6.4.2 CIP Motion I/O Connection . 35
6.4.3 Controller-to-Device Connection . 39
6.4.4 Device-to-Controller Connection . 59
6.4.5 Fixed Motion I/O connection format . 68
6.4.6 CIP Motion I/O Connection timing model . 69
6.5 Device startup procedure . 85
6.5.1 General . 85
6.5.2 Motion I/O Connection creation . 85
6.5.3 Motion Device Axis Object configuration . 88
6.5.4 Time Synchronization . 90
6.6 Device visualisation . 92
6.7 Ethernet/IP Quality of Service (QoS) . 93
7 Motion Device Axis Object . 93
7.1 General considerations . 93
7.1.1 General . 93
7.1.2 Revision history . 93
7.1.3 Object overview . 93
7.1.4 Motion Device Axis Object abstraction . 94
7.1.5 Motion Control Axis Object . 95
7.1.6 Device control classification . 95
7.1.7 Required vs. Optional in implementation . 96
7.2 Class attributes . 107
7.2.1 General . 107
7.2.2 Semantics. 111
7.3 Instance attributes . 114
7.3.1 General . 114
7.3.2 Motion Control configuration attributes . 116
7.3.3 Motion Scaling attributes . 117
7.3.4 Connection Data attributes . 123
7.3.5 Motor attributes . 129
7.3.6 Feedback attributes . 140
7.3.7 Event Capture attributes . 149
7.3.8 Command reference generation attributes . 155
7.3.9 Control mode attributes . 158
7.3.10 Stopping & Braking attributes . 176
7.3.11 DC Bus Control attributes . 186
7.3.12 Power and thermal management attributes . 190
7.3.13 Axis Status attributes . 193
7.3.14 Exception, fault, and alarm attributes . 199
7.3.15 Fault and alarm Log attributes . 205
7.3.16 Exception limit attributes . 210
7.3.17 Axis exception action configuration attribute . 213
7.3.18 Initialization fault attributes . 215
7.3.19 Start inhibit attributes . 216
7.3.20 APR fault attributes . 217
7.3.21 Axis statistical attributes . 219
7.3.22 Axis info attributes . 219
7.3.23 General purpose I/O attributes . 220
7.3.24 Local Mode attributes . 222
7.3.25 Axis Safety attributes . 222
7.4 Common services . 223
7.4.1 Supported services . 223
7.4.2 Service specific data . 224
7.5 Object specific services . 226
7.5.1 Supported services . 226
7.5.2 Service specific data . 226
7.6 Behavior . 241
7.6.1 State model . 241
7.6.2 State behavior . 252
7.6.3 Fault and alarm behavior . 259
7.6.4 Start Inhibit behavior . 261
7.6.5 Visualization behavior . 261
7.6.6 Command generation behavior . 266
– 4 – IEC 61800-7-202:2015 © IEC 2015
7.6.7 Feedback interface behavior . 271
7.6.8 Event Capture Behavior . 273
7.6.9 Control Mode behavior. 274
Bibliography . 288
Figure 1 – Structure of IEC 61800-7 . 15
Figure 2 – Open loop position control. 27
Figure 3 – Closed loop position control . 28
Figure 4 – Open loop velocity control . 29
Figure 5 – Closed loop velocity control . 29
Figure 6 – Acceleration control . 30
Figure 7 – Torque control . 31
Figure 8 – No Control (Feedback Only) . 31
Figure 9 – Object Model for a CIP Motion device . 33
Figure 10 – CIP Motion I/O Connection model . 35
Figure 11 – CIP Motion I/O Connection channels . 36
Figure 12 – Controller-to-Device Connection format (Connection Point 2) . 37
Figure 13 – Device-to-Controller Connection format (Connection Point 2) . 38
Figure 14 – CIP Motion Controller-to-Device Connection format . 39
Figure 15 – Connection Header . 39
Figure 16 – Connection Format . 39
Figure 17 – Connection Header . 40
Figure 18 – Instance Data Block . 43
Figure 19 – Instance Data Header . 43
Figure 20 – Cyclic Data Block . 44
Figure 21 – Control Mode . 44
Figure 22 – Feedback Mode. 44
Figure 23 – Cyclic Write Data Block . 50
Figure 24 – Cyclic Write Data Block example . 50
Figure 25 – Event Data Block. 51
Figure 26 – Service Data Block . 58
Figure 27 – CIP Motion Device-to-Controller Connection format . 59
Figure 28 – Connection Header . 59
Figure 29 – Connection Header . 60
Figure 30 – Node Fault/Alarm . 61
Figure 31 – Adjustment of actual position data based on Device Time Stamp . 62
Figure 32 – Instance Data Block . 63
Figure 33 – Instance Data Header . 63
Figure 34 – Cyclic Data Block . 63
Figure 35 – Cyclic Read Data Block . 65
Figure 36 – Cyclic Read Data Block example . 65
Figure 37 – Event Data Block. 66
Figure 38 – Service Data Block . 68
Figure 39 – Fixed Controller-to-Device Connection format (fixed size = 16 bytes) . 69
Figure 40 – Fixed Device-to-Controller Connection format (fixed size = 16 bytes) . 69
Figure 41 – CIP Motion 1-Cycle timing model . 70
Figure 42 – CIP Motion 2-Cycle timing model . 72
Figure 43 – CIP Motion 3-Cycle timing model . 73
Figure 44 – Controller-to-Device Connection timing with fine interpolation . 74
Figure 45 – Controller-to-Device Connection timing with extrapolation . 76
Figure 46 – Use of Time Stamp to adjust actual position to the controller’s timebase . 77
Figure 47 – Coordination of two drives with different Update Periods . 79
Figure 48 – Coordination of multiple drive axes in case of delayed Controller-to-
Device Connection packets . 80
Figure 49 – Propagation of a step change in time . 81
Figure 50 – Configuration Block Format Revision 1 (Connection Point 81) . 86
Figure 51 – Configuration Block Format Revision 2 (Connection Point 82) . 87
Figure 52 – Typical initial C-to-D connection data block . 88
Figure 53 – Typical initial D-to-C connection data block . 88
Figure 54 – Typical contents of first C-to-D class attribute configuration packet . 88
Figure 55 – Typical response to first C-to-D class configuration packet . 89
Figure 56 – Typical contents of first C-to-D axis instance configuration packet. 89
Figure 57 – Typical response to first C-to-D axis configuration packet . 90
Figure 58 – Typical contents of C-to-D Time Sync service request packet . 90
Figure 59 – Group Sync of CIP Motion devices . 91
Figure 60 – Object components for CIP Motion control architecture . 94
Figure 61 – Command Control Word field . 127
Figure 62 – IEEE Std 112 per phase motor model . 130
Figure 63 – Event Checking Control Word field . 152
Figure 64 – Event Checking Status word field . 153
Figure 65 – Brake Control Sequence (Category 0 Stop) . 182
Figure 66 – Brake Control Sequence (Category 1 Stop) . 183
Figure 67 – Brake Control Sequence (Category 2 Stop) . 184
Figure 68 – Drive Enable sequence with Proving feature . 185
Figure 69 – Drive Disable sequence with Proving feature . 186
Figure 70 – Get_Axis_Attributes_List Request rormat . 227
Figure 71 – Get_Axis_Attributes_List Response format . 228
Figure 72 – Get_Axis_Attributes_List Response – Single 4-byte attribute . 228
Figure 73 – Get_Axis_Attributes_List Response – Single 2-byte attribute . 228
Figure 74 – Get_Axis_Attributes_List Response – Byte attribute array . 229
Figure 75 – Get_Axis_Attributes_List Response – Two Dimensional attribute array . 229
Figure 76 – Get_Axis_Attributes_List Response – Error example . 229
Figure 77 – Set_Axis_Attributes_List Request format . 230
Figure 78 – Set_Axis_Attributes_List Request – Single 4-byte attribute . 230
Figure 79 – Set_Axis_Attributes_List Request – Single 2-byte attribute . 231
Figure 80 – Set_Axis_Attributes_List Request – 2-byte attribute array . 231
– 6 – IEC 61800-7-202:2015 © IEC 2015
Figure 81 – Set_Axis_Attributes_List Request – Two dimensional attribute array . 231
Figure 82 – Set_Axis_Attributes_List Response format . 231
Figure 83 – Set_Cyclic_Write_List Request format . 232
Figure 84 – Set_Cyclic_Write_List Response format . 232
Figure 85 – Set_Cyclic_Read_List Request format . 233
Figure 86 – Set_Cyclic_Read_List Response format . 233
Figure 87 – Motion Device Axis Object State Model . 241
Figure 88 – Motion Device Axis Object State Model for Feedback Only . 243
Figure 89 – Motion Device Axis Object State Model for Converter . 244
Figure 90 – Command Generator . 267
Figure 91 – Feedback Channels 1 and 2 . 272
Figure 92 – Event Capture Functionality . 273
Figure 93 – No Control (Feedback Only) . 275
Figure 94 – Closed Loop Position Control . 276
Figure 95 – Closed Loop Velocity Control . 278
Figure 96 – Open Loop Frequency Control . 280
Figure 97 – Acceleration Control . 282
Figure 98 – Torque Control . 282
Figure 99 – Closed Loop Current Vector Control . 286
Table 1 – Data types . 32
Table 2 – Objects present in a CIP Motion device . 33
Table 3 – Motion Device Axis Object content by Device Type . 34
Table 4 – Object effect on behavior . 34
Table 5 – Object interfaces . 35
Table 6 – Time Data Set . 41
Table 7 – Axis Control . 45
Table 8 – Control Status . 45
Table 9 – Command Data Set . 46
Table 10 – Command Data Element to Motion Device Axis Object attribute mapping . 46
Table 11 – Actual Data Set . 47
Table 12 – Actual Data Element to Motion Device Axis Object attribute Mapping . 47
Table 13 – Status Data Set . 48
Table 14 – Command Control . 48
Table 15 – Command Target Update vs. Update Period Ratio . 49
Table 16 – Basic Event Cycle . 51
Table 17 – Extended Event Cycle . 53
Table 18 – Basic Event Cycle with Auto-rearm . 55
Table 19 – Registration Data Set . 57
Table 20 – Home Data Set . 58
Table 21 – Watch Data Set . 58
Table 22 – Axis Response . 64
Table 23 – Event Type . 67
Table 24 – Propagation of a step change in time (example 1) . 81
Table 25 – Propagation of a step change in time (example 2) . 83
Table 26 – CIP Motion visualisation components . 92
Table 27 – Motion Device Axis Object revision history . 93
Table 28 – Example for instance attribute implementation vs. Device Function Code . 96
Table 29 – Instance attribute implementation vs. Device Function Code . 98
Table 30 – Class attributes for the Motion Device Axis Object . 108
Table 31 – Node Control bit definitions . 111
Table 32 – Node Status bit definitions . 112
Table 33 – Node Fault Code definitions . 113
Table 34 – Node Alarm Code definitions . 114
Table 35 – Dynamic Units vs. Feedback Mode . 116
Table 36 – Motion Control configuration attributes . 116
Table 37 –Control Mode enumeration definitions. 117
Table 38 – Control Method enumeration definitions . 117
Table 39 – Motion Scaling attributes . 118
Table 40 – Motion Unit selection rules . 120
Table 41 – Signal attributes affected by Motion Polarity . 121
Table 42 – Directional Limit attributes affected by Motion Polarity . 123
Table 43 – Connection Data attributes . 124
Table 44 – Actual Data Set value determination . 126
Table 45 – Command Data Set value determination . 127
Table 46 – Command Target Update enumeration definition . 127
Table 47 – Command Position Data Type enumeration definition . 128
Table 48 – Status Data Set bit definitions . 128
Table 49 – Registration Event Data format . 129
Table 50 – Home Event Data format . 129
Table 51 – Watch Event Data format . 129
Table 52 – General Motor Info attributes . 130
Table 53 – General Motor Configuration attributes . 131
Table 54 – General PM Motor Configuration attributes . 134
Table 55 – General Rotary Motor Configuration attributes . 135
Table 56 – General Linear Motor Configuration attributes . 136
Table 57 – Rotary PM Motor Configuration attributes . 137
Table 58 – Linear PM Motor Configuration attributes. 137
Table 59 – Induction Motor Configuration attributes . 138
Table 60 – Load Transmission and Actuator Configuration attributes . 139
Table 61 – Feedback Types abbreviations . 140
Table 62 – Logical Feedback Channel Control functions . 140
Table 63 – Logical Feedback Channel rules . 141
Table 64 – General Feedback Info attributes . 142
Table 65 – General Feedback Signal attributes . 142
Table 66 – Feedback Configuration attributes . 143
– 8 – IEC 61800-7-202:2015 © IEC 2015
Table 67 – Feedback Mode enumeration definitions . 149
Table 68 – Event attributes . 150
Table 69 – Event Checking Control bit definitions . 152
Table 70 – Event Checking Status bit definitions . 154
Table 71 – Command Generator Signal attributes . 155
Table 72 – Command Generator Configuration attributes . 157
Table 73 – Position Loop Signal attributes . 159
Table 74 – Position Loop Configuration attributes . 160
Table 75 – Velocity Loop Signal attributes . 162
Table 76 – Velocity Loop Configuration attributes . 163
Table 77 – Acceleration Signal attributes . 165
Table 78 – Acceleration Configuration attributes . 165
Table 79 – Torque/Force Control Signal attributes . 166
Table 80 – Torque/Force Control Configuration attributes . 167
Table 81 – Current Control Signal attributes . 169
Table 82 – Current Control Configuration attributes . 171
Table 83 – Frequency Control Signal attributes . 175
Table 84 – Frequency Control Configuration attributes . 175
Table 85 – Drive Output attributes . 176
Table 86 – Stopping/Braking attributes . 177
Table 87 – Stopping Action enumeration definitions . 180
Table 88 – Proving sub-feature attribute dependencies . 184
Table 89 – DC Bus Control attributes . 187
Table 90 – Power and Thermal Management Status attributes . 190
Table 91 – Power and Thermal Management Configuration attributes . 192
Table 92 – Axis Status attributes . 194
Table 93 – Axis Status bit definitions . 195
Table 94 – Axis Status bit vs. Axis State . 198
Table 95 – Stopping Action vs. Stop Category . 199
Table 96 – Axis I/O Status bit definitions . 199
Table 97 – Exception, Fault and Alarm attributes . 200
Table 98 – Standard Exception Table . 202
Table 99 – Fault and Alarm Log attributes . 207
Table 100 – Exception Factory Limit Info attributes . 210
Table 101 – Exception User Limit Configuration attributes . 211
Table 102 – Axis Exception Action Configuration attribute . 213
Table 103 – Axis Exception Action definitions . 214
Table 104 – Initialization Fault attributes . 216
Table 105 – Standard Initialization Fault Table . 216
Table 106 – Start Inhibit attributes . 217
Table 107 – Standard Start Inhibit Table . 217
Table 108 – APR Fault attributes . 218
Table 109 – Standard APR Fault Table . 219
Table 110 – Axis Statistical attributes . 219
Table 111 – Axis Info attributes . 220
Table 112 – Drive General Purpose I/O attributes . 221
Table 113 – Local Mode Configuration attributes . 222
Table 114 – Axis Safety Status attributes .
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